Three-dimensional map construction method and device based on multi-machine collaboration

Abstract

The invention provides a three-dimensional map construction method and device based on multi-machine collaboration, and the method comprises the steps: determining sampling region division information according to the target region information and preset sampling region area information when the target region information is received, and determining the deployment position of a ground terminal according to the target region information, a sampling advancing route corresponding to the sampling unmanned aerial vehicle group is generated according to the sampling area division information; according to the sampling area division information, the deployment position and the charging efficiency of the transmission unmanned aerial vehicle, determining the carrying number of the transmission unmanned aerial vehicle and a sampling area corresponding to each transmission unmanned aerial vehicle; and generating a first flight plan corresponding to each transmission unmanned aerial vehicle and a second flight plan corresponding to the sampling unmanned aerial vehicle group according to the sampling advancing route and the sampling area corresponding to each transmission unmanned aerial vehicle. The method does not need to wait for the return flight of the sampling unmanned aerial vehicle group and transmit all the map data to the ground terminal for large-scale calculation, and can save a lot of time and terminal calculation resources.

Description

Technical Field

[0001] The present application relates to the field of drone control technology, and in particular to a method and device for constructing a three-dimensional map based on multi-machine collaboration. Background Art

[0002] UAV-based terrain modeling technology collects multi-angle surface images and height data through rationally planned routes, generates digital surface models (DSM) or digital elevation models (DEM) through aerial triangulation and point cloud processing, and then constructs a three-dimensional model that can be used for terrain spatial analysis through mesh simplification and texture mapping.

[0003] The patent document with publication number CN114089787A is quoted here, which discloses a ground three-dimensional semantic map based on multi-aircraft collaborative flight and its construction method. It overcomes the defect that current aerial survey work generally only obtains a single type of data and cannot obtain multiple types of data at the same time. It can meet the needs of three-dimensional semantic map identification and multi-scenario application of geographic spatial data.

[0004] However, existing UAV collaboration technologies have high transmission and computation costs and are time-consuming.

[0005] It should be noted that the information in the above background technology section is only used to enhance the understanding of the background technology of this application, and therefore may include technical information that is not known or easily inferred by ordinary technicians in this field. Summary of the Invention

[0006] In view of the above problems, the present application is proposed to provide a method and apparatus for constructing a three-dimensional map based on multi-machine collaboration that overcomes the above problems or at least partially solves the above problems, including: A method for constructing a three-dimensional map based on multi-machine collaboration, the method being used to construct three-dimensional map data of a target area using the cooperation of multiple drones. The method involves a ground terminal, a swarm of sampling drones for collecting map data, and a transmission drone for obtaining map data from the sampling drones and transporting it to the ground terminal during the map data collection process. The ground terminal includes a control sub-terminal and a calculation sub-terminal for constructing a three-dimensional map from the sampled data. The method comprises: When receiving the target area information, the control sub-terminal determines sampling area division information according to the target area information and preset sampling area information, determines the deployment position of the ground terminal according to the target area information, and generates a sampling route corresponding to the sampling drone group according to the sampling area division information; The control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone; The control sub-terminal generates a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset position according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset position according to the first flight plan.

[0007] Furthermore, the target area information includes: target area area information and target area location information; the sampling area division information includes: sampling area quantity information and sampling area location information; the control sub-terminal determines the sampling area division information based on the target area information and preset sampling area information, determines the deployment position of the ground terminal based on the target area information, and generates a sampling route corresponding to the sampling drone group based on the sampling area division information, including: The control sub-terminal calculates the number of sampling areas according to the target area information and the preset sampling area information; The control sub-terminal calculates the sampling area location information based on the target area location information and the sampling area quantity information; The control sub-terminal searches for corresponding target area road information based on the target area location information; The control sub-terminal determines the deployment position of the ground terminal according to the target area location information and the target area road information; The control sub-terminal generates a sampling route corresponding to the sampling drone group based on the sampling area location information.

[0008] Furthermore, the step of the control sub-terminal determining the deployment position of the ground terminal according to the target area location information and the target area road information includes: The control sub-terminal searches for an open point set in the target area based on the target area road information; The control sub-terminal calculates the maximum distances from a plurality of open points to the edge of the target area according to the open point set and the target area location information; The control sub-terminal sorts the multiple farthest distances and determines the open point with the smallest farthest distance as the target open point; The control sub-terminal determines the deployment position of the ground terminal according to the target open point.

[0009] Furthermore, the control sub-terminal generates a sampling route corresponding to the sampling drone group based on the sampling area location information, including: The control sub-terminal determines the entry position, exit position and internal travel route of each sampling area based on the sampling area position information; wherein the exit position of the previous sampling area is the same as the entry position of the next adjacent sampling area; The control sub-terminal connects the internal travel routes of each sampling area in series according to the entry position and the exit position to generate a sampling travel route corresponding to the sampling drone group.

[0010] Furthermore, the control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone, including: The control sub-terminal calculates the arrival time of the transmission drone corresponding to returning from each sampling area and arriving at the sampling area again based on the sampling area division information, the deployment location and the charging efficiency; The control sub-terminal calculates a sampling completion schedule corresponding to each sampling area of ​​the sampling drone group based on the sampling area division information; The control sub-terminal calculates the carrying quantity of the transmission drone based on the arrival time and the sampling completion schedule; The control sub-terminal allocates a sampling area corresponding to each transmission drone according to the sampling area division information and the number of vehicles carried by the transmission drone.

[0011] Furthermore, the control sub-terminal calculates the carrying quantity of the transmission drone according to the arrival time and the sampling completion schedule, including: The control sub-terminal determines the sampling area corresponding to the transmitting drone before returning and the sampling area corresponding to the transmitting drone when it arrives again based on the arrival time and the sampling completion schedule; The control sub-terminal calculates multiple groups of position differences based on the position of the sampling area corresponding to the flight before returning and the position of the sampling area corresponding to the flight when arriving again; The control sub-terminal determines the number of transmission drones to be carried based on the maximum value of the rank difference.

[0012] Furthermore, the sampling completion schedule includes: a plurality of sampling completion times that are sequentially arranged from early to late and correspond to a plurality of sampling areas; the control sub-terminal determines the sampling area corresponding to the transmitting drone before returning and the sampling area corresponding to the transmitting drone when it arrives again based on the arrival time and the sampling completion schedule, including: The control sub-terminal determines the sampling area corresponding to the return flight according to the arrival time; The control sub-terminal sequentially compares the multiple arrival times with the multiple sampling completion times, and determines the first sampling completion time that the arrival time is no later than as the target sampling completion time; The control sub-terminal determines the corresponding sampling area when arriving again according to the target sampling completion time.

[0013] Furthermore, the control sub-terminal determines the number of transmission drones carried according to the maximum value of the ranking difference, including: The control sub-terminal determines the minimum number of cycles of the transmission drone according to the maximum value of the position difference; The control sub-terminal calculates the redundant number of the transmission drones based on the minimum cycle number of the transmission drones; The control sub-terminal calculates the carrying quantity of the transmission drone based on the minimum cycle quantity and redundant quantity of the transmission drone.

[0014] A three-dimensional map construction device based on multi-machine collaboration is used to construct three-dimensional map data of a target area through the cooperation of multiple drones. The device includes a ground terminal, a sampling drone group for collecting map data, and a transmission drone for obtaining map data from the sampling drones and transporting it to the ground terminal during the map data collection process. The ground terminal includes a control sub-terminal and a calculation sub-terminal for constructing a three-dimensional map from the sampling data. The device comprises: a target area information processing module, configured to, upon receiving target area information, determine sampling area division information based on the target area information and preset sampling area area information, determine a deployment position of the ground terminal based on the target area information, and generate a sampling route corresponding to the sampling drone group based on the sampling area division information; A sampling area allocation module is used to determine the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location and the charging efficiency of the transmission drone; A flight plan generation module is used to generate a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset position according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset position according to the first flight plan.

[0015] A computer device comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method described in any embodiment of the present application.

[0016] This application has the following advantages: In an embodiment of the present application, the existing UAV collaborative technology relies on exporting all types of data collected by all UAVs in a unified manner and then calculating them, which results in high transmission and calculation costs and is time-consuming. The present application provides a solution for transmitting block data from a sampling UAV group to a ground terminal in sequence in the air through multiple transmission UAVs, so that the integration and calculation of a large amount of map data can be completed while the sampling UAV group is navigating. Specifically, when receiving the target area information, the control sub-terminal determines the sampling area division information based on the target area information and the preset sampling area area information, and determines the deployment position of the ground terminal based on the target area information, and generates a corresponding sampling area based on the sampling area division information. The sampling route of the human-machine group; the control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location and the charging efficiency of the transmission drone; the control sub-terminal generates a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset location according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset location according to the first flight plan. This application does not need to wait for the sampling drone group to return and transmit all map data to the ground terminal before performing large-scale calculations, which can save a lot of time and terminal computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the description of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a flowchart of a method for constructing a three-dimensional map based on multi-machine collaboration provided by an embodiment of the present application; Figure 2 This is a schematic diagram of the path planning of the sampling route in one embodiment of the present application; Figure 3This is a basic preset information table in a specific embodiment of the present application; Figure 4 This is a comparison table of arrival time and sampling completion time in a specific embodiment of the present application; Figure 5 This is a schematic diagram of the allocation of sampling area numbers and ground terminal deployment locations in a specific embodiment of the present application; Figure 6 This is a structural block diagram of a three-dimensional map construction device based on multi-machine collaboration provided by an embodiment of the present application; Figure 7 This is a structural block diagram of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0019] To make the objectives, features, and advantages of this application more readily apparent, the present application is further described below in conjunction with the accompanying drawings and specific embodiments. It is apparent that the embodiments described are only a portion of the embodiments of this application, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in this application without inventive effort are also within the scope of protection of this application.

[0020] By analyzing the existing technology, the inventors found that the existing drone collaboration technology relies on the unified export of all types of data collected by all drones and then calculation, which results in high transmission and calculation costs and is time-consuming.

[0021] Based on the above analysis of the existing technology, one of the core technical concepts of this application is to use multiple transmission drones to transmit block data from the sampling drone group to the ground terminal in the air in sequence, so that the integration and calculation of a large amount of map data can be completed while the sampling drone group is flying, without having to wait for the sampling drone group to return and transmit all the map data to the ground terminal before performing large-scale calculations, which can save a lot of time and terminal computing resources.

[0022] Reference Figure 1 , shows a three-dimensional map construction method based on multi-machine collaboration provided by an embodiment of the present application, the method is used to construct three-dimensional map data of a target area through the cooperation of multiple drones; the method involves a ground terminal, a sampling drone group for collecting map data, and a transmission drone for obtaining map data from the sampling drones and transporting it to the ground terminal during the map data collection process; the ground terminal includes a control sub-terminal and a calculation sub-terminal for constructing a three-dimensional map from the sampling data; The method comprises: S110. When receiving the target area information, the control sub-terminal determines sampling area division information based on the target area information and preset sampling area information, determines the deployment position of the ground terminal based on the target area information, and generates a sampling route corresponding to the sampling drone group based on the sampling area division information. S120, the control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone; S130. The control sub-terminal generates a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset position according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset position according to the first flight plan.

[0023] In an embodiment of the present application, the existing UAV collaborative technology relies on exporting all types of data collected by all UAVs in a unified manner and then calculating them, which results in high transmission and calculation costs and is time-consuming. The present application provides a solution for transmitting block data from a sampling UAV group to a ground terminal in sequence in the air through multiple transmission UAVs, so that the integration and calculation of a large amount of map data can be completed while the sampling UAV group is navigating. Specifically, when receiving the target area information, the control sub-terminal determines the sampling area division information based on the target area information and the preset sampling area area information, and determines the deployment position of the ground terminal based on the target area information, and generates a corresponding sampling area based on the sampling area division information. The sampling route of the human-machine group; the control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location and the charging efficiency of the transmission drone; the control sub-terminal generates a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset location according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset location according to the first flight plan. This application does not need to wait for the sampling drone group to return and transmit all map data to the ground terminal before performing large-scale calculations, which can save a lot of time and terminal computing resources.

[0024] Next, a three-dimensional map construction method based on multi-machine collaboration in this exemplary embodiment will be further described.

[0025] It should be noted that the sampling drone swarm can maintain a preset spacing during flight and collect different types of map data. For example, map data may include vertical aerial image data, oblique aerial image data, and lidar point cloud data. Vertical aerial image data can be collected using a downward-looking lens mounted vertically on the bottom of the sampling drone, oblique aerial image data can be collected using an oblique camera that covers the front, rear, left, and right directions and is triggered synchronously, and lidar point cloud data can be collected using a laser radar (LiDAR). The transmission drones include multiple units, and the transmission drones can simultaneously perform parallel near-field data transmission with the sampling drone swarm to obtain different types of map data for the corresponding sampling area.

[0026] In a specific embodiment of the present application, the method further includes: when the ground terminal obtains map data corresponding to the sampling area, the computing sub-terminal may perform the following data processing on the map data: The computing sub-terminal generates image point cloud data based on the vertical aerial image data and the oblique aerial image data; The computing sub-terminal performs point cloud alignment based on the image point cloud data and the lidar point cloud data using an iterative closest point (ICP) algorithm to generate target point cloud data; The computing sub-terminal projects the vertical aerial image data onto the target point cloud data for preliminary point cloud coloring processing and projects the oblique aerial image data onto the target point cloud data according to a preset shooting oblique angle for color balancing processing, thereby generating high-precision three-dimensional map construction data.

[0027] As described in step S110, when the target area information is received, the control sub-terminal determines the sampling area division information based on the target area information and the preset sampling area area information, determines the deployment position of the ground terminal based on the target area information, and generates a sampling route corresponding to the sampling drone group based on the sampling area division information; It should be noted that the preset sampling area information should not be larger than the area that the sampling drone group can shoot in a single shot or scan within a certain period of time; when the sampling area is set to a rectangle, the sampling area information includes the length and width of the rectangle; when the sampling drone group navigates along a single straight line in a sampling area, the length of the sampling area should not be greater than the navigation displacement of the sampling drone group, and the width of the sampling area should not be greater than the shooting or scanning width of the sampling drone group. Selecting a reasonable ground terminal deployment location can ensure that the transmission drone can fly to the sampling drone group in a shorter average time and transmit data. The sampling route of the sampling drone group depends on how the sampling area is divided. As an example, refer to Figure 2 In the sampling block divided into 4×4, the sampling route can be collected in a "U"-shaped round-trip route as shown in part A, or in a "circular" shape as shown in part B.

[0028] As described in step S120, the control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone; It should be noted that when the transmission drone returns to the ground terminal and transmits the map of the corresponding sampling area to the ground terminal, the ground terminal can charge the transmission drone, and the power provided needs to ensure that the transmission drone can at least reach the next sampling area again, accompany the sampling drone group to obtain map data, and return to the ground terminal. Therefore, the charging efficiency of the transmission drone will affect the charging time required for the transmission drone, and thus affect the time it takes for the transmission drone to reach the sampling area again. For example, the shorter the charging time required for the transmission drone, the sooner the transmission drone can reach the sampling area again, and the fewer sampling areas the sampling drone group flies during the period, the fewer transmission drones are required for cyclic data transmission. It is necessary to determine the sampling area corresponding to each of the transmission drones to ensure that when the sampling drone group completes the sampling of the corresponding sampling area, there is a corresponding transmission drone to accompany it and perform data transmission.

[0029] As described in step S130, the control sub-terminal generates a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset location according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset location according to the first flight plan.

[0030] It should be noted that in actual applications, each transmitting drone only needs to obtain its own single flight plan in the first flight plan to complete the map data transmission of the corresponding sampling area. When the transmitting drone returns to charge and transmit data, it can obtain the next flight plan. Because the actual flight route of each drone in the sampling drone group differs from the sampling route, the ground terminal needs to determine a flight plan for each sampling drone based on the sampling route. Therefore, each sampling drone can obtain its own flight plan in the second flight plan to fly separately and complete the sampling of different types of map data.

[0031] In one embodiment of the present application, the target area information includes: target area area information and target area location information; the sampling area division information includes: sampling area quantity information and sampling area location information; the following description can be combined to further illustrate the specific process of step S110 "the control sub-terminal determines the sampling area division information based on the target area information and the preset sampling area area information, and determines the deployment position of the ground terminal based on the target area information, and generates a sampling route corresponding to the sampling drone group based on the sampling area division information."

[0032] As described in the following steps, the control sub-terminal calculates the number of sampling areas according to the target area information and the preset sampling area information; The control sub-terminal calculates the sampling area location information based on the target area location information and the sampling area quantity information; The control sub-terminal searches for corresponding target area road information based on the target area location information; The control sub-terminal determines the deployment position of the ground terminal according to the target area location information and the target area road information; The control sub-terminal generates a sampling route corresponding to the sampling drone group based on the sampling area location information.

[0033] It should be noted that the ground terminal can be set in a vehicle with a corresponding accommodation space for the server host, and the target area road information corresponding to the target area needs to be searched in order to drive the vehicle to the corresponding location, and then the ground terminal is deployed. The target area road information can be obtained online.

[0034] In one embodiment of the present application, the specific process of "the control sub-terminal determines the deployment position of the ground terminal based on the target area position information and the target area road information" can be further explained in combination with the following description.

[0035] As described in the following steps, the control sub-terminal searches for an open point set in the target area based on the target area road information; The control sub-terminal calculates the maximum distances from a plurality of open points to the edge of the target area according to the open point set and the target area location information; The control sub-terminal sorts the plurality of longest distances and determines the open point with the shortest longest distance as the target open point; The control sub-terminal determines the deployment position of the ground terminal according to the target open point.

[0036] It should be noted that a set of open locations within the target area, based on the target area's road information, must be searched for. Deploying the ground terminal in an open location ensures a stable signal connection between the ground terminal and the drone, and ensures the drone's safe takeoff and landing. By sorting the multiple maximum distances and identifying the open location with the smallest maximum distance as the target open location, it is possible to ensure that the transmitting drone can reach the corresponding sampling area in the target area with a shorter average flight time.

[0037] In one embodiment of the present application, the specific process of "the control sub-terminal generating a sampling route corresponding to the sampling drone group based on the sampling area location information" can be further explained in combination with the following description.

[0038] As described in the following steps, the control sub-terminal determines the entry position, exit position and internal travel route of each sampling area based on the sampling area location information; wherein the exit position of the previous sampling area is the same as the entry position of the next adjacent sampling area; The control sub-terminal connects the internal travel routes of each sampling area in series according to the entry position and the exit position to generate a sampling travel route corresponding to the sampling drone group.

[0039] It should be noted that the departure point of the previous sampling area is the same as the entry point of the next adjacent sampling area, to ensure that the sampling route can be a continuous line, avoiding excessive round trips that lead to waste of power in the sampling drone swarm. It should be understood that the sampling route of the sampling drone swarm can also include a path to return to the ground terminal for charging. The technical concept of the present application of charging and cyclic transmission through the transmission drone can also be applied to the sampling drone swarm, that is, the sampling drone swarm can also sample and charge in batches.

[0040] In one embodiment of the present application, the specific process of "the control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location and the charging efficiency of the transmission drone" in step S120 can be further explained in combination with the following description.

[0041] As described in the following steps, the control sub-terminal calculates the arrival time of the transmission drone corresponding to returning from each sampling area and arriving at the sampling area again based on the sampling area division information, the deployment location and the charging efficiency; The control sub-terminal calculates a sampling completion schedule corresponding to each sampling area of ​​the sampling drone group based on the sampling area division information; The control sub-terminal calculates the carrying quantity of the transmission drone based on the arrival time and the sampling completion schedule; The control sub-terminal allocates a sampling area corresponding to each transmission drone according to the sampling area division information and the number of vehicles carried by the transmission drone.

[0042] It should be noted that the sampling area corresponding to each transmission drone is grouped according to the number of transmission drones carried, and the positions of the sampling areas are matched in sequence until all sampling areas are allocated; As an example, when the sampling areas are divided into 16 (the positions are set from 1 to 16 in sequence) and the number of transmission drones is 4, then: the sampling areas assigned to the first transmission drone are ranked 1, 5, 9, and 13; the sampling areas assigned to the second transmission drone are ranked 2, 6, 10, and 14; the sampling areas assigned to the third transmission drone are ranked 3, 7, 11, and 15; the sampling areas assigned to the fourth transmission drone are ranked 4, 8, 12, and 16; on this basis, if the 17th sampling area is also included, since the first transmission drone is the first of the 4 transmission drones in the group, the 17th sampling area will be assigned to the first transmission drone.

[0043] In one embodiment of the present application, the specific process of "the control sub-terminal calculates the carrying quantity of the transmission drone based on the arrival time and the sampling completion schedule" can be further explained in combination with the following description.

[0044] As described in the following steps, the control sub-terminal determines the sampling area corresponding to the transmitting drone before returning and the sampling area corresponding to the next arrival based on the arrival time and the sampling completion schedule; The control sub-terminal calculates multiple groups of position differences based on the position of the sampling area corresponding to the flight before returning and the position of the sampling area corresponding to the flight when arriving again; The control sub-terminal determines the number of transmission drones to be carried based on the maximum value of the rank difference.

[0045] It should be noted that since the sampling area corresponding to the return flight and the sampling area corresponding to the next arrival can include multiple combinations, the corresponding positions can also have multiple combinations, so the calculated position difference also includes multiple groups. The maximum value of the position difference represents the number of transmission drones that need to be added to achieve the charging and transmission cycle of the transmission drone when there is only one transmission drone. For example, when the maximum value of the position difference is 4, the number of transmission drones that need to be added is 4, that is, the number of transmission drones carried can be 5.

[0046] In one embodiment of the present application, the sampling completion schedule includes: multiple sampling completion times arranged in sequence from early to late and corresponding to multiple sampling areas; the following description can be combined to further illustrate the specific process of "the control sub-terminal determines the sampling area corresponding to the transmission drone before returning and the sampling area corresponding to when it arrives again based on the arrival time and the sampling completion schedule."

[0047] As described in the following steps, the control sub-terminal determines the sampling area corresponding to the return flight according to the arrival time; The control sub-terminal sequentially compares the multiple arrival times with the multiple sampling completion times, and determines the first sampling completion time that the arrival time is no later than as the target sampling completion time; The control sub-terminal determines the corresponding sampling area when arriving again according to the target sampling completion time.

[0048] It should be noted that an arrival time no later than the sampling completion time means that when the transmission drone arrives at a sampling area, the sampling drone swarm has not yet completed sampling that sampling area. In this case, the transmission drone can be on standby in the air in advance to wait for the sampling drone swarm to complete sampling of the sampling area before transmitting map data. This avoids the situation where the sampling drone swarm completes sampling but there is no corresponding transmission drone to accompany the flight and transmit map data. Since multiple sampling completion times are sorted from earliest to latest, the first sampling completion time with the arrival time no later than is the target sampling completion time.

[0049] In a specific embodiment of the present application, refer to Figures 3-5 , Figure 3 The basic preset information of this specific embodiment is shown, including: drone speed (the sampling drone group is preset to have the same navigation speed as the transmission drone), the basic time interval between transmissions from the control terminal, and the flight time required for the transmission drone to complete the data transmission of a sampling area map; Figure 4The comparison table of arrival time and sampling completion time in this specific embodiment is shown. This specific embodiment divides the sampling blocks into 4×4 blocks and divides them into the following blocks: Figure 5 The sampling area numbering method and ground terminal deployment locations shown are used as examples; Reference Figure 4 , the sampling drone group completes the sampling of sampling area 1 at 0 minutes, the sampling drone group completes the sampling of sampling area 2 at 3.7 minutes, the sampling drone group completes the sampling of sampling area 3 at 7.4 minutes, and so on; If the sampling area ranking of the return is 1, it means that the transmission drone returning from sampling area 1 may arrive at any sampling area ranked 2 to 15 for sampling, and will not arrive at the sampling area ranked 1 for sampling again, so it is represented by "return"; If the sampling area of ​​the return flight is ranked 3, it means that the transmission UAV returning from sampling area 1 may arrive at any sampling area ranked 4 to 15 for sampling, and will not arrive at the sampling area ranked 3 for sampling again, so it is represented by "return flight", and will not arrive at the sampling areas ranked 1 to 2 for sampling, so it is represented by " / "; If the sampling area ranking of the return flight is 1, it can be calculated that the time of arrival at sampling areas 2, 3, 5, 8, 9, 12, 14, and 15 is 19.6 minutes, the time of arrival at sampling areas 4, 13, and 16 is 25.9 minutes, and the time of arrival at sampling areas 6, 7, 10, and 11 is 17.5 minutes; It can be found that when returning from sampling area 1 and arriving at sampling area 5, the arrival time is 19.6 minutes, while the corresponding sampling completion time is 14.8 minutes. The arrival time is later than the sampling completion time, that is, when arriving at the transmission drone, the sampling drone group has already completed the sampling of sampling area 5. The sampling drone group should not wait for the arrival of the transmission drone before transmitting data, that is, an additional transmission drone needs to be allocated to transmit the map data of sampling area 5 in time; therefore, when returning from sampling area 1 and arriving at sampling areas 2 to 5, an additional transmission drone needs to be allocated; However, when returning from sampling area 1 and arriving at sampling area 6, the arrival time is 17.5 minutes, and the corresponding sampling completion time is 18.5 minutes. The arrival time is no later than the sampling completion time, that is, when arriving at the transmission drone, the sampling drone group has not yet completed the sampling of sampling area 6. In other words, when the sampling drone group completes the sampling of sampling area 6, the transmission drone can immediately accompany it and transmit map data; it can be seen that sampling area 6 is the first sampling area that does not require additional allocation of transmission drones, and the sampling time corresponding to sampling area 6 is the target sampling completion time (18.5 minutes); therefore, for the transmission drone returning from sampling area 1, the ranking difference between sampling area 6 and sampling area 1 is 5, and the minimum number of drone cycles is 5; Similarly, when returning from sampling area 2 and arriving at sampling areas 3 and 4, an additional transmission drone needs to be assigned; and sampling area 5 is the first sampling area that does not require an additional transmission drone, and the sampling time corresponding to sampling area 5 is the target sampling completion time (14.8 minutes); therefore, for the transmission drone returning from sampling area 2, the ranking difference between sampling area 5 and sampling area 2 is 3; Similarly, when returning from sampling area 3 and arriving at sampling area 4, an additional transmission drone needs to be assigned; and sampling area 5 is the first sampling area that does not require an additional transmission drone, and the sampling time corresponding to sampling area 5 is the target sampling completion time (14.8 minutes); therefore, for the transmission drone returning from sampling area 3, the ranking difference between sampling area 4 and sampling area 3 is 1; Thus, multiple groups of rank differences can be obtained, thereby determining that the maximum rank difference is 5, and then determining that the minimum number of cycles of the drone is 5; the redundant number of transmission drones is calculated as 25% of the minimum number of cycles, and the redundant number is rounded down to 1, and the carrying number of transmission drones is calculated as 6 based on the sum of the minimum number of cycles and the redundant number, and the sampling area can be allocated based on 6 transmission drones.

[0050] In one embodiment of the present application, the specific process of "the control sub-terminal determines the carrying quantity of the transmission drone based on the maximum value of the position difference" can be further explained in combination with the following description.

[0051] As described in the following steps, the control sub-terminal determines the minimum number of cycles of the transmission drone according to the maximum value of the position difference; The control sub-terminal calculates the redundant number of the transmission drones based on the minimum cycle number of the transmission drones; The control sub-terminal calculates the carrying quantity of the transmission drone based on the minimum cycle quantity and redundant quantity of the transmission drone.

[0052] It should be noted that the carrying quantity of the transmission drone can be the sum of the minimum cycle quantity and the redundant quantity of the transmission drone, and the redundant quantity of the transmission drone can be set to 25% of the minimum cycle quantity (rounded down).

[0053] As an example, corresponding sampling areas can be allocated to transmission drones based on the minimum number of cycles of the transmission drones. Setting the redundant number of the transmission drones can ensure that when a transmission drone encounters an emergency during flight, another transmission drone can fly to the sampling drone group to transmit map data, so as to execute the same flight plan as the transmission drone where the accident occurred.

[0054] As an example, corresponding sampling areas can be allocated to transmission drones based on the number of items they carry. Compared with allocating sampling areas based on the minimum number of cycles, each transmission drone can be guaranteed to have a longer charging and data transmission time.

[0055] The above is a description of the method embodiment of the present application. As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the partial description of the method embodiment.

[0056] Reference Figure 6 , shows a three-dimensional map construction device based on multi-machine collaboration provided by an embodiment of the present application, the device is used to construct three-dimensional map data of a target area through the cooperation of multiple drones; the device includes a ground terminal, a sampling drone group for collecting map data, and a transmission drone for obtaining map data from the sampling drones and transporting it to the ground terminal during the map data collection process; the ground terminal includes a control sub-terminal and a calculation sub-terminal for constructing a three-dimensional map from the sampling data; The device comprises: The target area information processing module 610 is configured to, upon receiving the target area information, determine sampling area division information based on the target area information and preset sampling area information, determine the deployment location of the ground terminal based on the target area information, and generate a sampling route corresponding to the sampling drone group based on the sampling area division information; A sampling area allocation module 620 is configured to determine the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone; The flight plan generation module 630 is used to generate a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset location based on the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset location based on the first flight plan.

[0057] In one embodiment of the present application, the target area information includes: target area area information and target area location information; the sampling area division information includes: sampling area quantity information and sampling area location information; the target area information processing module 610 includes: A sampling area quantity information calculation submodule, configured to calculate the sampling area quantity information based on the target area area information and preset sampling area area information; A sampling area location information calculation submodule, configured to calculate the sampling area location information based on the target area location information and the sampling area quantity information; A target area road information search submodule is used to search for corresponding target area road information according to the target area location information; A deployment location determination submodule, configured to determine the deployment location of the ground terminal based on the target area location information and the target area road information; The sampling route generation submodule is used to generate a sampling route corresponding to the sampling drone group based on the sampling area location information.

[0058] In one embodiment of the present application, the deployment location determination submodule includes: an open point set search unit, configured to search for an open point set in a target area based on the target area road information; a maximum distance calculation unit, configured to calculate the maximum distances from a plurality of open points to the edge of the target area according to the open point set and the target area position information; a target open point determination unit, configured to sort the plurality of longest distances and determine the open point with the shortest longest distance as the target open point; A deployment position determining unit is used to determine the deployment position of the ground terminal according to the target open point.

[0059] In one embodiment of the present application, the sampled travel route generation submodule includes: An internal route determination unit is used to determine the entry position, exit position and internal route of each sampling area based on the sampling area position information; wherein the exit position of the previous sampling area is the same as the entry position of the next adjacent sampling area; The sampling route generating unit is used to connect the internal routes of each sampling area in series according to the entry position and the exit position to generate a sampling route corresponding to the sampling drone group.

[0060] In one embodiment of the present application, the sampling area allocation module 620 includes: an arrival time calculation submodule, configured to calculate the arrival time of the transmission drone corresponding to returning from each sampling area and arriving at the sampling area again based on the sampling area division information, the deployment location, and the charging efficiency; A sampling completion schedule calculation submodule, configured to calculate a sampling completion schedule corresponding to each sampling area of ​​the sampling drone group based on the sampling area division information; A carrying quantity calculation submodule, configured to calculate the carrying quantity of the transmission drone based on the arrival time and the sampling completion schedule; The sampling area allocation submodule is used to allocate the sampling area corresponding to each transmission drone according to the sampling area division information and the number of transmission drones carried.

[0061] In one embodiment of the present application, the carrying quantity calculation submodule includes: A return and arrival sampling area determination unit, configured to determine the sampling area corresponding to the transmitting drone before returning and the sampling area corresponding to the transmitting drone upon re-arrival based on the arrival time and the sampling completion schedule; A position difference calculation unit is used to calculate multiple groups of position differences based on the position of the sampling area corresponding to the flight before returning and the position of the sampling area corresponding to the flight upon re-arrival; A carrying quantity determination unit is used to determine the carrying quantity of the transmission drone based on the maximum value of the ranking difference.

[0062] In one embodiment of the present application, the sampling completion schedule includes: a plurality of sampling completion times arranged in sequence from early to late and corresponding to a plurality of sampling areas; the return and arrival sampling area determination unit includes: A return sampling area determination subunit is used to determine the sampling area corresponding to the return flight according to the arrival time; A target sampling completion time determination subunit is used to sequentially compare multiple arrival times and multiple sampling completion times, and determine the first sampling completion time that is no later than the arrival time as the target sampling completion time; The arrival sampling area determination subunit is used to determine the corresponding sampling area when arriving again according to the target sampling completion time.

[0063] In one embodiment of the present application, the carrying quantity determination unit includes: a minimum cycle number determination subunit, configured to determine the minimum cycle number of the transmission drone according to the maximum value of the position difference; A redundant number calculation subunit, configured to calculate the redundant number of the transmission drones according to the minimum cycle number of the transmission drones; The carrying quantity calculation subunit is used to calculate the carrying quantity of the transmission drone based on the minimum cycle quantity and redundant quantity of the transmission drone.

[0064] Reference Figure 7 , shows a block diagram of a computer device provided in an embodiment of the present application. The computer device 12 is suitable for implementing the embodiments of the present invention and may specifically include the following: Computer device 12 is implemented as a general-purpose computing device. Components of computer device 12 may include, but are not limited to, one or more processing units 16, system memory 28, and a bus 18 connecting various system components (including system memory 28 and processing units 16). Computer device 12 may be a device connected to the bus.

[0065] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0066] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0067] System memory 28 may include computer system readable media in the form of volatile memory, such as RAM 30 (random access memory) and / or cache 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be configured to read and write to non-removable, non-volatile magnetic media (commonly referred to as a "hard drive"). Although Figure 7 Although not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), as well as an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0068] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methodologies of the embodiments described herein.

[0069] The computer device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, a pointing device, a display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed through an I / O interface 22 (input / output interface). Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network (e.g., the Internet)) through a network adapter 20. Figure 7 As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. Figure 7 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0070] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing a three-dimensional map construction method based on multi-machine collaboration provided by any embodiment of the present invention.

[0071] That is, when the program is executed by the processor, the following is achieved: when receiving the target area information, the control sub-terminal determines the sampling area division information based on the target area information and the preset sampling area area information, determines the deployment position of the ground terminal based on the target area information, and generates a sampling route corresponding to the sampling drone group based on the sampling area division information; The control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone; The control sub-terminal generates a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset position according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset position according to the first flight plan.

[0072] The computer device 12 is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0073] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a three-dimensional map construction method based on multi-machine collaboration as provided in any embodiment of the present application is implemented.

[0074] That is, when the program is executed by the processor, the following is achieved: when receiving the target area information, the control sub-terminal determines the sampling area division information based on the target area information and the preset sampling area area information, determines the deployment position of the ground terminal based on the target area information, and generates a sampling route corresponding to the sampling drone group based on the sampling area division information; The control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone; The control sub-terminal generates a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset position according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset position according to the first flight plan.

[0075] Computer storage media can take the form of any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, RAM, read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0076] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0077] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0078] The computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a LAN or WAN, or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0079] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0080] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0081] The above is a detailed introduction to the three-dimensional map construction method and device based on multi-machine collaboration provided by this application. Specific examples are used in this article to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method of this application and its core ideas. At the same time, for technical personnel in this field, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this application.

Claims

1. A three-dimensional map construction method based on multi-machine collaboration, characterized in that: The method is used to construct three-dimensional map data of a target area through the cooperation of multiple drones; the method involves a ground terminal, a sampling drone group for collecting map data, and a transmission drone for obtaining map data from the sampling drones and transporting it to the ground terminal during the map data collection process; the ground terminal includes a control sub-terminal and a calculation sub-terminal for constructing a three-dimensional map from the sampling data; The method comprises: When receiving the target area information, the control sub-terminal determines sampling area division information according to the target area information and preset sampling area information, determines the deployment position of the ground terminal according to the target area information, and generates a sampling route corresponding to the sampling drone group according to the sampling area division information; The control sub-terminal determines the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone; The control sub-terminal generates a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset position according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset position according to the first flight plan.

2. The method according to claim 1, characterized in that The target area information includes: target area area information and target area location information; the sampling area division information includes: sampling area quantity information and sampling area location information; the control sub-terminal determines the sampling area division information based on the target area information and preset sampling area information, determines the deployment position of the ground terminal based on the target area information, and generates a sampling route corresponding to the sampling drone group based on the sampling area division information, including: The control sub-terminal calculates the number of sampling areas according to the target area information and the preset sampling area information; The control sub-terminal calculates the sampling area location information based on the target area location information and the sampling area quantity information; The control sub-terminal searches for corresponding target area road information based on the target area location information; The control sub-terminal determines the deployment position of the ground terminal according to the target area location information and the target area road information; The control sub-terminal generates a sampling route corresponding to the sampling drone group based on the sampling area location information.

3. The method according to claim 2, characterized in that The step of controlling the sub-terminal to determine the deployment location of the ground terminal based on the target area location information and the target area road information includes: The control sub-terminal searches for an open point set in the target area based on the target area road information; The control sub-terminal calculates the maximum distances from a plurality of open points to the edge of the target area according to the open point set and the target area location information; The control sub-terminal sorts the plurality of longest distances and determines the open point with the shortest longest distance as the target open point; The control sub-terminal determines the deployment position of the ground terminal according to the target open point.

4. The method according to claim 2, characterized in that The step of the control sub-terminal generating a sampling route corresponding to the sampling drone group according to the sampling area location information includes: The control sub-terminal determines the entry position, exit position and internal travel route of each sampling area based on the sampling area position information; wherein the exit position of the previous sampling area is the same as the entry position of the next adjacent sampling area; The control sub-terminal connects the internal travel routes of each sampling area in series according to the entry position and the exit position to generate a sampling travel route corresponding to the sampling drone group.

5. The method according to claim 1, wherein The control sub-terminal determines the number of transmission drones carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location, and the charging efficiency of the transmission drone, including: The control sub-terminal calculates the arrival time of the transmission drone corresponding to returning from each sampling area and arriving at the sampling area again based on the sampling area division information, the deployment location and the charging efficiency; The control sub-terminal calculates a sampling completion schedule corresponding to each sampling area of ​​the sampling drone group based on the sampling area division information; The control sub-terminal calculates the carrying quantity of the transmission drone based on the arrival time and the sampling completion schedule; The control sub-terminal allocates a sampling area corresponding to each transmission drone according to the sampling area division information and the number of vehicles carried by the transmission drone.

6. The method according to claim 5, characterized in that The step of the control sub-terminal calculating the carrying quantity of the transmission drone according to the arrival time and the sampling completion schedule includes: The control sub-terminal determines the sampling area corresponding to the transmitting drone before returning and the sampling area corresponding to the transmitting drone when it arrives again based on the arrival time and the sampling completion schedule; The control sub-terminal calculates multiple groups of position differences based on the position of the sampling area corresponding to the flight before returning and the position of the sampling area corresponding to the flight when arriving again; The control sub-terminal determines the number of transmission drones to be carried based on the maximum value of the rank difference.

7. The method according to claim 6, characterized in that The sampling completion schedule includes: a plurality of sampling completion times that are sequentially arranged from early to late and correspond to a plurality of sampling areas; the control sub-terminal determines, based on the arrival time and the sampling completion schedule, the sampling area corresponding to the transmitting drone before returning and the sampling area corresponding to the transmitting drone when it arrives again, including: The control sub-terminal determines the sampling area corresponding to the return flight according to the arrival time; The control sub-terminal sequentially compares the multiple arrival times with the multiple sampling completion times, and determines the first sampling completion time that the arrival time is no later than as the target sampling completion time; The control sub-terminal determines the corresponding sampling area when arriving again according to the target sampling completion time.

8. The method according to claim 6, characterized in that The step of determining, by the control sub-terminal, the number of transmission drones carried according to the maximum value of the order difference comprises: The control sub-terminal determines the minimum number of cycles of the transmission drone according to the maximum value of the position difference; The control sub-terminal calculates the redundant number of the transmission drones based on the minimum cycle number of the transmission drones; The control sub-terminal calculates the carrying quantity of the transmission drone based on the minimum cycle quantity and redundant quantity of the transmission drone.

9. A three-dimensional map construction device based on multi-machine collaboration, characterized in that: The device is used to construct three-dimensional map data of a target area through the cooperation of multiple drones; the device includes a ground terminal, a sampling drone group for collecting map data, and a transmission drone for obtaining map data from the sampling drones and transporting it to the ground terminal during the map data collection process; the ground terminal includes a control sub-terminal and a calculation sub-terminal for constructing a three-dimensional map from the sampling data; The device comprises: a target area information processing module, configured to, upon receiving target area information, determine sampling area division information based on the target area information and preset sampling area area information, determine a deployment position of the ground terminal based on the target area information, and generate a sampling route corresponding to the sampling drone group based on the sampling area division information; A sampling area allocation module is used to determine the number of transmission drones to be carried and the sampling area corresponding to each transmission drone based on the sampling area division information, the deployment location and the charging efficiency of the transmission drone; A flight plan generation module is used to generate a first flight plan corresponding to each transmission drone and a second flight plan corresponding to the sampling drone group based on the sampling route and the sampling area corresponding to each transmission drone; the sampling drone group is used to collect map data and transmit data with the corresponding transmission drone at a preset position according to the second flight plan; the transmission drone is used to transmit data with the sampling drone group at a preset position according to the first flight plan.

10. A computer device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method according to any one of claims 1 to 8 when executed by the processor.

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