A method and system for surveying by a UAV, and a readable storage medium

Abstract

The application relates to the field of unmanned aerial vehicle surveying and mapping, in particular to an unmanned aerial vehicle surveying and mapping method, a surveying and mapping system and a readable storage medium. The unmanned aerial vehicle surveying and mapping method comprises the following steps: acquiring a satellite image of a region to be surveyed and mapping and dividing a plurality of grid regions on the satellite image; determining a plurality of wind direction parameters and a plurality of second wind speed information of the region to be surveyed according to the satellite image; acquiring a first route and a second route according to the satellite image; respectively calculating first estimated energy consumption and second estimated energy consumption according to the first route, the second route, the second wind speed information and the wind direction parameters and comparing the sizes of the first estimated energy consumption and the second estimated energy consumption; if the first estimated energy consumption is greater than the second estimated energy consumption, a first route command is sent; and if the first estimated energy consumption is smaller than the second estimated energy consumption, a second route command is sent. The application has the effect that a route with small energy consumption can be selected according to actual conditions.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) mapping, and in particular to an UAV mapping method, mapping system, and readable storage medium. Background Technology

[0002] Unmanned aerial vehicle (UAV) surveying is a powerful supplement to traditional surveying methods, characterized by high efficiency, speed, precision, accuracy, low operating costs, and wide applicability. UAVs measure existing feature points and boundaries on the ground to obtain graphic and location information reflecting the current state of the ground, and the acquired geological information is stored in the national geographic information database.

[0003] In related technologies, during surveying, the surveying route is planned in advance, and the drone follows the corresponding route. During surveying, photos taken by the drone at a constant speed have a low overlap between adjacent photos, improving data collection efficiency. When the drone encounters strong winds, the operator adjusts its flight direction to face or turn away from the wind, reducing wind blowing from the sides. When the drone faces the wind, maintaining a constant speed requires adjusting its flight speed to use its kinetic energy to counteract wind energy.

[0004] To maintain a low repetition rate between adjacent photos taken by a drone, it must maintain a constant speed. This requires the drone to consume a lot of kinetic energy to resist wind energy; otherwise, the speed will be reduced due to wind resistance, resulting in excessive repetition between adjacent photos taken by the drone, leading to low data processing efficiency for staff. Summary of the Invention

[0005] To improve the efficiency of staff in processing drone-captured image data, this application provides a drone mapping method, mapping system, and readable storage medium.

[0006] Firstly, this application provides a UAV mapping method, which adopts the following technical solution:

[0007] A method for UAV mapping includes the following steps:

[0008] Acquire satellite images of the area to be mapped and the parameters of a single photo taken by the UAV, and divide the satellite image of the area to be mapped into multiple grid regions based on the parameters of the single photo.

[0009] Based on the satellite image, multiple wind direction parameters and wind speed parameters of the area to be mapped are determined. The wind speed parameters include multiple first wind speed information, each of which represents the wind speed information of a single grid area. The wind direction parameters and the first wind speed information of a single grid area are in one-to-one correspondence.

[0010] A grid area location is obtained based on the satellite image, and this grid area location is used as the starting point location for UAV mapping.

[0011] A predicted mapping route is generated based on the starting point location. The predicted mapping route includes a first route and a second route. The first route is a winding route formed by splicing together multiple first road segments. Each first road segment is a straight line segment composed of multiple sequentially adjacent grid areas. The second route is a winding route formed by splicing together multiple second road segments. Each second road segment is a straight line segment composed of multiple sequentially adjacent grid areas. The lengths of the first road segments and the second road segments are different.

[0012] Based on the first route and the first wind speed and wind direction parameters corresponding to the first route, a first estimated energy consumption is calculated. Based on the second route and the first wind speed and wind direction parameters corresponding to the second route, a second estimated energy consumption is calculated. The first estimated energy consumption represents the estimated energy consumption required for the UAV to fly on the first route, and the second estimated energy consumption represents the estimated energy consumption required for the UAV to fly on the second route. The magnitudes of the first estimated energy consumption and the second estimated energy consumption are compared.

[0013] If the first estimated energy consumption is greater than the second estimated energy consumption, then a first route instruction is generated and a command to execute the first route instruction is sent to the UAV.

[0014] If the first estimated energy consumption is less than the second estimated energy consumption, a second route instruction is generated and a command to execute the second route instruction is sent to the UAV.

[0015] The wind speed parameters include second wind speed information, which represents the overall wind speed information of the area to be mapped. The calculation methods for the first estimated energy consumption and the second estimated energy consumption include the following steps:

[0016] Based on the second wind speed information, the wind speed value of the area to be measured is obtained, and the magnitude of the wind speed value of the area to be measured and the preset wind speed value are determined.

[0017] If the wind speed value of the area to be measured is less than the preset wind speed value, then the first energy consumption ratio of the grid area constituting the first route is calculated based on the first route and the first wind speed information and wind direction parameters corresponding to the first route, and the first energy consumption ratio is used as the first estimated energy consumption.

[0018] Based on the second route and the first wind speed and wind direction parameters corresponding to the second route, the second energy consumption ratio of the grid area constituting the second route is calculated, and the second energy consumption ratio is used as the second estimated energy consumption.

[0019] If the wind speed value of the area to be measured is greater than the preset wind speed value, the first energy consumption of each grid area corresponding to the first route is calculated based on the first route, the first wind speed information and wind direction parameters corresponding to the first route, and the first estimated energy consumption is based on each first energy consumption corresponding to the first route and the preset basic energy consumption.

[0020] The second energy consumption of each grid area corresponding to the second route is calculated based on the second route and the first wind speed information and wind direction parameters corresponding to the second route. The second estimated energy consumption is based on each second energy consumption of the second route and the preset basic energy consumption.

[0021] The calculation of the first energy consumption ratio of the grid area constituting the first route based on the first route and the first wind speed and wind direction parameters corresponding to the first route includes the following steps:

[0022] Multiple first flight prediction directions are generated based on the first route, and each of the multiple first flight prediction directions corresponds one-to-one with a grid region constituting the first route;

[0023] Based on the first flight prediction direction and wind direction parameters, the first headwind region and the first tailwind region in multiple grid areas of the first route are obtained, and the number of the first headwind region and the number of the first tailwind region are recorded respectively.

[0024] The first headwind ratio of the first route is obtained based on the number of the first headwind areas and the number of the first tailwind areas, and the first headwind ratio of the first route is used as the first energy consumption ratio of the first route.

[0025] The step of obtaining the number of first headwind regions and the number of first tailwind regions in multiple grid areas of the first route based on the first flight prediction direction and wind direction parameters includes the following steps:

[0026] The grid areas of the first route are sequentially obtained as the first temporary area, and the wind direction parameters corresponding to the first temporary area and the corresponding first flight prediction direction are used to determine whether the first temporary area is downwind.

[0027] If the wind direction parameter corresponding to the first temporary area is in the same direction as the corresponding first flight prediction direction, it means that the first temporary area is downwind relative to the drone, and the first temporary area is marked as the first downwind area; otherwise, the first temporary area is marked as the first headwind area.

[0028] Record the number of the first downwind regions based on the marked first downwind regions;

[0029] Record the number of the first headwind regions based on the marked first headwind regions.

[0030] The first energy consumption of each grid area corresponding to the first route is calculated based on the first route and the first wind speed and wind direction parameters corresponding to the first route, including the following steps:

[0031] The grid areas of the first route are obtained sequentially, and the first wind speed information and wind direction parameters corresponding to the grid areas are obtained.

[0032] The estimated flight time is obtained based on the preset mapping speed and the grid area corresponding to the first route;

[0033] The estimated first energy consumption is obtained based on the estimated flight time and the first wind speed information.

[0034] The first energy consumption includes an increase in energy consumption and a decrease in energy consumption. The step of using the first energy consumption corresponding to each of the first routes and a preset base energy consumption as the first estimated energy consumption includes the following steps:

[0035] The grid areas of the first route are obtained sequentially, and it is determined whether the grid area belongs to the first tailwind area based on the first flight prediction direction and wind direction parameters corresponding to the grid area.

[0036] If the grid area does not belong to the first downwind area, the first energy consumption is the additional energy consumption, and the first energy consumption is added to the basic energy consumption as the first estimated energy consumption;

[0037] If the grid area belongs to the first downwind area, the wind speed value of the grid area is obtained based on the first wind speed information corresponding to the grid area, and it is determined whether the wind speed value of the grid area is higher than the preset wind speed value.

[0038] If the wind speed value in the grid area is higher than the preset wind speed value, then the first energy consumption is the additional energy consumption, and the first energy consumption is added to the basic energy consumption as the first estimated energy consumption.

[0039] If the wind speed in the grid area is lower than the preset wind speed, the first energy consumption is a reduction amount, and the first energy consumption is subtracted from the basic energy consumption to obtain the first estimated energy consumption.

[0040] Secondly, this application provides a surveying system that executes an unmanned aerial vehicle (UAV) surveying method, employing the following technical solution:

[0041] A surveying system, comprising:

[0042] The data acquisition module is used to acquire satellite images of the area to be mapped and parameters of a single photo of the UAV. The data acquisition module is also used to divide the satellite images of the area to be mapped into multiple grid areas, determine multiple wind direction parameters and wind speed parameters of the area to be mapped based on the satellite images, and acquire the starting point position.

[0043] The data generation module and the data analysis module are used to generate a predicted mapping route based on the starting point location;

[0044] The data calculation module is used to calculate a first estimated energy consumption based on the first route and the first wind speed information and wind direction parameters corresponding to the first route, and the data calculation module is used to calculate a second estimated energy consumption based on the second route and the first wind speed information and wind direction parameters corresponding to the second route.

[0045] The data analysis module is used to compare the magnitudes of the first estimated energy consumption and the second estimated energy consumption.

[0046] If the first estimated energy consumption is greater than the second estimated energy consumption, the data processing module generates a first route instruction and sends a command to the UAV to execute the first route instruction.

[0047] If the first estimated energy consumption is less than the second estimated energy consumption, the data processing module generates a second route instruction and sends a command to the drone to execute the second route instruction.

[0048] Thirdly, this application provides a readable storage medium, which adopts the following technical solution:

[0049] It stores a computer program that can be loaded by a processor and executed to map a UAV mapping method for the system.

[0050] The UAV mapping method, mapping system, and readable storage medium provided in this application embodiment can obtain the wind speed and wind direction of the area to be mapped based on the second wind speed information and wind direction parameters of the area to be mapped. By comparing and judging the wind speed and wind direction of the area to be mapped, the first estimated energy consumption and the second estimated energy consumption of the first route and the second route in the area to be mapped are calculated. By comparing the estimated energy consumption of the first route and the second route, the route with the lower estimated energy consumption is selected based on actual calculation. While ensuring the overlap between the UAV photos and adjacent photos, the route with the lower energy consumption is selected, thereby improving the processing efficiency of the UAV photos by the staff. Attached Figure Description

[0051] Figure 1 This is a flowchart of the drone's aerial surveying process.

[0052] Figure 2 This is a schematic diagram of the structure of the area to be measured in one embodiment.

[0053] Figure 3 This is a schematic diagram of the first route and the structure of the area to be surveyed in one embodiment.

[0054] Figure 4 This is a schematic diagram of the second route and the structure of the area to be surveyed in one embodiment. Detailed Implementation

[0055] The present application will be further described in detail below with reference to the accompanying drawings.

[0056] When using drones for aerial surveying, it's crucial to maintain a constant surveying speed. This minimizes the overlap between adjacent photos and ensures the entire surveyed area is captured. Low overlap improves the efficiency of image processing. Before surveying, the drone's processor plans its flight path based on weather conditions and sends this plan to the drone's controller. Upon receiving this information, the controller directs the drone to fly along the calculated route, taking photos at regular intervals and storing them.

[0057] However, since the external weather conditions have a great influence on the flight status of drones during mapping, the total area to be mapped is first determined, satellite cloud images of the total area to be mapped are obtained, the satellite cloud images of the total area to be mapped are analyzed, the weather conditions for the next period of time are estimated, the external wind speed of the total area to be mapped is obtained and compared with the preset maximum wind speed, which represents the maximum wind speed that the drone can face when it can fly normally.

[0058] If the external wind speed of the total area to be surveyed is greater than the preset maximum wind speed, the drone should not be used for surveying. This is because the drone will not be able to maintain normal flight when faced with such wind speed, and may even be blown over by the wind, resulting in a crash and economic losses. Therefore, when the external wind speed of the total area to be surveyed is greater than the preset maximum wind speed, the surveying task can be postponed.

[0059] Assuming the external wind speed of the total area to be surveyed is equal to the preset maximum wind speed, it is necessary to determine whether the external wind speed is consistently equal to the preset maximum wind speed. If the external wind speed is consistently equal to the preset maximum wind speed, it is not advisable to fly at this time. This is because if the wind direction is opposite to the drone's flight direction, the drone will need to resist the wind force, consuming a lot of energy, which may lead to excessive energy consumption and failure to complete the surveying task. If the wind direction is the same as the drone's flight direction, the drone will need to resist the wind force in the opposite direction to maintain the surveying speed, thus consuming kinetic energy, which will also lead to excessive energy consumption and failure to complete the surveying task.

[0060] Assuming that the external wind speed of the total area to be surveyed is less than the preset maximum wind speed, the UAV is suitable for surveying within the total area to be surveyed. However, the kinetic energy consumption of the UAV during surveying still needs to be considered. Therefore, in order to reduce the kinetic energy consumption of the UAV during surveying, this application discloses a UAV surveying method.

[0061] A UAV mapping method, referring to Figure 1 The process includes the following steps: S100, acquiring satellite images of the area to be mapped and the parameters of a single photo of the UAV, and dividing multiple grid areas on the satellite image of the area to be mapped based on the parameters of the single photo.

[0062] The area to be surveyed represents the area that the drone needs to photograph. The selection of the area to be surveyed can be based on the drone model. If the drone has a long flight time, the area to be surveyed can be expanded appropriately. If the drone has a short flight time, the area to be surveyed can be reduced accordingly.

[0063] It's important to note that weather conditions are crucial for drone mapping. Since drones are affected by wind direction, the mapping area should be selected based on wind speed and direction within the overall area to be mapped. If the weather is calm for some time, the mapping area can be expanded. Conversely, if the weather is consistently windy with varied wind directions, areas with relatively uniform wind direction should be selected from the overall area to be mapped.

[0064] The area to be surveyed is not necessarily a regular rectangle; it can be an irregular area. Figure 2 In this embodiment, the irregular region a is supplemented into a regular rectangle b, and rectangle b is used as the range of the rectangular area to be measured in this embodiment.

[0065] The parameters for a single photo include the photo size corresponding to the drone and the drone's shooting altitude. The photo size represents the size of the photo taken by the drone, and the drone's shooting altitude represents the drone's height relative to the ground when taking the photo. When recording data, staff will record the photo size and shooting altitude taken by the drone. The aerial photography scale represents the ratio between the size of the photo taken by the drone and the actual size of the ground. The actual ground size corresponding to the photo is calculated using the aerial photography scale.

[0066] It should be noted that different drone models produce photos with different scales. In order to ensure clearer photos, drones with higher resolution are selected for surveying. Higher resolution photos result in clearer images, making the data more accurate when the staff processes the data.

[0067] For example, assuming the drone's aerial photography scale is 1:5000, which means that 1 centimeter in the image corresponds to 500 meters of actual ground length, the actual size of the ground can be obtained from a single photo taken by the drone by using the scale of the photo, thereby enabling data recording of the area in the single photo.

[0068] Satellite imagery is image data obtained by photographing or scanning ground features using equipment such as cameras, television cameras, and multispectral scanners. This image data is stored in advance in a backend database and is updated in real time. The processor pre-plans the area to be mapped for the UAV, and then retrieves satellite images of that area from the backend database. The satellite images include satellite cloud images of the area to be mapped. Through satellite cloud images, images of cloud cover and surface features on Earth can be observed. Using satellite cloud images, different weather systems can be identified, weather conditions in the area can be determined, and the intensity and development trend of the weather can be predicted.

[0069] Satellite images of the area to be mapped are generated by plotting the total actual ground dimensions according to the satellite scale. Therefore, when dividing the satellite image of the area to be mapped into multiple grid regions, the following steps are included:

[0070] S110, first calculate the total actual ground size based on the satellite image of the area to be mapped according to the satellite scale.

[0071] S120, then based on the actual ground area corresponding to the parameters of a single photo, the total actual ground size corresponding to the satellite image of the area to be mapped is divided into multiple regions.

[0072] S130, then calculate multiple grid areas based on the aerial photography scale.

[0073] It should be noted that the actual ground size corresponding to a single grid area should be equal to the actual ground size corresponding to the parameters of a single photograph.

[0074] S200 determines multiple wind direction parameters and wind speed parameters of the area to be mapped based on satellite images. The wind speed parameters include multiple first wind speed information, and the wind direction parameters and first wind speed information of a single grid area are in one-to-one correspondence.

[0075] The wind direction parameter is represented by the wind direction data of multiple grid areas within the area to be mapped by the UAV, while the first wind speed information is represented by the wind speed data of a single grid area. The wind direction and wind speed data of each grid area within the area to be mapped are one-to-one, which means that each grid area within the area to be mapped has its own corresponding wind direction parameter and first wind speed information.

[0076] Determining multiple wind direction parameters and wind speed parameters for multiple areas to be mapped based on satellite imagery includes the following steps:

[0077] S210: Based on the area to be measured, obtain the corresponding area in the satellite image; based on the satellite image in the area to be measured, identify the satellite cloud image; based on the satellite cloud image of the area to be measured, identify the cloud cluster image; determine the rotation direction and moving speed of the cloud cluster image; obtain the wind speed parameter based on the moving speed of the cloud cluster; and obtain the wind direction parameter based on the rotation direction of the cloud cluster image.

[0078] S220: After obtaining the cloud image, since clouds vary in shape, the cloud outline can be acquired. Then, according to the cutting position of the cloud, the tangents of the cloud outline are acquired sequentially from near to far. The rotation direction of the cloud image is determined based on the changes in the tangents of the cloud outline. The cloud image will move in the sky due to wind, so the wind speed parameter in the area to be measured is determined by the speed at which the cloud moves in the sky.

[0079] It should be noted that the cloud cutting position can be selected to be located within the area to be mapped or to be located outside the area to be mapped. The cloud is cut based on this position to obtain the rotation direction of the cloud image. The wind direction is marked according to the actual location of the cloud.

[0080] The S300 obtains the location of a grid area based on satellite imagery and uses this grid area location as the starting point for UAV mapping.

[0081] The grid area location refers to the position of one of multiple grid areas, while the starting point location represents the starting position of the UAV's flight survey of the area to be surveyed. Specifically, the grid area location is generally selected first from the grid areas surrounding the area to be surveyed, and then the grid area location that is downwind relative to the UAV is obtained based on wind direction parameters as the UAV's starting point location.

[0082] For example, combining Figure 3 and Figure 4 Assuming the satellite image of the area to be mapped is a rectangular image, the four corner grid areas of the rectangle are named grid area A, grid area B, grid area C, and grid area D. The wind direction of grid area A, grid area B, grid area C, and grid area D is obtained based on multiple wind direction parameters. The selection criteria for the starting point are based on the wind direction of the area being consistent with that of the area, or the area where the wind direction has little impact on the flight direction of the UAV in that area. In this embodiment, grid area A is selected as the starting point.

[0083] S400 generates a predicted mapping route based on the starting point location. The predicted mapping route includes a first route and a second route.

[0084] The first route is a winding route formed by splicing together multiple first segments, and the first segment is a straight segment composed of multiple adjacent grid areas. The second route is a winding route formed by splicing together multiple second segments, and the second segment is a straight segment composed of multiple adjacent grid areas. The first and second segments have different lengths.

[0085] It should be noted that there are multiple scenarios for selecting the predicted mapping route. Multiple routes can be chosen as the predicted mapping route. Once the starting position of the UAV in the area to be mapped is determined, the UAV will either travel in the direction it is facing towards the area, or travel perpendicular to its direction of flight. In this embodiment... Figure 3 Route 1, marked in the image, is the first route. Figure 4 Route 2, marked in the diagram, is the second route. To better select these two routes, a predicted mapping route is obtained based on the starting point location. The predicted mapping route includes the first route and the second route, and the directions of the first route and the second route are perpendicular.

[0086] S500 calculates the first estimated energy consumption based on the first route and the first wind speed information and wind direction parameters corresponding to the first route, calculates the second estimated energy consumption based on the second route and the first wind speed information and wind direction parameters corresponding to the second route, and compares the magnitude of the first estimated energy consumption and the second estimated energy consumption.

[0087] The first estimated energy consumption is the estimated energy consumption required for the UAV to fly along the first route, and the second estimated energy consumption is the estimated energy consumption required for the UAV to fly along the second route.

[0088] S600: If the first estimated energy consumption is greater than the second estimated energy consumption, a first route instruction is generated and a command to execute the first route instruction is sent to the drone. If the first estimated energy consumption is less than the second estimated energy consumption, a second route instruction is generated and a command to execute the second route instruction is sent to the drone.

[0089] The first route command is a command generated by the processor and sent to the UAV control system, and the second route command is a command generated by the processor and sent to the UAV control system. When the processor calculates that the first estimated energy consumption is greater than the second estimated energy consumption, it generates the first route command and sends it to the UAV control system to execute the first route command. After receiving the command, the UAV will fly along the first route when performing mapping. Otherwise, the processor generates the second route command and sends it to the UAV control system to execute the second route command. After receiving the command, the UAV will fly along the second route when performing mapping.

[0090] When a drone is flying, the overall wind speed information of the area to be mapped affects the drone's energy consumption during mapping. In order to enable the drone to select the optimal flight route, when estimating the predicted mapping route based on the starting point location, it is necessary to filter the first and second predicted mapping routes to enable the drone to complete the mapping task with minimal energy consumption. The wind speed parameter also includes the second wind speed information. The calculation of the first and second estimated energy consumption includes the following steps:

[0091] S700 obtains the wind speed value of the area to be measured based on the second wind speed information, and determines the magnitude of the wind speed value of the area to be measured compared with the preset wind speed value.

[0092] The second wind speed information represents the overall wind speed information of the area to be mapped. This second wind speed information is also calculated according to step S200.

[0093] S800, if the wind speed value of the area to be measured is less than the preset wind speed value, then the first energy consumption ratio of the grid area constituting the first route is calculated based on the first route and the first wind speed information and wind direction parameters corresponding to the first route, and the first energy consumption ratio is used as the first estimated energy consumption; the second energy consumption ratio of the grid area constituting the second route is calculated based on the second route and the first wind speed information and wind direction parameters corresponding to the second route, and the second energy consumption ratio is used as the second estimated energy consumption.

[0094] The first energy consumption ratio represents the energy consumption of the UAV when it travels on the first route and reaches the non-tailwind area of ​​the first route, relative to the total energy consumption of the entire surveying area. The second energy consumption ratio represents the energy consumption of the UAV when it travels on the second route and reaches the non-tailwind area of ​​the second route, relative to the total energy consumption of the entire surveying area.

[0095] It should be noted that the wind speed value in the area to be measured is less than the preset wind speed value. However, the wind speed value in the area to be measured has little impact on the drone. In this case, in order to better select the drone's mapping route, the drone's mapping route can be selected by comparing the first energy consumption ratio and the second energy consumption ratio of the grid area constituting the first route and the grid area constituting the second route.

[0096] Based on the first route and the corresponding first wind speed and wind direction parameters, the first energy consumption ratio of the grid area constituting the first route is calculated, including the following steps:

[0097] S810, generate multiple first flight prediction directions based on the first route, and the multiple first flight prediction directions correspond one-to-one with the grid regions that constitute the first route;

[0098] S820 obtains the first headwind region and the first tailwind region in multiple grid areas of the first route based on the first flight prediction direction and wind direction parameters, and records the number of the first headwind region and the number of the first tailwind region respectively.

[0099] S830: Based on the number of first headwind areas and the number of first tailwind areas, the first headwind ratio of the first route is obtained, and the first headwind ratio corresponding to the first route is used as the first energy consumption ratio corresponding to the first route. Here, the first temporary area is represented by grid areas sequentially selected from the grid areas constituting the first route. For each grid area constituting the first route, a first temporary area is selected sequentially, and then the wind direction parameter corresponding to the first temporary area and the first estimated flight direction corresponding to the first temporary area are used to determine whether the UAV's flight in the first temporary area is tailwind. The number of first headwind areas is represented by the number of grid areas constituting the first route that are headwind relative to the UAV, and the number of first tailwind areas is represented by the number of grid areas constituting the first route that are tailwind relative to the UAV. The first headwind ratio is represented by the ratio of the first headwind area to the first tailwind area during the UAV's flight along the first route.

[0100] It should be noted that the larger the first headwind ratio, the more headwind areas the drone will have to pass through in the grid area that constitutes the first route. In this case, the drone will need to consume more energy. Conversely, the smaller the first headwind ratio, the less energy the drone needs to consume. Therefore, the first headwind ratio corresponding to the first route is taken as the first energy consumption ratio corresponding to the first route.

[0101] Based on the first flight prediction direction and wind direction parameters, the number of the first headwind region and the number of the first tailwind region in multiple grid areas of the first route are obtained, including the following steps:

[0102] S821, sequentially obtain the grid area of ​​the first route as the first temporary area, and determine whether the first temporary area is downwind based on the wind direction parameter corresponding to the first temporary area and the corresponding first flight prediction direction.

[0103] S822, if the wind direction parameter corresponding to the first temporary area is in the same direction as the corresponding first flight prediction direction, it means that the first temporary area is downwind relative to the drone, and the first temporary area is marked as the first downwind area; otherwise, the first temporary area is marked as the first headwind area.

[0104] S823, record the number of first downwind areas based on the marked first downwind area;

[0105] S824 records the number of first headwind areas based on the marked first headwind areas. Similarly, for the second route, the calculation method for the first and second energy consumption ratios is the same. It is also necessary to calculate the second headwind ratio when the UAV travels to the second route, using the first headwind ratio corresponding to the first route as the first energy consumption ratio, and the second headwind ratio corresponding to the second route as the second energy consumption ratio. This shows which route requires less energy, thus allowing for the selection of a better route for mapping flights based on actual conditions.

[0106] S900, if the wind speed value of the area to be measured is greater than the preset wind speed value, then the first energy consumption of each grid area corresponding to the first route is calculated based on the first route and the first wind speed information and wind direction parameters corresponding to the first route, and the first estimated energy consumption is based on each first energy consumption of the first route and the preset basic energy consumption; the second energy consumption of each grid area corresponding to the second route is calculated based on the second route and the first wind speed information and wind direction parameters corresponding to the second route, and the second estimated energy consumption is based on each second energy consumption of the second route and the preset basic energy consumption.

[0107] The first energy consumption includes both increased and decreased energy consumption. Based on the first route and the corresponding first wind speed and direction parameters, the first energy consumption of each grid region constituting the first route is calculated, including the following steps:

[0108] S910, sequentially obtain the grid area of ​​the first route, and obtain the first wind speed information and wind direction parameters corresponding to the grid area.

[0109] The S920 obtains the estimated flight time based on the preset mapping speed and the grid area corresponding to the first route.

[0110] The S930 obtains the estimated first energy consumption based on the estimated flight time and the first wind speed information.

[0111] When the processor calculates the first energy consumption of the grid region constituting the first route, it repeats steps S910 to S930 until the first energy consumption of the first route in multiple grid regions of the first route is calculated. Similarly, the second energy consumption of the second route is calculated according to the first wind speed information corresponding to the grid region of the second route.

[0112] Among them, the estimated flight speed is the estimated speed of the engine when the UAV is mapping, the mapping speed is the flight speed of the UAV relative to the ground, the estimated flight time is the estimated time required for the UAV to fly from one grid area to the next, and the estimated first energy consumption is the actual energy consumption required for the UAV to fly in a single grid area.

[0113] It should be noted that since there are multiple grid areas constituting the first route, and since the wind speed and direction in the area to be mapped are uncertain, there are multiple estimated flight speeds, estimated flight times, and first energy consumptions. Finally, the first energy consumptions of all grid areas constituting the first route are added together to obtain the first estimated energy consumption.

[0114] Similarly, the calculation method for the estimated second energy consumption of the grid area constituting the second route is the same as that for the first energy consumption, except that the first estimated flight direction, first wind speed information and wind direction parameters corresponding to the grid area constituting the first route are replaced with the second estimated flight direction, first wind speed information and wind direction parameters corresponding to the grid area of ​​the second route.

[0115] Because the energy consumption of a drone varies depending on whether it is in a tailwind or headwind area during mapping, when the drone is in a tailwind area, the wind speed provides some wind energy, thereby reducing the overall energy consumption of the drone. Therefore, the first energy consumption includes the increase and decrease in energy consumption. Based on the first energy consumption corresponding to each route and the preset base energy consumption, the first estimated energy consumption is calculated, including the following steps:

[0116] S940 sequentially acquires the grid area of ​​the first route, and determines whether the grid area belongs to the first tailwind area based on the first estimated flight direction and wind direction parameters corresponding to the grid area.

[0117] S950, if the grid area does not belong to the first downwind area, the first energy consumption is the additional energy consumption, and the first energy consumption is added to the basic energy consumption as the first estimated energy consumption;

[0118] S960, if the grid area belongs to the first downwind area, obtain the wind speed value of the grid area based on the first wind speed information corresponding to the grid area, and determine whether the wind speed value of the grid area is higher than the preset wind speed value.

[0119] S970, if the wind speed value in the grid area is higher than the preset wind speed value, the first energy consumption is the additional energy consumption, and the first energy consumption is added to the basic energy consumption as the first estimated energy consumption.

[0120] S980, if the wind speed value in the grid area is lower than the preset wind speed value, the first energy consumption is the reduction amount, and the first energy consumption is subtracted from the basic energy consumption as the first estimated energy consumption.

[0121] The grid area wind speed value represents the wind speed value of the grid area constituting the first route. Since the wind speed value to be measured in the area to be measured is the overall wind speed value of the area to be measured, but for multiple grid areas in the area to be measured, the grid area wind speed value of each grid area is not equal to the wind speed value to be measured. Therefore, when calculating the first energy consumption, it is necessary to determine the magnitude of the grid area wind speed value of each grid area and the preset wind speed value, so as to determine whether the first energy consumption is an increase or a decrease.

[0122] The wind energy provided by the grid area wind speed values ​​is affected by many factors for the drone, such as the drone's mass and the surrounding drag on the wind direction. Therefore, not all the wind energy is applied to the drone. Thus, when the drone is traveling in the first downwind area of ​​the first route, a first influencing factor is obtained based on the first downwind area and the corresponding second wind speed information. When the drone is traveling in the first headwind area of ​​the first route, a second influencing factor is obtained based on the first headwind area and the corresponding second wind speed information.

[0123] When actually calculating the first energy consumption of the grid area constituting the first route, when the UAV is traveling in the first headwind area, the energy consumption of the UAV resisting the wind needs to be multiplied by the second influence factor to obtain the actual energy consumption of the UAV due to the wind.

[0124] When the drone is in the first tailwind area, it is necessary to compare the wind speed value of the grid area obtained from the first wind speed information corresponding to the first tailwind area with the preset wind speed value. If the wind speed value of the grid area corresponding to the first tailwind area is less than the preset wind speed value, the first energy consumption obtained from the wind speed value of the grid area is the energy reduction for the drone. At this time, the wind in the first tailwind area provides some energy for the drone's flight. Multiplying this energy consumption by the first influence factor is the energy reduction of the wind force for the drone. When calculating the first estimated energy consumption of the drone, the first energy consumption corresponding to the first tailwind area is subtracted.

[0125] However, if the wind speed value of the grid area corresponding to the first tailwind zone is greater than the preset wind speed value, the drone, in addition to maintaining the energy consumption for mapping speed along the first route, also needs to provide low-wind-resistance energy in the opposite direction of drone travel. The energy consumption of the drone resisting wind needs to be multiplied by the first influencing factor to obtain the actual energy consumption of the drone due to wind resistance. In this case, when calculating the first estimated energy consumption of the drone, simply add the first energy consumption corresponding to the first tailwind zone.

[0126] For example, calculating the energy consumption of the grid regions constituting the first route: there are three grid regions: grid region 1, grid region 2, and grid region 3. Grid region 1 is downwind, with a wind speed of 3 m / s and a first influence factor of 0.8. Grid region 2 is downwind, with a wind speed of 1 m / s and a first influence factor of 0.6. Grid region 3 is upwind, with a wind speed of 3 m / s and a second influence factor of 0.9. The UAV's mapping speed is 2 m / s across the three grid regions. The UAV's mass is 2 kg when traveling through grid regions 1, 2, and 3, and the mass change during travel across these three grid regions is negligible.

[0127] Since the drone mapping speed is the same, the basic energy consumption of the drone is the same when it travels in grid area 1, grid area 2 and grid area 3.

[0128] When the drone is flying in grid area 1 and grid area 2, it is in the wind. However, the wind speed in grid area 1 is greater than the preset wind speed, while the wind speed in grid area 2 is less than the preset wind speed. Therefore, the first energy consumption in grid area 1 is the increased energy consumption, the first energy consumption in grid area 2 is the decreased energy consumption, and the first energy consumption in grid area 3 is the increased energy consumption. This corresponds to the first estimated energy consumption of the drone on the first route. The first energy consumption of grid area 1 and grid area 3 is added together to obtain the temporary estimated energy consumption. Then, the temporary estimated energy consumption is subtracted from the first energy consumption of grid area 2 to obtain the first estimated energy consumption of the first route.

[0129] In this example, the calculation method for the second estimated energy consumption of the second route is as described in steps S940-S980. The second estimated flight direction, the first wind speed information, and the wind direction parameter are all replaced with the grid area corresponding to the second route. The specific calculation method is the same, so it will not be described in detail here.

[0130] This application also discloses a mapping system, including a data acquisition module, a data generation module, a data calculation module, a data analysis module, and a data processing module. The data acquisition module is used to acquire satellite images of the area to be mapped and parameters of a single image corresponding to a UAV. The data acquisition module is also used to divide the satellite images of the area to be mapped into multiple grid regions, determine multiple wind direction parameters and wind speed parameters of the area to be mapped based on the satellite images, and acquire the starting point position. The data analysis module is used to generate a predicted mapping route based on the starting point position. The data calculation module is used to calculate a first estimated energy consumption based on a first route and the first wind speed information and wind direction parameters corresponding to the first route, and to calculate a second estimated energy consumption based on a second route and the first wind speed information and wind direction parameters corresponding to the second route. The data analysis module is used to determine and compare the magnitudes of the first estimated energy consumption and the second estimated energy consumption. If the first estimated energy consumption is greater than the second estimated energy consumption, the data processing module generates a first route instruction and sends a command to the UAV to execute the first route instruction. If the first estimated energy consumption is less than the second estimated energy consumption, the data processing module generates a second route instruction and sends a command to the UAV to execute the second route instruction.

[0131] It should be noted that the data acquisition module obtains the wind speed value of the area to be surveyed and transmits this value to the data analysis module. The data analysis module then compares the wind speed value of the area to be surveyed with a preset wind speed value and sends the result to the data processing module. If the data processing module receives a wind speed value greater than the preset wind speed value, it calculates the first energy consumption for each grid area corresponding to the first route and uses this first energy consumption as the first estimated energy consumption. The data processing module records this first estimated energy consumption. Similarly, the data processing module calculates the second energy consumption for each grid area corresponding to the second route and uses this second energy consumption as the first estimated energy consumption. The data processing module records this second estimated energy consumption.

[0132] Embodiments of this application also disclose a readable storage medium storing a computer control program thereon, which, when executed by a processor, implements the above-described UAV mapping method and mapping system.

[0133] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method for UAV mapping, characterized in that, The method comprises the following steps: Obtaining satellite images of a region to be surveyed and corresponding single photograph parameters of a UAV, and dividing a plurality of grid regions on the satellite images of the region to be surveyed according to the single photograph parameters; Determining a plurality of wind direction parameters and a wind speed parameter of the region to be surveyed according to the satellite images, wherein the wind speed parameter comprises a plurality of first wind speed information, and the first wind speed information represents wind speed information of a single grid region, and the wind direction parameter and the first wind speed information of a single grid region are one-to-one corresponding; Obtaining a grid region position according to the satellite images, and taking the grid region position as a starting position of the UAV during surveying; Generating a predicted surveying route according to the starting position, wherein the predicted surveying route comprises a first route and a second route, the first route is a zigzag route formed by a plurality of first route segments connected end to end, each first route segment is a straight line segment formed by a plurality of sequentially adjacent grid regions, the second route is a zigzag route formed by a plurality of second route segments connected end to end, each second route segment is a straight line segment formed by a plurality of sequentially adjacent grid regions, and the lengths of the first route segments and the second route segments are different; Calculating a first estimated energy consumption according to the first route, the first wind speed information corresponding to the first route, and the wind direction parameter, calculating a second estimated energy consumption according to the second route, the first wind speed information corresponding to the second route, and the wind direction parameter, wherein the first estimated energy consumption represents an estimated energy consumption required for the UAV to fly on the first route, the second estimated energy consumption represents an estimated energy consumption required for the UAV to fly on the second route, and the first estimated energy consumption and the second estimated energy consumption are compared; If the first estimated energy consumption is greater than the second estimated energy consumption, a first route instruction is generated and a command for executing the first route instruction is sent to the UAV; If the first estimated energy consumption is less than the second estimated energy consumption, a second route instruction is generated and a command for executing the second route instruction is sent to the UAV; The wind speed parameter comprises second wind speed information, the second wind speed information represents overall wind speed information of the region to be surveyed, and the calculation method of the first estimated energy consumption and the second estimated energy consumption comprises the following steps: Obtaining a wind speed value of the region to be surveyed according to the second wind speed information, and determining the size of the wind speed value of the region to be surveyed and a preset wind speed value; If the wind speed value of the region to be surveyed is less than the preset wind speed value, a first energy consumption ratio of the grid regions constituting the first route is calculated according to the first route, the first wind speed information corresponding to the first route, and the wind direction parameter, and the first energy consumption ratio is taken as the first estimated energy consumption; A second energy consumption ratio of the grid regions constituting the second route is calculated according to the second route, the first wind speed information corresponding to the second route, and the wind direction parameter, and the second energy consumption ratio is taken as the second estimated energy consumption; If the wind speed value of the to-be-mapped area is greater than the preset wind speed value, first energy consumptions of each grid area corresponding to the first route are calculated according to the first route, first wind speed information corresponding to the first route and wind direction parameters, and each first energy consumption corresponding to the first route and a preset basic energy consumption are taken as first estimated energy consumptions; Second energy consumptions of each grid area corresponding to the second route are calculated according to the second route, first wind speed information corresponding to the second route and wind direction parameters, and each second energy consumption corresponding to the second route and the preset basic energy consumption are taken as second estimated energy consumptions.

2. The unmanned aerial vehicle mapping method of claim 1, wherein: First energy consumption ratios of grid areas of the first route are calculated according to the first route, first wind speed information corresponding to the first route and wind direction parameters, including the following steps: A plurality of first flight estimated directions are generated according to the first route, and the plurality of first flight estimated directions correspond to the grid areas of the first route one by one; First headwind areas and first tailwind areas in the plurality of grid areas of the first route are obtained according to the first flight estimated directions and the wind direction parameters, and the number of first headwind areas and the number of first tailwind areas are recorded respectively; A first headwind ratio of the first route is obtained according to the number of first headwind areas and the number of first tailwind areas, and the first headwind ratio of the first route is taken as the first energy consumption ratio corresponding to the first route.

3. The unmanned aerial vehicle mapping method of claim 2, wherein: The number of first headwind areas and the number of first tailwind areas of the plurality of grid areas of the first route are obtained according to the first flight estimated directions and the wind direction parameters, including the following steps: The grid areas of the first route are obtained in sequence as first temporary areas, and whether the first temporary areas are tailwind relative to the unmanned aerial vehicle is judged according to the wind direction parameters corresponding to the first temporary areas and the first flight estimated directions corresponding to the first temporary areas; If the wind direction parameters corresponding to the first temporary areas and the first flight estimated directions corresponding to the first temporary areas are in the same direction, it is indicated that the first temporary areas are tailwind relative to the unmanned aerial vehicle, and the first temporary areas are marked as first tailwind areas, otherwise the first temporary areas are marked as first headwind areas; The number of first tailwind areas is recorded according to the marked first tailwind areas; The number of first headwind areas is recorded according to the marked first headwind areas.

4. The unmanned aerial vehicle mapping method of claim 1, wherein: The first energy consumptions of each grid area corresponding to the first route are calculated according to the first route, first wind speed information corresponding to the first route and wind direction parameters, including the following steps: The grid areas of the first route are obtained in sequence, and the first wind speed information and wind direction parameters corresponding to the grid areas are obtained; An estimated flight time is obtained according to the preset mapping speed and the grid areas corresponding to the first route; An estimated first energy consumption is obtained according to the estimated flight time and the first wind speed information.

5. The unmanned aerial vehicle mapping method of claim 2, wherein: The first energy consumptions include an increase amount and a decrease amount, and each first energy consumption corresponding to the first route and the preset basic energy consumption are taken as first estimated energy consumptions, including the following steps: acquire the grid area of the first route in sequence, and determine whether the grid area belongs to the first downwind area according to the first flight prediction direction and the wind direction parameter corresponding to the grid area; if the grid area does not belong to the first downwind area, the first energy consumption is the increased amount, and the first energy consumption and the basic energy consumption are added as the first estimated energy consumption; if the grid area belongs to the first downwind area, the wind speed value of the grid area is acquired according to the first wind speed information corresponding to the grid area, and it is determined whether the wind speed value of the grid area is higher than the preset wind speed value; if the wind speed value of the grid area is higher than the preset wind speed value, the first energy consumption is the increased amount, and the first energy consumption and the basic energy consumption are added as the first estimated energy consumption; if the wind speed value of the grid area is lower than the preset wind speed value, the first energy consumption is the decreased amount, and the first energy consumption and the basic energy consumption are subtracted as the first estimated energy consumption.

6. A mapping system characterized by, The surveying system of the surveying method of the unmanned aerial vehicle according to any one of claims 1-5, comprising: a data acquisition module, which is used to acquire satellite images of a region to be surveyed and corresponding single photograph parameters of an unmanned aerial vehicle, and is used to divide the satellite images of the region to be surveyed into a plurality of grid areas, determine a plurality of wind direction parameters according to the satellite images, acquire a wind speed parameter of the region to be surveyed, and acquire a starting position; a data generation module, which is used to generate a predicted surveying route according to the starting position; a data calculation module, which is used to calculate a first estimated energy consumption according to the first route and the first wind speed information and the wind direction parameter corresponding to the first route, and is used to calculate a second estimated energy consumption according to the second route and the first wind speed information and the wind direction parameter corresponding to the second route; a data analysis module, which is used to compare the first estimated energy consumption and the second estimated energy consumption; a data processing module, which generates a first route instruction and sends a command to execute the first route instruction to the unmanned aerial vehicle if the first estimated energy consumption is greater than the second estimated energy consumption; a data processing module, which generates a second route instruction and sends a command to execute the second route instruction to the unmanned aerial vehicle if the first estimated energy consumption is less than the second estimated energy consumption.

7. A readable storage medium, characterized by, A computer program is stored, which can be loaded and executed by a processor to implement the surveying method and surveying system of the unmanned aerial vehicle according to any one of claims 1-5.

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