A method, system, smart terminal and storage medium for UAV mapping

Abstract

This application relates to a UAV mapping method, system, smart terminal, and storage medium, belonging to the field of mapping technology. It includes acquiring the current mapping area of ​​the location to be mapped; dividing the mapping area into single mapping areas according to preset segmentation rules, and controlling the UAV to perform mapping within each single mapping area; acquiring the current flight altitude, current occlusion detection information, and current battery level within adjacent single mapping areas; analyzing the flight altitude and occlusion detection information to control adjacent UAVs for auxiliary mapping; and controlling UAVs within adjacent single mapping areas to perform assisted return-to-home based on the battery level. This application improves the efficiency of UAV mapping.

Description

Technical Field

[0001] This application relates to the field of surveying and mapping technology, and in particular to a UAV surveying and mapping method, system, intelligent terminal and storage medium. Background Technology

[0002] Unmanned aerial vehicle (UAV) mapping is a powerful supplement to traditional aerial photogrammetry, featuring high mobility, high efficiency, high speed, precision, low operating costs, wide applicability, and short production cycle.

[0003] In related technologies, before a drone takes flight, route planning and flight scheme formulation are required. Information such as wind speed, weather, and takeoff and landing coordinates for the flight day is recorded, and a radio link is used to establish data exchange between the drone and the ground station. After the drone ascends to the mission altitude, it switches from manual control mode to automatic mission flight mode to photograph the mission area. After completing the flight mission or when the battery reaches a threshold, the drone automatically flies back. Personnel then perform quality checks on the acquired images and re-fly the drone to areas that do not meet the requirements.

[0004] Regarding the aforementioned technologies, the inventors believe that during the drone surveying process, in order to prevent the drone from being unable to fly back due to low battery, it automatically flies back to the landing point to recharge when the drone's battery reaches a threshold. After recharging, it re-photographs the areas in the surveyed area that were not photographed, resulting in low efficiency of drone surveying and room for improvement. Summary of the Invention

[0005] To improve the efficiency of UAV mapping, this application provides a UAV mapping method, system, smart terminal, and storage medium.

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

[0007] A method for UAV mapping includes:

[0008] Obtain the current mapping area of ​​the location to be mapped;

[0009] The survey area is divided into single survey areas according to preset segmentation rules, and the drone is controlled to conduct surveys in each single survey area.

[0010] Within an adjacent single mapping area, acquire the current flight altitude, current occlusion detection information, and current battery level.

[0011] Analysis is performed based on flight altitude values ​​and obstruction detection information to control adjacent UAVs for auxiliary mapping.

[0012] The system controls the return of drones within adjacent single survey areas based on their battery levels.

[0013] By adopting the above technical solution, the surveying area is divided into individual surveying zones, allowing each UAV to conduct surveying within a single zone. This reduces redundant surveying caused by UAV swarms, thereby improving the efficiency of UAV surveying. Within each individual surveying zone, based on flight altitude and occlusion detection information, adjacent UAVs assist in surveying the location of occlusions, reducing the need for subsequent UAV re-flying and further improving surveying efficiency. Furthermore, based on battery level, adjacent UAVs are controlled to assist in returning to base, ensuring that even after surveying the maximum distance, UAVs can still return to base, thus increasing the single-survey range and further enhancing surveying efficiency.

[0014] Optionally, methods for controlling drones to perform mapping within a single mapping area include:

[0015] Obtain the current drone heading and the current wind direction in the area;

[0016] Analyze the drone's heading and regional wind direction to obtain the current flight speed or current regional wind speed.

[0017] The drone's flight mode is selected based on the regional wind speed value.

[0018] Based on the flight speed value, the maximum value between the flight speed value and the preset flight speed range is analyzed to control the drone to reduce to the preset base speed and record the current area as an avoidance area or continue to acquire flight speed values.

[0019] By adopting the above technical solution, when the wind direction and flight path are the same, the wind has a propulsive effect on the UAV, reducing its power output and thus power consumption. However, the UAV's speed still meets the mapping requirements, thereby increasing the overall mapping range. This area is recorded as a avoidance zone, which is avoided during the return flight, thus improving the UAV's mapping efficiency. When the wind direction and flight path are different, the flight mode is selected based on the regional wind speed value, making the UAV's flight more stable.

[0020] Optionally, methods for selecting the drone's flight mode include:

[0021] The regional wind speed value is analyzed and compared with the preset benchmark wind speed value. The regional wind speed value is then obtained, or the preset stabilization device is controlled according to the regional wind direction to adjust the drone flight and obtain the current stable speed value.

[0022] Based on the steady speed value, the minimum value between the steady speed value and the preset flight speed range is analyzed to control the preset escort aircraft to assist the UAV in flight or to continue to acquire the steady speed value.

[0023] By adopting the above technical solution, when the regional wind speed value is greater than the benchmark wind speed value, the flight of the UAV is adjusted according to the regional wind direction control stabilization device, thereby making the UAV flight more stable, ensuring that the UAV follows the mapping route, minimizing UAV deviation, and thus improving the efficiency of UAV mapping. When the stable speed value is less than the minimum value of the flight speed range, a guard aircraft assists the UAV in flight, thereby increasing the UAV's flight speed and further improving the efficiency of UAV mapping.

[0024] Optionally, methods for controlling adjacent UAVs to perform assisted mapping include:

[0025] Determine the high and low areas within adjacent single mapping regions based on flight altitude values;

[0026] The occlusion location is analyzed based on the occlusion detection information to determine whether the occlusion is high or low.

[0027] Based on the obstruction of high-altitude areas, the drones in low-altitude areas are controlled to activate preset auxiliary lenses for auxiliary mapping.

[0028] Based on the obstruction of low-lying areas, the system controls drones in high-lying areas to activate preset auxiliary lenses for auxiliary mapping.

[0029] By adopting the above technical solution, if a high area is obstructed, the drone in the low area will activate its auxiliary lens to assist in mapping the obstructed position in the high area; if a low area is obstructed, the drone in the high area will activate its auxiliary lens to assist in mapping the obstructed position in the low area, thus minimizing the need for drones to re-fly and improving the efficiency of drone mapping.

[0030] Optionally, methods for controlling drones within adjacent single mapping areas to perform assisted return-to-home operations based on battery levels include:

[0031] Control the drones within adjacent single mapping areas to move to the preset minimum safe altitude and obtain the current battery threshold;

[0032] Analyze the battery level and battery threshold, and generate a return flight path or control adjacent drones to return according to preset flight rules based on the avoidance area and preset base station location;

[0033] Based on the return route, the adjacent UAVs are driven back by a pre-set pull device on the escort aircraft.

[0034] By adopting the above technical solution, all drones within adjacent single mapping areas are moved to the lowest safe altitude. This ensures drone flight safety while reducing the power output required to maintain altitude, thereby reducing power consumption and improving drone return efficiency. When the battery level falls below a threshold, a return route is generated based on the avoidance area and base station location, and the lifting device on the escort aircraft pulls the drone back, thus ensuring the return of drones with low battery levels.

[0035] Optionally, methods for controlling neighboring drones to return to base according to preset flight rules include:

[0036] Determine the high and low battery levels of the drone based on its battery level.

[0037] Analyze the battery levels of high-powered and low-powered drones to control drones in high-altitude areas as the front row or control drones in low-altitude areas as the front row.

[0038] Obtain the current battery level difference between the front-row drones and the rear-row drones;

[0039] The system analyzes the power difference and the preset baseline power difference, and controls the drones in the lower area to switch positions with the drones in the higher area according to the preset switching rules or continue to obtain the power difference.

[0040] By adopting the above technical solution, based on the battery levels of drones with high and low battery levels, drones with higher battery levels are positioned in the front row, allowing adjacent drones to fly back in formation. This minimizes wind resistance, reducing power consumption and improving return-to-home efficiency. Furthermore, based on the battery difference, the front and rear drones are swapped according to a specific rule. When the battery level of the front drones is lower than that of the rear drones, the rear drones bear the brunt of wind resistance, further reducing power consumption and improving return-to-home efficiency.

[0041] Optionally, methods for controlling the escort aircraft to perform mapping based on the power level include:

[0042] When the battery level equals the battery threshold, obtain the current remaining area range;

[0043] The remaining area range is analyzed to determine the power consumption value;

[0044] Calculate the quotient of the power consumption value and the power value, and define the calculated quotient as the power consumption ratio value;

[0045] Analyze the power consumption ratio against the baseline ratio to control the drone to continue mapping or control the drone to return to base according to flight rules;

[0046] Based on the drone's return flight according to flight rules, a control escort aircraft takes over the mapping work from the drone.

[0047] By adopting the above technical solution, when the power value reaches the power threshold, the power consumption value of the drone in mapping the remaining area is determined based on the remaining area range. Based on the power consumption ratio, the drone can either continue to measure the remaining area range or return to base so that the escort drone can perform mapping, thereby improving the efficiency of drone mapping.

[0048] Secondly, this application provides an unmanned aerial vehicle (UAV) mapping system, which adopts the following technical solution:

[0049] A drone mapping system, comprising:

[0050] The acquisition module is used to acquire the survey area range, flight altitude value, occlusion detection information, battery value, UAV heading, regional wind direction, flight speed value, regional wind speed value, steady speed value, battery threshold, battery difference value, and remaining area range;

[0051] A memory for storing a program for an unmanned aerial vehicle (UAV) mapping method as described above;

[0052] A processor, whose program in memory can be loaded and executed by the processor to implement any of the above-mentioned UAV mapping methods.

[0053] By adopting the above technical solution, by acquiring a series of information that affects UAV mapping, and by loading and executing the UAV mapping method program stored in the memory through the processor, the UAV can map a larger area with a certain amount of battery power, thereby improving the efficiency of UAV mapping.

[0054] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0055] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as in any of the above-described UAV mapping methods.

[0056] By adopting the above technical solution, and using a smart terminal, the processor loads and executes the program of the UAV mapping method stored in the memory, so that the UAV can complete more mapping tasks when the battery level is certain, thereby improving the efficiency of UAV mapping.

[0057] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates improving the efficiency of UAV surveying and mapping, and adopts the following technical solution:

[0058] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described UAV mapping methods.

[0059] By adopting the above technical solution, the storage medium stores a computer program for UAV mapping. Based on the acquired information, the processor loads and executes the computer program stored in the storage medium, thereby enabling the UAV to map a larger area when the battery level is fixed, thus improving the efficiency of UAV mapping.

[0060] In summary, this application includes at least one of the following beneficial technical effects:

[0061] 1. By dividing the survey area into individual survey areas, each drone can conduct surveys within its own area, reducing redundant surveys caused by drone swarms. Within each individual survey area, based on flight altitude and occlusion detection information, adjacent drones can assist in surveying the location of occlusions, reducing the need for subsequent drones to make up for lost flights. Based on battery levels, adjacent drones can be controlled to assist in returning to base, allowing drones to return even after surveying the maximum distance. This increases the single survey range of drones and thus improves the efficiency of drone surveying.

[0062] 2. By using the wind to propel the drone forward when the wind direction is the same as the flight direction, the power output of the drone is reduced, thereby reducing power consumption. With a fixed power level, the total mapping range of the drone is increased, and this area is recorded as an avoidance zone. When returning to base, the drone avoids this area, thereby improving the mapping efficiency of the drone.

[0063] 3. When the battery level reaches the battery threshold, the remaining area range is determined to calculate the battery consumption of the drone in mapping the remaining area. Based on the percentage of battery consumption, the drone can either continue to measure the remaining area or return to base so that the escort aircraft can take over the mapping, thereby improving the efficiency of drone mapping. Attached Figure Description

[0064] Figure 1 This is a flowchart of the UAV mapping method.

[0065] Figure 2 This is a flowchart of a method for controlling a drone to perform surveying within a single survey area.

[0066] Figure 3 This is a flowchart of the method for selecting the drone flight mode.

[0067] Figure 4 This is a flowchart of a method for controlling adjacent UAVs to perform auxiliary mapping.

[0068] Figure 5 This is a flowchart illustrating a method for assisting drones in returning to their home position within adjacent single surveying areas based on their battery levels.

[0069] Figure 6This is a flowchart of a method for controlling adjacent drones to return to their home location according to preset flight rules.

[0070] Figure 7 This is a flowchart illustrating the method of controlling the escort aircraft to perform surveying based on the power level. Detailed Implementation

[0071] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0072] This application divides the surveying area into individual surveying zones, allowing UAVs to conduct surveys within these zones, reducing the occurrence of UAVs repeatedly surveying the same location and thus improving surveying efficiency. Within adjacent individual surveying zones, flight altitude and occlusion detection information are used, enabling adjacent UAVs to detect each other's occlusion areas, reducing the need for subsequent UAVs to retake the mission and further improving surveying efficiency. Analysis of the UAV's heading and regional wind direction during the surveying process determines whether the UAV needs to reduce speed or requires escort aircraft assistance, ensuring stable and efficient flight. Based on battery levels, adjacent UAVs can assist each other in returning to base, or escort aircraft can guide adjacent UAVs back to base, ensuring safe return. Even when a UAV's battery reaches a threshold, if there is still remaining surveying area, the proportion of battery power consumed in surveying this remaining area determines whether the UAV can continue surveying or return to base, with an escort aircraft taking over the surveying.

[0073] Reference Figure 1 This application discloses a method for UAV mapping, including the following steps:

[0074] Step S100: Obtain the current survey area range of the location to be surveyed.

[0075] The location to be surveyed is the specific location that needs to be surveyed, which is set by those skilled in the art according to the actual situation, and will not be elaborated here. The survey area is the two-dimensional planar area value of the location to be surveyed, which is calculated by a computer program from the area of ​​the two-dimensional map selected by the card, and then uploaded, stored, and retrieved.

[0076] Step S101: Divide the survey area into single survey areas according to preset segmentation rules, and control the UAV to conduct surveys in each single survey area.

[0077] The segmentation rules are preset standards for dividing the surveying area, formulated based on the surveying range of the UAV's straight-line flight. The specific size is set by those skilled in the art based on actual conditions. A single surveying area is a part of the surveying area, obtained by a computer program according to the segmentation rules, uploaded, stored, and retrieved. The UAV is controlled to survey within a single surveying area, ensuring that the surveyed areas do not overlap and reducing the occurrence of UAVs surveying the same area repeatedly.

[0078] Step S102: Within an adjacent single mapping area, obtain the current flight altitude value, current occlusion detection information, and current battery level.

[0079] The flight altitude value represents the drone's flight altitude within an adjacent single mapping area. This value is input, uploaded, and stored by personnel for later retrieval by the computer program. Occlusion detection information refers to the locations of occlusions in the drone-mapped images, including features such as trees and building clusters. This information is recorded and uploaded by the drone's camera, and the computer program identifies, uploads, stores, and retrieves it. Battery level value represents the drone's battery level during mapping. This information is acquired, uploaded, stored, and retrieved in real-time by the computer program and hardware.

[0080] Step S103: Analyze the flight altitude value and occlusion detection information to control adjacent UAVs to perform auxiliary mapping.

[0081] The flight altitude values ​​are analyzed to obtain the flight altitudes of adjacent drones. These altitudes are then sorted and compared to define single mapping areas with higher altitudes as high-altitude areas and those with lower altitudes as low-altitude areas. The specific locations corresponding to occlusion detection information are analyzed to determine whether the occlusion area is located within a high-altitude or low-altitude area. If the occlusion area is located within a high-altitude area, drones within the low-altitude area provide auxiliary mapping; conversely, if the occlusion area is located within a low-altitude area, drones within the high-altitude area provide auxiliary mapping.

[0082] Step S104: Control the UAVs in adjacent single mapping areas to perform assisted return based on the battery level.

[0083] The battery level is analyzed to determine whether the drone's current battery level supports its return to home. If the drone has enough battery, it will return directly to home. If the drone does not have enough battery, an adjacent drone will assist in the flight to ensure the drone's safe return.

[0084] Reference Figure 2 A method for controlling a drone to perform mapping within a single mapping area includes the following steps:

[0085] Step S200: Obtain the current UAV heading and the current wind direction in the area.

[0086] The drone's heading is the direction of its current flight, detected by a compass, and identified, uploaded, stored, and retrieved by a computer program. The regional wind direction is the wind direction in the area where the drone is currently located, detected, uploaded, and stored by a wind vane on a hovering drone at the same altitude for later retrieval by the computer program.

[0087] Step S201: Analyze the UAV's heading and regional wind direction to obtain the current flight speed value or the current regional wind speed value.

[0088] The flight speed value is the current flight speed of the drone, which is detected, uploaded, stored, and retrieved by the computer program and the drone hardware. The area wind speed value is the wind speed in the area where the drone is currently located, which is detected, uploaded, and stored by the anemometer on the hovering drone at the same altitude as the drone, for later retrieval by the computer program.

[0089] By comparing the drone's heading with the regional wind direction, it can be determined whether the drone's heading is the same as the regional wind direction, thereby determining whether the regional wind direction affects the drone's flight.

[0090] If the drone's heading is the same as the regional wind direction, it indicates that the regional wind direction has a boosting effect on the drone's flight. Therefore, the current flight speed value is obtained for further analysis.

[0091] If the drone's heading is different from the regional wind direction, it indicates that the regional wind direction is interfering with the drone's flight. Therefore, the current regional wind speed value should be obtained for further analysis.

[0092] Step S2011: Select the drone's flight mode based on the regional wind speed value.

[0093] Flight mode refers to the drone's flight behavior when the regional wind direction differs from the drone's heading. If the drone's heading differs from the regional wind direction, it indicates that the regional wind direction is interfering with the drone's flight. Therefore, selecting the appropriate flight mode makes the drone's flight more stable and the mapping more efficient.

[0094] Step S2012: Based on the flight speed value, analyze the maximum value between the flight speed value and the preset flight speed range to control the UAV to reduce to the preset base speed and record the current area as an avoidance area or continue to acquire flight speed values.

[0095] The maximum value of the flight speed range is the maximum flight speed of the UAV during mapping. The specific value can be set by those skilled in the art based on actual conditions, and will not be elaborated here. The reference speed is the preset speed at which the UAV is normally used for mapping. The specific value can be set by those skilled in the art based on actual conditions, and will not be elaborated here. The avoidance area is the area that the UAV needs to avoid when returning home. It is recorded, uploaded, stored, and retrieved by a computer program from areas where the wind direction is the same as the UAV's flight path.

[0096] If the drone's heading is the same as the regional wind direction, it indicates that the regional wind direction has a boosting effect on the drone's flight. Therefore, by sorting and comparing the flight speed value with the maximum value of the flight speed range, it can be determined whether the flight speed value is greater than the maximum value of the flight speed range, thereby determining whether the drone's current flight speed value affects the drone's normal mapping.

[0097] If the flight speed value is greater than the maximum value of the flight speed range, it indicates that the current flight speed of the drone is too fast, which affects the normal mapping of the drone. Therefore, the flight speed of the drone is reduced to the reference speed, so that the mapping of the drone is clearer and the drone power is saved. The current area is recorded as the avoidance area, so that the drone can avoid the area when returning home, thereby saving the drone power.

[0098] If the flight speed value is less than or equal to the maximum value of the flight speed range, it indicates that the current flight speed of the drone does not affect the normal mapping of the drone. Therefore, the flight speed value of the drone will continue to be obtained and further analysis and judgment will be carried out.

[0099] Reference Figure 3 The method for selecting the flight mode of a drone includes the following steps:

[0100] Step S300: Analyze the regional wind speed value and the preset benchmark wind speed value, continue to obtain the regional wind speed value or control the preset stabilization device to adjust the drone flight according to the regional wind direction, and obtain the current stable speed value.

[0101] The baseline wind speed is a preset minimum wind speed that will affect the normal flight of the drone. The specific value can be set by those skilled in the art based on actual conditions, and will not be elaborated here. The stabilization device is an auxiliary propeller that moves circumferentially along the drone. The stabilization speed is the flight speed of the drone after the stabilization device has adjusted its flight; it is detected, uploaded, stored, and retrieved by computer programs and hardware.

[0102] By sorting and comparing the regional wind speed value with the benchmark wind speed value, it can be determined whether the regional wind speed value is greater than the benchmark wind speed value, thereby determining whether the regional wind speed affects the normal flight and mapping of the UAV.

[0103] If the regional wind speed value is greater than the benchmark wind speed value, it indicates that the current regional wind speed is affecting the normal flight and mapping of the UAV. Therefore, according to the regional wind direction, the stabilization device is moved to the side of the UAV away from the wind direction, so that the stabilization device adjusts the flight of the UAV, making the flight stable, and the stable speed value is obtained for further analysis and processing.

[0104] If the regional wind speed value is less than or equal to the baseline wind speed value, it indicates that the current regional wind speed will not affect the normal flight and mapping of the UAV. Therefore, the regional wind speed value will continue to be acquired, and the regional wind speed value will continue to be detected to see if it affects the normal flight and mapping of the UAV.

[0105] Step S301: Based on the steady speed value, analyze the minimum value between the steady speed value and the preset flight speed range to control the preset escort aircraft to assist the UAV in flight or continue to acquire the steady speed value.

[0106] The minimum value of the flight speed range is the preset minimum flight speed for normal flight and mapping of the UAV. This can be set by those skilled in the art based on actual conditions, and will not be elaborated here. The escort aircraft is a UAV that follows the mapping UAV, mainly serving to assist the mapping UAV in flight and to replace the mapping UAV in mapping.

[0107] If the regional wind speed value is greater than the benchmark wind speed value, it indicates that the wind speed in the current area is affecting the normal flight and mapping of the UAV. Therefore, by sorting and comparing the steady speed value with the minimum value of the flight speed range, it can be determined whether the steady speed value is greater than the minimum value of the flight speed range, thereby determining whether the flight speed of the UAV after the stabilization device adjustment meets the normal mapping requirements of the UAV.

[0108] If the steady-state speed value is greater than or equal to the minimum value of the flight speed range, it indicates that the flight speed of the UAV after adjustment by the stabilization device meets the normal mapping requirements of the UAV. Therefore, the steady-state speed value continues to be acquired and tested.

[0109] If the steady speed value is less than the minimum value of the flight speed range, it indicates that the UAV's flight speed is low after the stabilization device is adjusted, which results in low normal mapping efficiency of the UAV. Therefore, the escort aircraft should be moved to the side of the UAV facing the wind direction so that the escort aircraft can bear the wind resistance and thus increase the flight speed of the UAV.

[0110] Reference Figure 4 A method for controlling adjacent UAVs to perform auxiliary mapping includes the following steps:

[0111] Step S400: Determine the high and low areas within adjacent single mapping areas based on the flight altitude values.

[0112] The high-altitude region is defined as the single mapping region on the higher horizontal side of an adjacent single mapping region. The low-altitude region is defined as the single mapping region on the lower horizontal side of an adjacent single mapping region. The computer program identifies the flight altitude values ​​of UAVs in adjacent single mapping regions, defining the single mapping region containing UAVs with higher flight altitude values ​​as the high-altitude region, and the single mapping region containing UAVs with lower flight altitude values ​​as the low-altitude region.

[0113] Step S401: Analyze the occlusion location corresponding to the occlusion detection information to determine whether the occlusion is high or low.

[0114] By comparing the occlusion location corresponding to the occlusion detection information with the corresponding locations in the high and low areas, it can be determined whether the occlusion location is within the corresponding location in the high or low area, for further processing and analysis.

[0115] If the obstruction is located within the corresponding area of ​​the higher area, it indicates that the higher area is obstructed.

[0116] If the occlusion point is located within the corresponding position of the lower area, it indicates that the lower area is occluded.

[0117] Step S4011: Based on the obstruction of the high area, control the drone in the low area to activate the preset auxiliary lens for auxiliary mapping.

[0118] The auxiliary lens is an independent lens mounted on the side of the drone. It is mainly used to assist in detecting the location of obstructions in adjacent areas. The model and parameters of the auxiliary lens can be set by those skilled in the art according to the actual situation, and will not be elaborated here.

[0119] If the obstruction is located in a high area, it indicates that the high area is blocked, preventing drones in the high area from effectively mapping the obstructed location. Therefore, drones in the low area should be controlled to activate auxiliary lenses from the low area to map the obstructed location in the high area, thereby reducing the need for drones to perform supplementary mapping.

[0120] Step S4012: Based on the obstruction of the low-lying area, control the drone in the high-lying area to activate the preset auxiliary lens for auxiliary mapping.

[0121] The auxiliary lens is an independent lens mounted on the side of the drone. It is mainly used to assist in detecting the location of obstructions in adjacent areas. The model and parameters of the auxiliary lens can be set by those skilled in the art according to the actual situation, and will not be elaborated here.

[0122] If the obstruction is located in a low area, it indicates that the low area is obstructed, preventing the drone in the low area from effectively mapping the obstructed location. Therefore, the drone in the high area is controlled to activate the auxiliary lens from the high area to map the obstructed location in the low area, thereby reducing the need for drones to re-fly for mapping.

[0123] Reference Figure 5 A method for assisting drones in returning to base within adjacent single mapping areas based on their battery levels includes the following steps:

[0124] Step S500: Control the drone in the adjacent single mapping area to move to the preset minimum safe altitude and obtain the current power threshold.

[0125] The minimum safe altitude is the lowest flight altitude the drone must take when returning home. The specific value is set by those skilled in the art based on actual conditions and will not be elaborated here. The battery threshold is the minimum amount of battery power required for the drone to return from its current location. This threshold is determined by computer programs and hardware that detect, analyze the distance between the drone and the base station, as well as the current battery level, to obtain, upload, store, and retrieve the data. The greater the distance between the drone and the base station, the higher the drone's battery threshold.

[0126] When the drone returns to its home position, all drones in the adjacent single mapping area are moved to the lowest safe altitude, thereby reducing the power output required for the drone to maintain altitude, thus reducing the drone's power consumption, and obtaining the current power threshold for further analysis and processing.

[0127] Step S501: Analyze the battery level and battery threshold, and generate a return flight path based on the avoidance area and the preset base station location, or control adjacent drones to return to base according to preset flight rules.

[0128] The base station location is a preset location for the drone's base station. The specific location can be chosen by those skilled in the art based on the actual situation, and will not be elaborated here. The return flight path is a straight-line route from the drone's current location to the base station location, bypassing the avoidance area. It is drawn by a computer program using the avoidance area and the straight-line route from the drone's current location to the base station location, and then uploaded, stored, and retrieved. The flight rules are a preset method where adjacent drones assist each other in returning to base when the drone's battery level is higher than a certain threshold.

[0129] By sorting the battery level values ​​against the battery threshold, it can be determined whether the battery level value is greater than the battery threshold, which will then be analyzed and processed further.

[0130] If the battery level is greater than or equal to the battery threshold, it indicates that the drone's current battery level is sufficient to support the drone's return along a straight route from its current location to the drone base station, thus allowing the drone to return directly according to flight rules.

[0131] If the battery level is less than the battery threshold, it means that the drone's battery level is insufficient to support the drone's return via a straight route from its current location to the drone base station. Therefore, the drone will bypass the avoidance area based on the straight route from its current location to the drone base station to generate a return route, thereby minimizing the impact of wind resistance during the return process.

[0132] Step S502: Based on the return route, control the preset pulling device on the escort aircraft to drive the adjacent UAV back to its home.

[0133] The tensioning device consists of an electric telescopic boom mounted on the escort aircraft and a hook mounted on the electric telescopic boom.

[0134] If the battery level is less than the battery threshold, it means that the drone's battery level is insufficient to support the drone's return along a straight route from its current location to the drone base station. Therefore, the adjacent drones are guided to avoid the avoidance area along a straight route, so that wind resistance does not consume additional power from the drones. The escort drone uses a pulling device at the same horizontal position to pull the adjacent drones back, thereby saving the drones' power and ensuring that the drones return before their power is depleted.

[0135] Reference Figure 6 A method for controlling adjacent drones to return to their home location according to preset flight rules includes the following steps:

[0136] Step S600: Determine the high and low battery levels of the drone based on the battery level values.

[0137] The high-level drone battery level is the current battery value of drones in the high-altitude area, detected, uploaded, stored, and retrieved by computer programs and hardware. The low-level drone battery level is the current battery value of drones in the low-altitude area, detected, uploaded, stored, and retrieved by computer programs and hardware. The high-level and low-level drone battery levels are determined based on these values ​​for further analysis and processing.

[0138] Step S601: Analyze the high and low battery values ​​of drones, and control drones in the high area to be in the front row or control drones in the low area to be in the front row.

[0139] By sorting the battery levels of high-powered and low-powered drones, it can be determined whether the battery level of high-powered drones is greater than that of low-powered drones.

[0140] If the battery level of the higher-altitude drone is greater than that of the lower-altitude drone, it indicates that the higher-altitude drone has a higher battery level and is better suited to act as the front line to resist wind resistance. Therefore, when adjacent drones return in formation, the drones in the higher-altitude area will act as the front line to resist wind resistance, thereby reducing the battery consumption of the lower-altitude drones caused by wind resistance.

[0141] If the battery level of the higher drone is lower than that of the lower drone, it means that the lower drone has a better battery level to act as the front line to resist wind resistance. Therefore, when adjacent drones return in formation, the drones in the lower area will act as the front line to resist wind resistance, thereby reducing the battery consumption of the higher drones with lower battery levels caused by wind resistance.

[0142] Step S602: Obtain the current battery level difference between the front row drone and the rear row drone.

[0143] The battery difference is the difference between the battery value of the drone in the front row and the battery value of the drone in the back row. The difference is obtained by computer program and hardware detecting the battery values ​​of the two drones during the return process, uploading, storing and retrieving the data.

[0144] Step S603: Analyze the power difference and the preset baseline power difference, and control the drone in the low area to switch positions with the drone in the high area according to the preset switching rules or continue to obtain the power difference.

[0145] The baseline battery difference is a preset difference in battery power between the front and rear drones when they need to switch positions. The specific value can be set by those skilled in the art based on actual conditions, and will not be elaborated here. The switching rule is a preset method for switching between the front and rear drones. When a switch is needed, the front drone is raised in height, and the rear drone is accelerated, causing the rear drone to move in front of the front drone and replace it. The replaced front drone is then lowered to the same height as the new front drone and becomes the rear drone.

[0146] By sorting the power difference values ​​with the baseline power difference values, it can be determined whether the power difference value is greater than or less than the baseline power difference value, for further processing and analysis.

[0147] If the battery difference is greater than the baseline battery difference, it means that the front and rear drones do not need to be swapped. Therefore, the battery difference is compared with the baseline battery difference to swap the positions of the front and rear drones in a timely manner.

[0148] If the power difference is less than the baseline power value, it indicates that the front drone has consumed more power, causing its power level to be lower than that of the rear drone. In this case, the positions of the front and rear drones need to be changed so that the rear drone with more power can act as the front drone to resist wind resistance, thereby reducing the power consumption of the replaced front drone.

[0149] Reference Figure 7 The method for controlling the escort aircraft to perform surveying based on the power level includes the following steps:

[0150] Step S700: When the battery level equals the battery threshold, obtain the current remaining area range.

[0151] The remaining area is the two-dimensional planar area of ​​the unmapped area within a single mapping region when the power value of the drone is equal to the power threshold. When the power value is equal to the power threshold, the computer program obtains, uploads, stores, and retrieves the remaining area by subtracting the two-dimensional planar area of ​​the drone's mapped area from the total two-dimensional planar area of ​​the single mapping region.

[0152] Step S701: Analyze the remaining area range to determine the power consumption value.

[0153] The power consumption value represents the amount of electricity required for the drone to complete the mapping of the remaining area. The database stores the remaining area ranges associated with each power consumption value, and contains multiple remaining area ranges corresponding to each power consumption value. Inputting a remaining area range will allow the database to match the corresponding power consumption value.

[0154] Step S702: Calculate the quotient of the power consumption value and the power value, and define the calculated quotient as the power consumption ratio value.

[0155] The power consumption ratio is the proportion of the power consumption value to the current power value. It is obtained by a computer program by calling the power consumption value and the power value, calculating the quotient of the power consumption value and the power value, uploading, storing and retrieving it.

[0156] Step S703: Analyze the power consumption ratio and the baseline ratio, and control the drone to continue mapping or control the drone to return to base according to flight rules.

[0157] The baseline ratio is the percentage of the minimum power consumption value to the total power consumption value. The specific value can be set by those skilled in the art based on the actual situation, and will not be elaborated here.

[0158] By sorting and comparing the power consumption ratio with the benchmark ratio, it can be determined whether the power consumption ratio is greater than the benchmark ratio or not greater than the benchmark ratio, for further analysis and processing.

[0159] If the power consumption ratio is greater than the baseline ratio, it means that the power required for the drone to complete the remaining survey area is greater than the baseline ratio. If the drone continues to survey the remaining area, the remaining power will be insufficient to support mutual assistance in returning to base. Therefore, the drone should be controlled to return to base according to the flight rules.

[0160] If the power consumption ratio is not greater than the baseline ratio, it means that the power consumption required for the drone to complete the remaining survey area is less than or equal to the baseline ratio. After controlling the drone to continue surveying the remaining area and consuming its power, the drones can still assist each other in returning to base. Therefore, control the drone to continue surveying the remaining area.

[0161] Step S704: Based on the UAV returning to base according to flight rules, control the escort aircraft to take over the mapping from the UAV.

[0162] If the power consumption ratio is greater than the baseline ratio, it indicates that the remaining power of the drone after mapping the remaining area is insufficient to support the drones to assist each other in returning to base. Therefore, the drone is controlled to return to base immediately, and the escort aircraft takes over the detection of the remaining area to avoid sending the drone back to the return position to continue detection, thereby improving the efficiency of mapping.

[0163] Based on the same inventive concept, embodiments of the present invention provide an unmanned aerial vehicle (UAV) mapping system, comprising:

[0164] The acquisition module is used to acquire the survey area range, flight altitude value, occlusion detection information, battery value, UAV heading, regional wind direction, flight speed value, regional wind speed value, steady speed value, battery threshold, battery difference value, and remaining area range;

[0165] Memory, used to store such as Figure 1-7 The program for UAV mapping methods;

[0166] The processor and memory can load and execute programs to achieve the following: Figure 1-7 UAV mapping methods in China.

[0167] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0168] This invention provides a computer-readable storage medium storing information that can be loaded and executed by a processor, such as... Figure 1-7 Computer programs for UAV mapping methods.

[0169] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0170] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores data that can be loaded and executed by the processor, such as... Figure 1-7 Computer programs for UAV mapping methods.

[0171] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0172] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for UAV mapping, characterized in that, include: Obtain the current mapping area of ​​the location to be mapped; The survey area is divided into single survey areas according to preset segmentation rules, and the drone is controlled to conduct surveys in each single survey area. Within an adjacent single mapping area, acquire the current flight altitude, current occlusion detection information, and current battery level. Analysis is performed based on flight altitude values ​​and obstruction detection information to control adjacent UAVs for auxiliary mapping. The system controls the drones within adjacent single surveying areas to assist in their return to base based on their battery levels. Determine the high and low areas within adjacent single mapping regions based on flight altitude values; The occlusion location is analyzed based on the occlusion detection information to determine whether the occlusion is high or low. Based on the obstruction of high-altitude areas, the drones in low-altitude areas are controlled to activate preset auxiliary lenses for auxiliary mapping. Based on the obstruction of low-lying areas, the system controls drones in high-lying areas to activate preset auxiliary lenses for auxiliary mapping.

2. The UAV mapping method according to claim 1, characterized in that, Methods for controlling drones to conduct surveys within a single survey area include: Obtain the current drone heading and the current wind direction in the area; Analyze the drone's heading and regional wind direction to obtain the current flight speed or current regional wind speed. The drone's flight mode is selected based on the regional wind speed value. Based on the flight speed value, the maximum value between the flight speed value and the preset flight speed range is analyzed to control the drone to reduce to the preset base speed and record the current area as an avoidance area or continue to acquire flight speed values.

3. The UAV mapping method according to claim 2, characterized in that, Methods for selecting the flight mode of a drone include: The regional wind speed value is analyzed and compared with the preset benchmark wind speed value. The regional wind speed value is then obtained, or the preset stabilization device is controlled according to the regional wind direction to adjust the drone flight and obtain the current stable speed value. Based on the steady speed value, the minimum value between the steady speed value and the preset flight speed range is analyzed to control the preset escort aircraft to assist the UAV in flight or to continue to acquire the steady speed value.

4. The UAV mapping method according to claim 3, characterized in that, Methods for controlling drones within adjacent single mapping areas to assist in returning to base based on battery level include: Control the drones within adjacent single mapping areas to move to the preset minimum safe altitude and obtain the current battery threshold; Analyze the battery level and battery threshold, and generate a return flight path or control adjacent drones to return according to preset flight rules based on the avoidance area and preset base station location; Based on the return route, the adjacent UAVs are driven back by a pre-set pull device on the escort aircraft.

5. The UAV mapping method according to claim 4, characterized in that, Methods for controlling neighboring drones to return to base according to preset flight rules include: Determine the high and low battery levels of the drone based on its battery level. Analyze the battery levels of high-powered and low-powered drones to control drones in high-altitude areas as the front row or control drones in low-altitude areas as the front row. Obtain the current battery level difference between the front-row drones and the rear-row drones; The system analyzes the power difference and the preset baseline power difference, and controls the drones in the lower area to switch positions with the drones in the higher area according to the preset switching rules or continue to obtain the power difference.

6. The UAV mapping method according to claim 4, characterized in that, The methods for controlling the escort aircraft to perform surveying based on power levels include: When the battery level equals the battery threshold, obtain the current remaining area range; The remaining area range is analyzed to determine the power consumption value; Calculate the quotient of the power consumption value and the power value, and define the calculated quotient as the power consumption ratio value; Analyze the power consumption ratio against the baseline ratio to control the drone to continue mapping or control the drone to return to base according to flight rules; Based on the drone's return flight according to flight rules, a control escort aircraft takes over the mapping work from the drone.

7. A type of unmanned aerial vehicle (UAV) mapping system, characterized in that, include: The acquisition module is used to acquire the survey area range, flight altitude value, occlusion detection information, battery value, UAV heading, regional wind direction, flight speed value, regional wind speed value, steady speed value, battery threshold, battery difference, and remaining area range; A memory for storing a program of a UAV mapping method as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the UAV mapping method as described in any one of claims 1 to 6.

8. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any one of the UAV mapping methods as described in claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer program is stored and can be loaded by a processor and executed as any one of the UAV mapping methods as described in claims 1 to 6.

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