Worksite block position correction method and device, remote control device and storage medium

Abstract

The application discloses a position rectification method and device of a work plot, a remote control device and a storage medium, and relates to the technical field of unmanned equipment. The method comprises the following steps: controlling an unmanned device to fly to the boundary of the work plot to mark points to obtain position information of the work plot; controlling the unmanned device to fly above a rectification auxiliary point to mark points to collect first position information of the rectification auxiliary point, wherein the rectification auxiliary point is a position point determined outside the work plot; when rectifying the position of the work plot, controlling the unmanned device to fly above the rectification auxiliary point to collect second position information of the rectification auxiliary point; and adjusting the position information of the work plot according to the offset of the first position information and the second position information. Through the above technical means, the rectification auxiliary point is selected outside the work plot, the influence of factors such as the geographical environment or the geographical position of the work plot on the collection of the rectification point is solved, and the rectification efficiency and the rectification accuracy of the work plot are ensured.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, and in particular to a method, device, remote control device and storage medium for correcting the position of a work site. Background Technology

[0002] With the development of unmanned equipment technology, more and more unmanned equipment is being used for high-altitude operations on various sites. Workers can remotely control the unmanned equipment to fly above the work site and collect location information. Based on this information, the unmanned equipment's flight path is planned, allowing it to perform operations along that path. When the unmanned equipment's positioning system uses differential positioning technology, errors can occur after each power outage and restart or after prolonged continuous operation. Therefore, it is necessary to correct the location of the work site to improve the operational accuracy of the unmanned equipment.

[0003] In existing technologies, boundary points of the work area are designated as correction points. Unmanned equipment flies over these correction points to determine their location. Based on the offset between this location information and the previously obtained location at the same real-world location, the position of the work area is adjusted to correct its deviation. However, when boundary points are used as correction points, the acquisition of their location information is affected by factors such as the geographical environment or location of the work area, resulting in low correction efficiency or accuracy, which fails to meet actual correction requirements. Summary of the Invention

[0004] This application provides a method, apparatus, remote control device, and storage medium for correcting the location of a work site, so as to select correction auxiliary points outside the work site, which solves the problem that the location information of correction points collected by the control of unmanned equipment in the prior art is easily affected by factors such as the geographical environment or geographical location of the work site.

[0005] Firstly, this application provides a method for correcting the location of a work site, including:

[0006] Control the unmanned equipment to fly to the boundary of the work site and mark the location information of the work site;

[0007] The unmanned equipment is controlled to fly above the correction auxiliary point to mark the point and collect the first position information of the correction auxiliary point, which is a location point determined outside the work area;

[0008] When correcting the position of the work site, the unmanned equipment is controlled to fly above the correction auxiliary point to collect the second position information of the correction auxiliary point;

[0009] The location information of the work site is adjusted based on the offset between the first location information and the second location information.

[0010] Secondly, this application provides a location correction device for a work site, comprising:

[0011] The work site marking module is configured to control unmanned equipment to fly to the boundary of the work site to mark points and obtain the location information of the work site;

[0012] The auxiliary point marking module is configured to control the unmanned equipment to fly above the correction auxiliary point to mark the point in order to collect the first position information of the correction auxiliary point, wherein the correction auxiliary point is a location point determined outside the work site.

[0013] The auxiliary point positioning module is configured to control the unmanned equipment to fly above the correction auxiliary point to collect the second position information of the correction auxiliary point when correcting the position of the work site.

[0014] The work site correction module is configured to adjust the position information of the work site based on the offset between the first position information and the second position information.

[0015] Thirdly, this application provides a remote control device, comprising:

[0016] One or more processors; a storage device storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the site location correction method for the work area as described in the first aspect.

[0017] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the site location correction method for the work area as described in the first aspect.

[0018] In this application, an unmanned aerial vehicle (UAV) is controlled to fly to the boundary of the work site to mark points and obtain the location information of the work site. A location point outside the work site is selected as a correction auxiliary point, and the UAV is controlled to fly above the correction auxiliary point to mark points and collect the first location information of the correction auxiliary point. When correcting the location of the work site, the UAV is controlled to fly above the correction auxiliary point to collect the second location information of the correction auxiliary point through a positioning system. The location information of the work site is adjusted based on the offset between the second and first location information. Through the above technical means, the user can select any location point outside the work site as the correction auxiliary point. The correction auxiliary point is not affected by the geographical environment or location of the work site, allowing the UAV to accurately and quickly fly above the correction auxiliary point before operation, ensuring the correction efficiency and accuracy of the work site. Attached Figure Description

[0019] Figure 1 This is a flowchart of a method for correcting the location of a work site according to an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the work site provided in the embodiments of this application;

[0021] Figure 3 This is a schematic diagram of the work site and correction auxiliary points provided in the embodiments of this application;

[0022] Figure 4 This is a flowchart of selecting correction auxiliary points based on a real-time preview screen, provided in an embodiment of this application;

[0023] Figure 5 This is a first schematic diagram of the remote control interface provided in the embodiments of this application;

[0024] Figure 6 This is a second schematic diagram of the remote control interface provided in the embodiments of this application;

[0025] Figure 7 This is a flowchart illustrating the determination of correction auxiliary points based on a preset distance threshold, provided in an embodiment of this application.

[0026] Figure 8 This is a flowchart of selecting correction auxiliary points near the takeoff point based on a real-time preview screen, provided in an embodiment of this application.

[0027] Figure 9 This is a third schematic diagram of the remote control interface provided in the embodiments of this application;

[0028] Figure 10 This is a fourth schematic diagram of the remote control interface provided in the embodiments of this application;

[0029] Figure 11This is the fifth schematic diagram of the remote control interface provided in the embodiments of this application;

[0030] Figure 12 This is a flowchart provided in an embodiment of the present application, showing how to control an unmanned device to fly above a correction assistance point based on a first image and a first altitude.

[0031] Figure 13 This is the sixth schematic diagram of the remote control interface provided in the embodiments of this application;

[0032] Figure 14 This is a schematic diagram of the structure of a site location correction device provided in an embodiment of this application;

[0033] Figure 15 This is a schematic diagram of the structure of a remote control device provided in an embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted in flowcharts. Although flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0035] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0036] The site correction method provided in this embodiment can be executed by a remote control device, which can be implemented through software and / or hardware. The remote control device can consist of two or more physical entities, or it can consist of a single physical entity. For example, the remote control device can be a screened remote control for unmanned equipment or a mobile phone or tablet with a remote control application installed.

[0037] The remote control device is equipped with at least one type of operating system. Based on this operating system, the device can install at least one application. This application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the remote control device has at least one application capable of executing a location correction method for the work site.

[0038] For ease of understanding, this embodiment uses a remote control device as the main body of the position correction method for the work site as an example for description.

[0039] In one embodiment, the worker uses a remote control device to select boundary points with distinctive geographical features within the work area as correction points. The location information of these correction points, collected during the initial marking process, is associated with and saved with the corresponding work area location information. Before commencing work on the work area, based on the memorized geographical features of the correction points, the user remotely controls an unmanned aerial vehicle (UAV) to fly above the correction points and collect their location information. The offset between the location information of the correction points collected during initial marking and the location information collected before work is determined. Based on this offset, the location information of the work area obtained during initial marking is adjusted to obtain the location information of the work area during work. If the work area is farmland with many repetitive textures, and the boundary points lack obvious geographical features, it becomes difficult for the user to accurately control the UAV to fly above the correction points after selecting them, resulting in low correction accuracy and affecting the operational accuracy of the UAV. If the work site is far from the takeoff point of the unmanned equipment, the unmanned equipment will spend a lot of time flying from the takeoff point to above the correction point each time it corrects its course, resulting in low correction efficiency at the work site and affecting the operational efficiency of the unmanned equipment.

[0040] To address the problem in the prior art that the location information of the correction point obtained by the control of unmanned equipment is easily affected by the geographical environment or location of the work site, this embodiment provides a method for correcting the location of the work site.

[0041] Figure 1 A flowchart of a method for correcting the location of a work site according to an embodiment of this application is provided.

[0042] refer to Figure 1 The specific methods for correcting the location of the work site include:

[0043] S110: Control the unmanned equipment to fly to the boundary of the work site and mark the location information of the work site.

[0044] Figure 2 This is a schematic diagram of the work site provided in an embodiment of this application. For example... Figure 2 As shown, location points A, B, C, and D are the boundary points of work plot 11. During the plot creation phase, staff can use remote control to operate unmanned equipment to fly over location points A, B, C, and D in sequence to collect the location information of the boundary points of work plot 11. The location information of the work plot is then generated based on the location information of the boundary points.

[0045] The process of a remote-controlled device controlling an unmanned aerial vehicle (UAV) to fly above a boundary point for marking is as follows: The remote-controlled device generates a first movement command based on user-input joystick operation and sends this command to the UAV to move it above the boundary point. The remote-controlled device then sends a marking command to the UAV. Upon receiving the command, the UAV's positioning system uses self-differential technology to obtain its horizontal coordinates and sends these coordinates back to the remote-controlled device. The remote-controlled device then uses these horizontal coordinates to determine the position information of the corresponding boundary point. Self-differential technology can be understood as the UAV using a convergent calculation based on predefined position auxiliary points to enter real-time dynamic carrier phase differential (RTK) positioning. Because the position auxiliary points change after each power outage and restart, and significant errors accumulate after prolonged continuous operation, leading to calculation divergence, the positioning system may exhibit large deviations after each power outage and restart or after prolonged continuous operation. (Reference) Figure 2 When the positioning system has a significant deviation, the unmanned aerial vehicle (UAV) might fly to point A' instead of the location A it collected during the initial positioning process. For example, when the UAV sprays pesticides on a work area based on the location information generated during the initial positioning process, some areas within the work area might not be sprayed, while areas outside the work area might be sprayed, severely affecting the UAV's operational accuracy and resulting in poor performance. Therefore, after each power outage and restart, or after prolonged continuous operation, before the UAV can operate on the work area, the positioning information of the work area generated during the initial positioning process should be corrected based on the positioning deviation between the UAV's operation and the initial positioning. This ensures that the UAV can accurately fly above the work area when operating according to the corrected positioning information, guaranteeing its operational accuracy. It's easy to understand that after correcting the position information of the work area, for the UAV's positioning system, it's equivalent to... Figure 2As shown, the work site 12 moves to the work site 11. Correspondingly, when the unmanned equipment navigates according to the corrected position information of the work site through the positioning system, it can accurately fly above the work site 11.

[0046] S120: Control the unmanned equipment to fly above the correction auxiliary point to mark the first position information of the correction auxiliary point. The correction auxiliary point is a location point determined outside the work area.

[0047] In this embodiment, the correction auxiliary point is a location point of the work area used to correct positional deviations caused by restarting the self-differential positioning or by prolonged use of self-differential positioning without restarting. Since the boundary points of the work area are easily affected by its geographical location or environment, this embodiment selects location points outside the work area as correction auxiliary points. Based on the offset between the first location information of the correction auxiliary point collected by the unmanned equipment during point marking and the second location information of the correction auxiliary point collected by the unmanned equipment before operation, the position information of the work area generated by point marking is corrected, resulting in position information of the work area that the positioning system can collect during unmanned equipment operation.

[0048] Figure 3 This is a schematic diagram of the work site and correction auxiliary points provided in the embodiments of this application. For example... Figure 3 As shown, location point E is the correction auxiliary point set in this embodiment. After marking locations A, B, C, and D sequentially, the unmanned equipment flies to above location point E to mark the location again, thus acquiring the first location information of location point E, which is also the correction auxiliary point. After each power outage and restart or after continuous operation for a long period of time, the unmanned equipment may fly to point E' based on the first location information of location point E acquired during the marking process. Therefore, before operating on the work site, the unmanned equipment flies to above location point E under the user's remote control and acquires the second location information of location point E. It is easy to understand that the first location information of the correction auxiliary point and the location information of the work site are acquired by the unmanned equipment during the same flight process, and the second location information of the correction auxiliary point is acquired by the unmanned equipment during the same flight process as the operation. During a single flight, the positioning system of the unmanned equipment will not experience power outages and restarts or continuous operation for a long period of time. Therefore, the offset between the first and second location information can be used to characterize the positioning error of the unmanned equipment's positioning system during marking and operation. By correcting the offset between the first and second location information, the location information of the work area generated by the point marking can be obtained, thus yielding the location information of the work area that the unmanned equipment can acquire through the positioning system during operation. Figure 3 The work site 12 shown in the figure is moved to work site 11.

[0049] In one embodiment, the correction auxiliary point is the location of a landmark outside the work area. A landmark can be understood as an object with obvious geographical features, which is easy to identify and recognize. For example, when the work area is farmland, the landmark could be a utility pole, tree, or rock outside the farmland. Because farmland has many repetitive textures, if the boundary points of the work area do not have obvious geographical features, correction at the boundary points is difficult. In this case, a landmark outside the work area can be selected as a correction auxiliary point. For example, after the unmanned equipment marks the last boundary point of the work area and generates the location information of the work area, the user can use a remote control to control the unmanned equipment to fly above a landmark outside the farmland, and then click the auxiliary point setting control in the remote control interface of the remote control equipment. The remote control device responds to the touch operation of clicking the auxiliary point setting control, generates a second marking instruction, and sends the second marking instruction to the unmanned device. After receiving the second marking instruction, the positioning system of the unmanned device uses self-differential technology to locate and obtain the horizontal coordinates of the unmanned device, and sends the horizontal coordinates to the remote control device. The remote control device will receive the horizontal coordinates and determine the first position information of the correction auxiliary point, and associate and save the first position information of the correction auxiliary point with the position information of the work site.

[0050] The unmanned equipment is equipped with a ground-facing camera, which can help users quickly select landmarks outside the work area that can serve as correction auxiliary points through real-time preview images of the ground-facing camera, thereby improving the efficiency of the unmanned equipment in marking correction auxiliary points. Figure 4 This is a flowchart illustrating the selection of correction auxiliary points based on a real-time preview screen, provided in an embodiment of this application. For example... Figure 4 As shown, the step of selecting correction auxiliary points based on the real-time preview screen specifically includes S1201-S1202:

[0051] S1201. Control the unmanned equipment to fly above the first target area and display the real-time preview image of the unmanned equipment's ground-facing camera on the remote control interface. The first target area is the area outside the work site.

[0052] For example, after the unmanned equipment marks the last boundary point of the work area and generates the location information of the work area, it controls the unmanned equipment to fly out of the work area and into the airspace above the first target area based on the location information of the work area. The unmanned equipment is controlled to turn on the ground-facing camera, and the unmanned equipment sends the real-time preview image captured by the ground-facing camera to the remote control device, which displays the real-time preview image on the remote control interface.

[0053] S1202, In response to the first selection operation of the marker in the real-time preview screen, the position point of the marker selected by the first selection operation is determined as the correction auxiliary point.

[0054] Figure 5This is a first schematic diagram of the remote control interface provided in an embodiment of this application. For example... Figure 5 As shown, the remote control interface 13 displays a real-time preview screen 14. The center point of the crosshair in the real-time preview screen 14 corresponds to the location of the unmanned device. The real-time preview screen 14 also displays a marker 17 and a portion of the work area 11. When the user clicks on the marker 17 in the real-time preview screen 14, they input a first selection operation for the marker 17 into the remote control device. Based on the first selection operation, the remote control device determines the pixel coordinates of the marker 17 in the real-time preview screen 14. Based on the pixel coordinates, the current three-dimensional coordinates of the unmanned device, and the extrinsic and intrinsic parameters of the ground-facing camera, it determines the flight distance and direction required for the unmanned device to fly above the marker 17. The remote control device sends the flight distance and direction to the unmanned device so that the unmanned device can fly above the marker 17 according to the received flight distance and direction. When the unmanned device flies above the marker 17, the positioning system performs positioning using self-differential technology and sends the obtained horizontal coordinates to the remote control device. The remote control device determines the received horizontal coordinates as the first position information of the correction auxiliary point.

[0055] In addition, users can refer to the positional relationship between the center point of the crosshair and the marker 17 in the real-time preview screen 14, and use the joystick control 15 in the remote control interface 13 to control the unmanned device to fly above the marker 17, and click the auxiliary point setting control 16 to determine the position point of the marker 17 as the correction auxiliary point and obtain the first position information of the correction auxiliary point collected by the positioning system.

[0056] In addition to assisting users in quickly selecting work sites and serving as markers for correction, the real-time preview screen can also be used by the remote control device to identify and mark these markers on the screen. This allows users to quickly select markers from the marked preview screen as correction points. For example, sample images of various sites can be pre-captured using a ground-facing camera on an unmanned device. Markers with distinctive features in these images can be marked, and a neural network model can be trained using these marked images to obtain a marker recognition model. This model then identifies the markers in the real-time preview screen, obtaining their pixel coordinates. Figure 6 This is a second schematic diagram of the remote control interface provided in an embodiment of this application. For example... Figure 6As shown, the remote control device marks the marker 17 in the real-time preview screen 14 using a marker box 18 based on the pixel coordinates of the marker 17. When the user clicks the marker box 18 in the real-time preview screen 18 and inputs a first selection operation into the remote control device, the marker 17 within the marker box 18 is determined to correspond to the pixel coordinates in the real-time preview screen based on the first selection operation. Based on the pixel coordinates, the current three-dimensional coordinates of the unmanned device, and the extrinsic and intrinsic parameters of the ground-facing camera, the required flight distance and direction for the unmanned device to fly above the marker are determined. The flight distance and direction are then sent to the unmanned device so that it can fly above the marker according to the received flight distance and direction. When the unmanned device flies above the marker, the positioning system performs positioning using self-differential technology and sends the obtained horizontal coordinates to the remote control device. The remote control device uses the received horizontal coordinates as the first position information of the correction auxiliary point.

[0057] It should be noted that if the user is not satisfied with the markers in the real-time preview, they can also use a remote control device to fly the unmanned equipment to other areas until the user selects a marker that can be used as a correction point.

[0058] In another embodiment, the correction assist point is a location outside the work area that is less than or equal to a preset distance threshold from the takeoff point. If the work area is far from the takeoff point of the unmanned equipment, a location closer to the takeoff point can be determined as the correction assist point, and the preset distance threshold is the maximum allowable distance between the takeoff point and the correction assist point set in this embodiment. If the boundary point of the work area is close to the takeoff point of the unmanned equipment, the boundary point of the work area can be determined as the correction assist point. For example, Figure 7 This is a flowchart illustrating the determination of correction auxiliary points based on a preset distance threshold, provided in an embodiment of this application. For example... Figure 7 As shown, the step of determining the correction auxiliary point based on the preset distance threshold specifically includes S1203-S1205:

[0059] S1203. Determine the minimum distance between the work site and the takeoff point based on the location information of the work site and the takeoff point of the unmanned equipment.

[0060] S1204. When the minimum distance is greater than the preset distance threshold, determine the correction auxiliary point of the work area based on the preset distance threshold and the location information of the takeoff point.

[0061] S1205. When the minimum distance is less than or equal to a preset distance threshold, determine the boundary point of the work plot closest to the takeoff point as the correction auxiliary point.

[0062] For example, when the unmanned equipment takes off, it can obtain the location information of the takeoff point through the positioning system. After the remote control equipment generates the location information of the work site, it determines the minimum distance between the boundary point of the work site and the takeoff point based on the location information of the work site and the location information of the takeoff point. The minimum distance is compared with a preset distance threshold. If the minimum distance is less than or equal to the preset distance threshold, it indicates that the boundary point is close to the takeoff point, and the boundary point can be determined as a correction auxiliary point. If the minimum distance is greater than the preset distance threshold, it indicates that the boundary point is far from the takeoff point, and a location point near the takeoff point can be determined as a correction auxiliary point based on the preset distance threshold and the location information of the takeoff point. For example, the takeoff point can be selected as the correction auxiliary point. In this embodiment, when the unmanned equipment flies to the boundary points of the work site in sequence to mark the points, each time the location information of the boundary point is collected, the distance between the boundary point and the takeoff point is determined based on the location information of the boundary point and the location information of the takeoff point. If the distance is less than or equal to the preset distance threshold, the boundary point is determined as a correction auxiliary point; if the distance is greater than the preset distance threshold, the boundary point is skipped. If the unmanned equipment fails to determine a correction auxiliary point after marking all boundary points, then the takeoff point is determined as the correction auxiliary point.

[0063] The takeoff point is usually chosen on flat ground. If the ground does not have obvious geographical features, it is difficult to guarantee that the unmanned equipment can fly to the same position point during subsequent correction. Therefore, the real-time preview of the ground camera can help the user select landmarks near the takeoff point that can be used as correction auxiliary points, thereby improving the efficiency of the unmanned equipment in marking correction auxiliary points. Figure 8 This is a flowchart illustrating the selection of correction auxiliary points near the takeoff point based on a real-time preview screen, provided in an embodiment of this application. For example... Figure 8 As shown, the step of selecting correction auxiliary points near the takeoff point based on the real-time preview image specifically includes S12041-S12043:

[0064] S12041. Based on the location information of the takeoff point and the preset distance threshold, determine the location information of the second target area, with the takeoff point as the origin and the preset distance threshold as the radius.

[0065] A second target area is constructed using the takeoff point as the center and a preset distance threshold as the radius, ensuring that the distance between any point within the second target area and the takeoff point is less than the preset distance threshold. After the unmanned equipment marks the boundary points of the work area, the remote control equipment determines the location information of the second target area based on the location information of the takeoff point and the preset distance threshold.

[0066] S12042. Based on the location information of the second target area, control the unmanned equipment to fly above the second target area, display the real-time preview image of the unmanned equipment's ground-facing camera in the remote control interface, and mark the second target area in the real-time preview image.

[0067] The remote control device, based on the location information of the second target area, controls the unmanned aerial vehicle (UAV) to fly to the airspace above the second target area. The UAV then activates its ground-facing camera, sending the real-time preview image captured by the camera to the remote control device, which displays the preview image on its interface. Based on the UAV's current 3D coordinates and the extrinsic and intrinsic parameters of the ground-facing camera, the position information of each pixel in the real-time preview image is determined. Based on the location information of the second target area and the position information of each pixel in the real-time preview image, the second target area is marked within the preview image.

[0068] S12043. Determine the location point as the correction auxiliary point from the second target area in the real-time preview screen.

[0069] This application provides two implementation methods for determining the location points of the markers as correction auxiliary points from the second target area. One method is for the user to select the location points of the markers from the second target area as correction auxiliary points, and the other method is to determine the location points of the markers from the second target area as correction auxiliary points through intelligent recognition.

[0070] In one embodiment, when a user clicks on a marker in the second target area, a second selection operation for the marker within the second target area is input to the remote control device. In response to the second selection operation, the remote control device determines the location point of the selected marker corresponding to the second selection operation as a correction auxiliary point. Figure 9 This is a third schematic diagram of the remote control interface provided in the embodiments of this application. For example... Figure 9As shown, the real-time preview screen 14 displayed on the remote control interface 13 shows a marked second target area 19. The user can see that the marker 17 is located within the second target area 19, indicating that the distance between the marker 17 and the takeoff point is less than a preset distance threshold. When the user clicks on the marker 17 within the second target area 19, a second selection operation is input to the remote control device regarding the marker 17. The remote control device determines the pixel coordinates of the marker 17 in the real-time preview screen 14 based on the second selection operation. Based on the pixel coordinates, the current position information of the unmanned device, and the extrinsic and intrinsic parameters of the ground-facing camera, it determines the required flight distance and direction for the unmanned device to fly above the marker 17. The flight distance and direction are then sent to the unmanned device so that it can fly above the marker 17 according to the received flight distance and direction. When the unmanned device flies above the marker 17, the positioning system performs positioning using differential technology and sends the obtained horizontal coordinates to the remote control device. The remote control device uses the received horizontal coordinates as the first position information of the correction auxiliary point. If the user clicks on an area outside the second target area 19, the remote control device does not respond.

[0071] In this embodiment, the remote control device can also identify landmarks within the second target area of ​​the real-time preview screen and mark the identified landmarks within the second target area of ​​the real-time preview screen, so that the user can quickly select the location point of the landmark as a correction auxiliary point from the marked second target area. For example, the image corresponding to the second target area is extracted from the real-time preview screen, and the image corresponding to the second target area is identified by a pre-trained landmark recognition model to obtain the pixel coordinates of the landmark located in the second target area. Figure 10 This is a fourth schematic diagram of the remote control interface provided in this application embodiment. The remote control device marks the marker 17 in the second target area 19 using a marking box 18 based on the pixel coordinates of the marker 17. When the user clicks the marking box 18 in the second target area 19 and inputs a second selection operation into the remote control device, the marker 17 within the marking box 18 is determined to correspond to the pixel coordinates in the real-time preview screen 14. Based on the pixel coordinates, the current three-dimensional coordinates of the unmanned device, and the extrinsic and intrinsic parameters of the ground-facing camera, the required flight distance and direction for the unmanned device to fly above the marker are determined. The flight distance and direction are then sent to the unmanned device so that it can fly above the marker according to the received flight distance and direction. When the unmanned device flies above the marker, the positioning system performs positioning using self-differential technology and sends the obtained horizontal coordinates to the remote control device. The remote control device uses the received horizontal coordinates as the first position information of the correction auxiliary point.

[0072] In another embodiment, when identifying markers as correction aids from the second target area using intelligent recognition, the markers within the second target area of ​​the real-time preview are identified, and the location of the marker closest to the takeoff point is selected as the correction aid. For example, the image corresponding to the second target area is extracted from the real-time preview, and a pre-trained marker recognition model is used to identify the image corresponding to the second target area, obtaining the pixel coordinates of at least one marker located in the second target area. Based on the location information corresponding to the pixel coordinates of each marker in the second target area and the location information of the takeoff point, the distance between the location of each marker and the takeoff point is determined. The location of the marker closest to the takeoff point is selected as the correction aid, enabling the unmanned equipment to fly above the correction aid point based on the marker's location information.

[0073] Steps S110-S120 describe the process of the unmanned equipment marking the work area and correction auxiliary points, while steps S130-S140 describe the process of the unmanned equipment performing position correction on the work area before operation. Since the unmanned equipment typically waits several days or until the next day after marking the points before operating on the work area, the remote control equipment will not immediately execute steps S130-S140 after completing steps S110-S120; the execution times of these steps are not consecutive.

[0074] S130. When correcting the position of the work site, control the unmanned equipment to fly above the correction auxiliary point to collect the second position information of the correction auxiliary point.

[0075] Before the unmanned equipment (UAV) begins operations on the work site, the site's position is corrected. This involves adjusting the site's position based on the offset of the second position information of the correction auxiliary points obtained before operation and the first position information of the correction auxiliary points obtained during the marking process. In this embodiment, the user can control the UAV to fly above the correction auxiliary points using a remote control device, based on the geographical features of the correction auxiliary points they remember. The user then controls the UAV to locate itself using a positioning system to obtain its current horizontal coordinates, which are used as the second position information of the correction auxiliary points.

[0076] It should be noted that it is possible that the unmanned equipment will immediately begin operations on the work area after marking the work site. At this time, the positioning system may not have experienced a power outage and restart or prolonged continuous operation. In other words, the unmanned equipment can perform operations on the work area based on the location information generated from the marking. To address this, before starting operations on the work area, it can be determined whether a preset first correction condition is met. If the preset correction condition is met, the work area is corrected; otherwise, the location information generated from the marking is used. The first correction condition is either restarting the positioning system after marking or the positioning system's runtime exceeding a preset time threshold after marking. The preset time threshold is the longest continuous operation period without errors in the positioning system. Furthermore, the unmanned equipment may perform two or more consecutive operations on the same work area. During the two operations, the positioning system may not have experienced a power outage and restart or prolonged continuous operation. In this case, the unmanned equipment can perform the current operation based on the location information of the work area used in the previous operation. For example, if a preset first correction condition is met, it is then determined whether a preset second correction condition is met. The second correction condition is whether the positioning system restarted or its runtime exceeded a preset time threshold after the previous correction was completed. If the second correction condition is met, it indicates that the location information of the work plot generated in the previous correction has deviated, and the work location information of the correction reference point for this operation needs to be re-collected. The location information of the work plot generated during point marking is then corrected based on the work location information and the first location information. If the second correction condition is not met, it indicates that the location information of the work plot generated in the previous correction has not deviated, and the location information of the work plot generated in the previous correction is used for this operation.

[0077] When the same person is operating the unmanned aerial vehicle (UAV) to mark and correct the work site, the person operating the UAV for correction cannot know the location and geographical features of the correction auxiliary points, meaning they cannot accurately control the UAV to fly above the correction auxiliary points. To address this, this embodiment proposes that while the UAV is marking the correction auxiliary points, its ground-facing camera can capture and record images of the geographical features of the correction auxiliary points. These images can then be used as a reference when correcting the correction, allowing the UAV to fly above the correction auxiliary points. Specifically, after controlling the UAV to fly above the correction auxiliary points to collect the first location information, the UAV captures a first image using its ground-facing camera, and the first altitude at which the UAV captured the first image is determined. For example, when the user clicks... Figure 5 After displaying the markers in the real-time preview screen 14, the location of the corresponding selected marker 17 is determined as the correction auxiliary point, and the unmanned equipment is controlled to fly above the correction auxiliary point. Figure 11This is the fifth schematic diagram of the remote control interface provided in the embodiments of this application. For example... Figure 11 As shown, when the unmanned device flies above the marker 17, the center point of the crosshair in the real-time preview screen 17 covers the marker 17. The positioning system uses self-differential technology to obtain the horizontal coordinates of the unmanned device and determines the flight altitude of the unmanned device through GPS (Global Positioning System), ground radar, or barometer, and sends the horizontal coordinates and flight altitude to the remote control device. Although the positioning system can also calculate the flight altitude of the unmanned device through self-differential technology, the error of this flight altitude is relatively large. Therefore, in this embodiment, other methods are preferred to determine the first altitude of the unmanned device when taking the first image. Further, after receiving the horizontal coordinates and flight altitude, the remote control device determines the horizontal coordinates as the first position information of the correction auxiliary point, saves the real-time preview screen currently displayed on the remote control interface as the first image, determines the flight altitude as the first altitude of the unmanned device when taking the first image, and finally saves the first position information, the first image, and the first altitude together.

[0078] Correspondingly, Figure 12 This is a flowchart illustrating the process of controlling an unmanned device to fly above a correction assistance point based on a first image and a first altitude, as provided in an embodiment of this application. Figure 12 As shown, the steps for controlling the unmanned equipment to fly above the correction assistance point based on the first image and the first altitude include S1301-S1302:

[0079] S1301, Control the unmanned equipment to fly to the position corresponding to the first position information and the first altitude, and display the first image and the real-time preview of the ground camera on the remote control interface.

[0080] For example, the first position information and first altitude of the correction auxiliary point are sent to the unmanned device (UAV) so that the UAV flies to the position corresponding to the first position information and the first altitude. Because the UAV's positioning system accumulates errors after restarting or prolonged use, the UAV can only fly to the vicinity of the correction reference point. Subsequently, staff can manually remotely control the UAV to move it above the correction reference point, or the remote control device can automatically control the UAV to move above the correction reference point. After the UAV adjusts to the first altitude, it activates its ground-facing camera and sends the real-time preview image from the ground-facing camera to the remote control device. The remote control device simultaneously displays the real-time preview image and the first image on the remote control interface.

[0081] S1302. When the real-time preview screen is the same as the first image, the position information of the unmanned equipment is collected as the second position information of the correction auxiliary point.

[0082] It's easy to understand that when the unmanned device (UAV) is at a first height above the correction assist point, the real-time preview image is identical to the first image. The location of the UAV above the correction assist point can be confirmed based on whether the real-time preview image and the first image are identical. The process for determining whether the real-time preview image and the first image are identical is as follows: Extract a first feature vector from the real-time preview image and a second feature vector from the first image. Calculate the cosine distance between the first and second feature vectors, and use this cosine distance as the feature matching degree between the real-time preview image and the first image. Compare the feature matching degree with a preset matching threshold. If the feature matching degree of the current real-time preview image and the first image is greater than or equal to the preset matching threshold, then the current real-time preview image is determined to be identical to the first image. At this time, the remote control device can automatically send a positioning command to the UAV to obtain its current horizontal coordinates determined by the positioning system as the second position information of the correction assist point. If the feature matching degree of the current real-time preview image and the first image is less than the preset matching threshold, then the current real-time preview image is determined to be different from the first image. At this time, the user can use the remote control device to control the UAV to fly above the correction assist point.

[0083] Figure 13 This is the sixth schematic diagram of the remote control interface provided in the embodiments of this application. For example... Figure 13 As shown, the remote control interface 13 displays a real-time preview screen 14, a first image 21, a confirmation control 20, and a joystick control 15. The center point of the crosshair in the first image 21 covers the marker 17, which serves as a correction auxiliary point, while the marker 17 in the real-time preview screen 14 is located to the lower right of the center point of the crosshair. The user can refer to the real-time preview screen 14 and the first image 21, and move the unmanned device above the marker 17 by touching the joystick control 15. When the user adjusts the position of the unmanned device using the joystick control 15, the position of the ground-facing camera changes, and the position of the marker 17 in the real-time preview screen 14 also changes. The user can refer to the control direction of the joystick control 15 and the movement direction of the marker 17 in the real-time preview screen 14 to analyze how to control the joystick control 15 to move the marker 17 in the real-time preview screen 14 to the center point of the crosshair, reducing the difficulty of moving the unmanned device above the correction auxiliary point, which is beneficial for improving correction efficiency and ensuring correction accuracy.

[0084] In addition, when the user clicks on the marker 17 in the live preview screen 14, they input a third selection operation for the marker 17 into the remote control device. The remote control device determines the pixel coordinates of the marker 17 in the live preview screen 14 based on the third selection operation. Based on the pixel coordinates, the current three-dimensional coordinates of the unmanned device, and the extrinsic and intrinsic parameters of the ground-facing camera, it determines the required flight distance and direction for the unmanned device to fly above the marker 17. The remote control device sends the flight distance and direction to the unmanned device, causing it to fly above the marker 17 according to the received flight distance and direction. If the unmanned device has not yet reached above the marker 17 after flying according to the received flight distance and direction, the user can fine-tune the position of the unmanned device using the joystick control 15.

[0085] It should be noted that when the remote control device detects that the real-time preview screen is the same as the first image, the remote control device will not respond to the user's touch operation on the joystick control. This is to prevent the unmanned device from deviating from the correction reference point due to the user's accidental touch when it moves above the correction reference point, thus ensuring the accuracy of the correction.

[0086] S140. Adjust the location information of the work site according to the offset between the first location information and the second location information.

[0087] For example, after obtaining the second position information of the correction reference point, the offset between the first position information and the second position information of the correction reference point is calculated. Based on the offset, the position information of each work site is adjusted to obtain the position information of the work site that can be collected when the unmanned equipment performs operations on the work site, and the flight path of the unmanned equipment is planned according to the adjusted position information.

[0088] In one embodiment, correction auxiliary points are associated with and stored in relation to the location information of multiple work sites. Accordingly, the remote control device can adjust the location information of each work site associated with and stored in relation to the correction auxiliary points based on the offset of the first and second location information of the correction auxiliary points, thereby improving the correction efficiency of each work site. It should be noted that the unmanned equipment needs to mark the correction auxiliary points and all work sites associated with and stored in relation to the correction auxiliary points during the same flight to avoid the positioning system restarting or running continuously for extended periods during the marking of the correction auxiliary points and associated work sites, which could lead to positioning errors between the work sites and the correction auxiliary points. The correction auxiliary point can be a location point outside any work site; that is, the correction auxiliary point may be outside work site A but within work site B. When correcting the location information of the work sites associated with and stored in relation to the correction auxiliary points based on the offset of the first and second location information of the correction auxiliary points, position correction can be performed only on the work site about to be worked on, further improving the correction efficiency.

[0089] In summary, the location correction method for a work site provided in this application involves controlling an unmanned aerial vehicle (UAV) to fly to the boundary of the work site and mark points to obtain the location information of the work site. Points outside the work site are selected as correction auxiliary points, and the UAV flies above these auxiliary points to collect their first location information. When correcting the location of the work site, the UAV flies above the correction auxiliary points to collect their second location information via a positioning system. The location information of the work site is adjusted based on the offset between the second and first location information. Since the location information of the work site and the first location information of the correction auxiliary points are acquired by the UAV during a single flight, and the positioning system of the UAV does not experience power outages, restarts, or prolonged continuous operation during this flight, the offset between the first and second location information of the correction auxiliary points reflects the positioning error between the point marking and the actual operation. The adjusted location information of the work site can be considered the location information that the positioning system should acquire during the operation of the UAV, ensuring the operational accuracy of the UAV. Using the aforementioned technical means, users can select any location outside the work site as the correction auxiliary point. The correction auxiliary point is not affected by the geographical environment or location of the work site, which allows the unmanned equipment to fly accurately and quickly above the correction auxiliary point before operation, ensuring the correction efficiency and accuracy of the work site.

[0090] Based on the above embodiments, Figure 14 This is a schematic diagram of a site location correction device provided in an embodiment of this application. (Reference) Figure 14 The location correction device for the work site provided in this embodiment specifically includes: a work site marking module 31, an auxiliary point marking module 32, an auxiliary point positioning module 33, and a work site correction module 34.

[0091] Among them, the work site marking module is configured to control the unmanned equipment to fly to the boundary of the work site to mark the location information of the work site;

[0092] The auxiliary point marking module is configured to control the unmanned equipment to fly above the correction auxiliary point to mark the point in order to collect the first position information of the correction auxiliary point. The correction auxiliary point is a location point determined outside the work area.

[0093] The auxiliary point positioning module is configured to control the unmanned equipment to fly above the correction auxiliary point to collect the second position information of the correction auxiliary point when correcting the position of the work site.

[0094] The site correction module is configured to adjust the position information of the site based on the offset between the first position information and the second position information.

[0095] Based on the above embodiments, the correction auxiliary point is the location of a marker outside the work area.

[0096] Based on the above embodiments, the position correction device further includes an auxiliary point determination module, which includes: a first flight control submodule, configured to control the unmanned equipment to fly above a first target area before controlling the unmanned equipment to fly above the correction auxiliary point to collect the first position information of the correction auxiliary point, and display the real-time preview image of the unmanned equipment's ground-facing camera in the remote control interface, wherein the first target area is an area outside the work site; and a first determination submodule, configured to determine the position point of the selected marker corresponding to the first selection operation as the correction auxiliary point in response to a first selection operation of a marker in the real-time preview image.

[0097] Based on the above embodiments, the auxiliary point determination module further includes: a first identification submodule, configured to identify the markers in the real-time preview screen and mark the identified markers in the real-time preview screen before responding to the first selection operation of the markers in the real-time preview screen.

[0098] Based on the above embodiments, the correction auxiliary point is a location outside the work area that is less than or equal to a preset distance threshold from the takeoff point.

[0099] Based on the above embodiments, the auxiliary point determination module includes: a minimum distance determination submodule, configured to determine the minimum distance between the work site and the takeoff point based on the location information of the work site and the location information of the takeoff point of the unmanned equipment before controlling the unmanned equipment to fly above the correction auxiliary point to collect the first location information of the correction auxiliary point; and a second determination submodule, configured to determine the correction auxiliary point of the work site based on the preset distance threshold and the location information of the takeoff point when the minimum distance is greater than the preset distance threshold.

[0100] Based on the above embodiments, the second determining submodule includes: a region determining unit, configured to determine the location information of a second target region based on the location information of the takeoff point and a preset distance threshold, wherein the second target region has the takeoff point as the origin and the preset distance threshold as the radius; a region marking unit, configured to control the unmanned device to fly above the second target region based on the location information of the second target region, display the real-time preview image of the unmanned device's ground-facing camera in the remote control interface, and mark the second target region in the real-time preview image; and an auxiliary point determining unit, configured to determine the position points as correction auxiliary points from the second target region in the real-time preview image.

[0101] Based on the above embodiments, the auxiliary point determination unit includes: an auxiliary point selection subunit, configured to determine the position point of the selected marker corresponding to the second selection operation as a correction auxiliary point in response to a second selection operation of a marker in the second target area.

[0102] Based on the above embodiments, the auxiliary point determination unit further includes: an auxiliary point marking subunit, configured to identify the markers in the second target area of ​​the real-time preview screen and mark the identified markers in the second target area of ​​the real-time preview screen before responding to the second selection operation of the markers in the second target area.

[0103] Based on the above embodiments, the auxiliary point determination unit includes: an auxiliary point identification subunit, configured to identify markers in the second target area of ​​the real-time preview screen, and select the position point of the marker closest to the takeoff point from the identification results as the correction auxiliary point.

[0104] Based on the above embodiments, the auxiliary point marking module further includes: an auxiliary data acquisition submodule, configured to, after controlling the unmanned device to fly above the correction auxiliary point to mark points and collect the first position information of the correction auxiliary point, control the unmanned device to capture a first image through a ground-facing camera and determine the first altitude of the unmanned device when capturing the first image; correspondingly, the auxiliary point positioning module includes: a second flight control submodule, configured to control the unmanned device to fly to the position corresponding to the first position information and the first altitude, and display the first image and the real-time preview of the ground-facing camera on the remote control interface; the auxiliary point positioning submodule is configured to, when the real-time preview is the same as the first image, collect the position information of the unmanned device as the second position information of the correction auxiliary point.

[0105] Based on the above embodiments, the location information of the correction auxiliary points is associated with and stored with multiple work plots; correspondingly, the work plot correction module includes a batch correction submodule, which is configured to adjust the location information of each work plot associated with and stored with the correction auxiliary points according to the offset.

[0106] Based on the above embodiments, the positioning system of the unmanned equipment adopts self-differential technology for positioning.

[0107] Based on the above embodiments, the work site correction device further includes a correction judgment module, which is configured to determine whether a preset first correction condition is met before the work site is operated on. The first correction condition is that the positioning system is restarted after the marking is completed or the running time of the positioning system exceeds a preset time threshold after the marking is completed.

[0108] The above-described location correction device for a work site provided in this application embodiment controls an unmanned aerial vehicle (UAV) to fly to the boundary of the work site and mark points to obtain the location information of the work site. A location point outside the work site is selected as a correction auxiliary point, and the UAV flies above the correction auxiliary point to mark points and collect the first location information of the correction auxiliary point. When correcting the location of the work site, the UAV flies above the correction auxiliary point to collect the second location information of the correction auxiliary point through the positioning system. The location information of the work site is adjusted based on the offset between the second and first location information. Since the location information of the work site and the first location information of the correction auxiliary point are obtained by the UAV during a single flight, and the positioning system of the UAV does not experience power outages or restarts or prolonged continuous operation during this flight, the offset between the first and second location information of the correction auxiliary point reflects the positioning error between the point marking and the operation. The adjusted location information of the work site can be considered as the location information that the positioning system should obtain during the operation of the UAV, ensuring the operational accuracy of the UAV. Using the aforementioned technical means, users can select any location outside the work site as the correction auxiliary point. The correction auxiliary point is not affected by the geographical environment or location of the work site, which allows the unmanned equipment to fly accurately and quickly above the correction auxiliary point before operation, ensuring the correction efficiency and accuracy of the work site.

[0109] The location correction device for the work site provided in this application embodiment can be used to execute the location correction method for the work site provided in the above embodiment, and has corresponding functions and beneficial effects.

[0110] Figure 15 This is a schematic diagram of the structure of a remote control device provided in an embodiment of this application, with reference to... Figure 15 The remote control device includes a processor 41, a memory 42, a communication device 43, an input device 44, and an output device 45. The number of processors 41 and the number of memories 42 in the remote control device can be one or more. The processor 41, memory 42, communication device 43, input device 44, and output device 45 of the remote control device can be connected via a bus or other means.

[0111] The memory 42 is defined as a computer-readable storage medium that can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the site location correction method of any embodiment of this application (e.g., the site location correction module 31, auxiliary point marking module 32, auxiliary point positioning module 33, and site correction module 34 in the site location correction device). The memory 42 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 42 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0112] The communication device 43 is used for data transmission.

[0113] The processor 41 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 42, thereby realizing the above-mentioned position correction method for the work site.

[0114] Input device 44 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 45 may include display devices such as a display screen.

[0115] The remote control device provided above can be used to execute the position correction method for the work site provided in the above embodiments, and has corresponding functions and beneficial effects.

[0116] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform a method for correcting the position of a work site. The method includes: controlling an unmanned aerial vehicle (UAV) to fly to the boundary of the work site and mark points to obtain the position information of the work site; controlling the UAV to fly above a correction auxiliary point and mark points to collect first position information of the correction auxiliary point, wherein the correction auxiliary point is a location point determined outside the work site; when correcting the position of the work site, controlling the UAV to fly above the correction auxiliary point to collect second position information of the correction auxiliary point; and adjusting the position information of the work site according to the offset between the first position information and the second position information.

[0117] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0118] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the above-mentioned method for correcting the location of the work site, but can also execute related operations in the method for correcting the location of the work site provided in any embodiment of this application.

[0119] The location correction device, storage medium, and remote control device for the work site provided in the above embodiments can execute the location correction method for the work site provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the location correction method for the work site provided in any embodiment of this application.

[0120] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A method for correcting the location of a work site, characterized in that, include: Based on the location information of the work site and the location information of the unmanned equipment's takeoff point, determine the minimum distance between the work site and the takeoff point; If the minimum distance is greater than a preset distance threshold, the correction auxiliary point of the work site is determined based on the preset distance threshold and the location information of the takeoff point; The correction assistance point is a location outside the work area that is less than or equal to a preset distance threshold from the takeoff point; The unmanned equipment is controlled to fly to the boundary of the work site and mark the location information of the work site; The unmanned device is controlled to fly above the correction assist point to mark the point and collect the first position information of the correction assist point; When correcting the position of the work site, the unmanned equipment is controlled to fly above the correction auxiliary point to collect the second position information of the correction auxiliary point; The location information of the work site is adjusted based on the offset between the first location information and the second location information.

2. The method for correcting the location of a work site according to claim 1, characterized in that, The correction auxiliary point is the location of a landmark outside the work area.

3. The method for correcting the location of a work site according to claim 2, characterized in that, Before controlling the unmanned device to fly above the correction assist point to mark the point and collect the first position information of the correction assist point, the method further includes: Control the unmanned equipment to fly above the first target area and display the real-time preview image of the unmanned equipment's ground-facing camera on the remote control interface. The first target area is an area outside the work site. In response to a first selection operation on a marker in the real-time preview screen, the position point of the selected marker corresponding to the first selection operation is determined as a correction auxiliary point.

4. The method for correcting the location of a work site according to claim 3, characterized in that, Prior to the first selection operation on the marker in the live preview screen, the method further includes: The markers in the real-time preview screen are identified, and the identified markers are marked on the real-time preview screen.

5. The method for correcting the location of a work site according to claim 1, characterized in that, The step of determining the correction auxiliary point of the work site based on the preset distance threshold and the location information of the takeoff point includes: Based on the location information of the takeoff point and the preset distance threshold, the location information of the second target area is determined, wherein the second target area has the takeoff point as the origin and the preset distance threshold as the radius; Based on the location information of the second target area, control the unmanned device to fly above the second target area, display the real-time preview image of the unmanned device's ground-facing camera in the remote control interface, and mark the second target area in the real-time preview image; The location point that serves as the correction auxiliary point is determined from the second target area in the real-time preview screen.

6. The method for correcting the location of a work site according to claim 5, characterized in that, Determining the location point as the correction auxiliary point from the second target area in the real-time preview screen includes: In response to a second selection operation on a marker within the second target area, the location point of the marker selected in the second selection operation is determined as a correction auxiliary point.

7. The method for correcting the location of a work site according to claim 6, characterized in that, Prior to the second selection operation in response to a marker within the second target area, the following is included: The markers in the second target area of ​​the real-time preview screen are identified, and the identified markers are marked in the second target area of ​​the real-time preview screen.

8. The method for correcting the location of a work site according to claim 5, characterized in that, Determining the location point as the correction auxiliary point from the second target area in the real-time preview screen includes: The markers in the second target area of ​​the real-time preview screen are identified, and the location of the marker closest to the takeoff point is selected from the identification results and determined as the correction auxiliary point.

9. The method for correcting the location of a work site according to claim 1, characterized in that, After the controlled unmanned equipment flies to the point above the correction assist point to collect the first position information of the correction assist point, the method further includes: The unmanned device is controlled to capture a first image using a ground-facing camera, and a first altitude is determined when the unmanned device captures the first image. Accordingly, controlling the unmanned device to fly above the correction assist point to collect the second position information of the correction assist point includes: Control the unmanned device to fly to the position corresponding to the first position information and the first altitude, and display the first image and the real-time preview of the ground camera on the remote control interface; When the real-time preview image is the same as the first image, the position information of the unmanned device is collected as the second position information of the correction auxiliary point.

10. The method for correcting the location of a work site according to claim 1, characterized in that, The correction auxiliary points are associated with and stored in relation to the location information of multiple work sites; Accordingly, adjusting the location information of the work site based on the offset between the first location information and the second location information includes: The position information of each work site associated with and saved with the correction auxiliary point is adjusted according to the offset.

11. The method for correcting the location of a work site according to any one of claims 1-10, characterized in that, The positioning system of the unmanned equipment uses self-differential technology for positioning.

12. The method for correcting the location of a work site according to claim 11, characterized in that, Before performing position correction on the work site, the method further includes: Before carrying out operations on the work site, it is determined whether a preset first correction condition is met. The first correction condition is that the positioning system is restarted after the marking is completed or the running time of the positioning system exceeds a preset time threshold after the marking is completed.

13. A location correction device for a work site, characterized in that, include: The auxiliary point determination module is configured to determine the minimum distance between the work site and the takeoff point of the unmanned equipment based on the location information of the work site and the location information of the takeoff point of the unmanned equipment; and if the minimum distance is greater than a preset distance threshold, determine the correction auxiliary point of the work site based on the preset distance threshold and the location information of the takeoff point. The correction assistance point is a location outside the work area that is less than or equal to a preset distance threshold from the takeoff point; The work site marking module is configured to control the unmanned equipment to fly to the boundary of the work site to mark points and obtain the location information of the work site; The auxiliary point marking module is configured to control the unmanned equipment to fly above the correction auxiliary point to mark the point in order to collect the first position information of the correction auxiliary point. The auxiliary point positioning system is configured to control the unmanned equipment to fly above the correction auxiliary point to collect the second position information of the correction auxiliary point when correcting the position of the work site. The work site correction module is configured to adjust the position information of the work site based on the offset between the first position information and the second position information.

14. A remote control device, characterized in that, include: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the site location correction method as described in any one of claims 1-12.

15. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the location correction method for the work site as described in any one of claims 1-12.

Images