An underground space intelligent mapping method and system and a storage medium

Abstract

The application relates to the technical field of underground space mapping, in particular to an underground space intelligent mapping method and system and a storage medium, the method comprising the following steps: acquiring an estimated driving distance and a to-be-driven distance according to current position information and an estimated driving area; comparing the estimated driving distance with the to-be-driven distance; if the estimated driving distance is smaller than the to-be-driven distance, sending a command of executing the first route instruction to a UAV; if the estimated driving distance is larger than the to-be-driven distance, judging whether the exit position information has multiple exit positions; if the estimated driving distance corresponds to exit position information with multiple exit positions, sending a command of executing the first route instruction to the UAV; and if the estimated driving distance corresponds to exit position information with a single exit position, sending a command of executing the second route instruction to the UAV. The application has the advantages that the UAV can reasonably select a measurement route when measuring an underground space, and the measurement efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of underground space surveying, and in particular to an intelligent underground space surveying method, system and storage medium. Background Technology

[0002] Underground spaces are mainly composed of various lines and transportation networks, such as gas pipelines, heating pipelines, and drainage pipelines, which are an important part of urban municipal and transportation facilities. For underground pipelines that have already been constructed, it is necessary to regularly survey and map these pipelines to facilitate future reconstruction or maintenance.

[0003] In related technologies, the travel route of measuring instruments is planned at the entrance of the ground pipeline network, and then the instruments are used to obtain data such as the direction and diameter of the underground pipeline network, thereby enabling data measurement of pipelines in underground space.

[0004] Since the pipeline is not a single channel, but multiple pipelines intersect underground, when encountering a fork, the operator adjusts the drone's flight path based on their experience. If a certain fork corresponds to a single exit location, and this route is chosen, after completing the survey, the drone needs to re-enter the pipeline entrance for the next round of surveying, which will lead to low efficiency of the drone's measurement data. Summary of the Invention

[0005] In order to comprehensively plan UAV mapping routes and improve the efficiency of underground space mapping, this application provides an intelligent mapping method, system and storage medium for underground space.

[0006] Firstly, this application provides an intelligent mapping method for underground space, employing the following technical solution: A method for intelligent mapping of underground space includes the following steps: Obtain the estimated driving area and current location information; Based on the current location information and the estimated driving area, several exit location information are obtained, and the exit location information represents the exit information located at different intersections. Based on the current location information and several exit location information, an estimated driving distance is obtained, wherein the estimated driving distance represents the distance among several exit location information that is closest to the current location information; The distance to be traveled is obtained based on the current location information, where the distance to be traveled represents the travel distance of the UAV used for testing; Compare the estimated driving distance with the distance to be driven; If the estimated travel distance is greater than the travel distance to be traveled, a first route instruction is generated based on the exit location information and the current location information, and a command to execute the first route instruction is sent to the drone. If the estimated driving distance is less than the driving distance to be traveled, then based on the estimated driving area, it is determined whether there are multiple exit locations corresponding to the estimated driving distance; If there are multiple exit locations corresponding to the estimated travel distance, a first route instruction is generated based on the exit location information and the current location information, and a command to execute the first route instruction is sent to the drone. If there is a single exit location corresponding to the estimated travel distance, a second route instruction is generated and a command to execute the second route instruction is sent to the drone.

[0007] In some embodiments, obtaining the estimated driving area includes the following steps: Obtain the area to be tested; Based on the area to be measured, several estimated driving routes corresponding to the area to be measured are obtained using a pipeline measuring instrument; Several of the predicted driving routes are used as the predicted driving areas.

[0008] In some embodiments, obtaining the estimated driving distance based on the current location information and several exit location information includes the following steps: Based on the current location information, obtain several branch intersection location information, including one or several exit location information, and obtain the estimated nearest distance corresponding to the exit location information; The fork location information is sorted in ascending order according to the estimated nearest distance; The estimated nearest distance corresponding to the exit location information that is ranked first is used as the estimated driving distance.

[0009] In some embodiments, after the estimated driving distance is greater than the driving distance to be traveled, the following steps are further included: Obtain the estimated flight distance, which represents the distance the UAV can fly while in standby mode; A first flight distance is obtained based on the estimated driving distance and the estimated flight distance, and the first flight distance is compared with the distance to be driven. If the first flight distance is greater than the distance to be traveled, a first route instruction is generated and a command to execute the first route instruction is sent to the drone; If the first flight distance is less than the distance to be traveled, a control command to shut down the measurement is generated and a command to execute the control command is sent to the drone.

[0010] In some embodiments, after stating that if the estimated driving distance corresponds to a single exit location, the method further includes the following steps: The total driving distance is obtained based on the aforementioned exit location information and the current location information, and the total driving distance is compared with the distance to be driven. If the distance to be traveled is less than the total travel distance, a second route instruction is generated and a command to execute the second route instruction is sent to the drone. If the distance to be traveled is greater than the total travel distance, a third route instruction is generated and a command to execute the third route instruction is sent to the drone.

[0011] In some embodiments, after the step of saying that the distance to be traveled is less than the total travel distance, the following steps are further included: Obtain the estimated flight distance, which represents the distance the UAV can fly while in standby mode; Compare the sum of the distance to be traveled and the estimated flight distance with the total travel distance; If the sum of the distance to be traveled and the estimated flight distance is less than the total travel distance, a first route instruction is generated and a command to execute the first route instruction is sent to the drone. If the sum of the distance to be traveled and the estimated flight distance is greater than the total travel distance, a second route instruction is generated and a command to execute the second route instruction is sent to the drone.

[0012] In some embodiments, after the statement that the sum of the distance to be traveled and the estimated flight distance is less than the total travel distance is provided, the following steps are further included: Based on the distance to be traveled and the estimated flight distance, a control command to shut down the measurement is generated and sent to the UAV to execute the control command.

[0013] Secondly, this application provides an intelligent mapping system for underground space, which adopts the following technical solution: An intelligent mapping system for underground space includes a first acquisition module, a second acquisition module connected to the first acquisition module, a third acquisition module connected to both the first and second acquisition modules, a distance acquisition module connected to the first acquisition module, a comparison module connected to both the third and distance acquisition modules, a first judgment module connected to the comparison module, a second judgment module connected to the comparison module, a third judgment module connected to the second judgment module, and a fourth judgment module connected to the second judgment module; wherein, The first acquisition module is used to acquire the estimated driving area and current location information; The second acquisition module is used to acquire several exit location information based on the current location information and the estimated driving area, wherein the exit location information represents the exit information located at different intersections; The third acquisition module is used to acquire an estimated driving distance based on the current location information and several exit location information, wherein the estimated driving distance represents the distance among several exit location information that is closest to the current location information; The distance module is used to obtain the distance to be traveled based on the current location information, and the distance to be traveled represents the travel distance of the UAV used for testing; The comparison module is used to compare the estimated driving distance with the driving distance to be driven. The first judgment module is used to determine if the estimated driving distance is greater than the driving distance, and then generate a first route instruction based on the exit location information and the current location information and send a command to the drone to execute the first route instruction; The second judgment module is used to determine whether there are multiple exit locations corresponding to the estimated driving distance if the estimated driving distance is less than the driving distance to be driven. The third judgment module is used to determine if there are multiple exit locations corresponding to the estimated driving distance, and then generate a first route instruction based on the exit location information and the current location information and send a command to the drone to execute the first route instruction. The fourth judgment module is used to determine if there is a single exit location corresponding to the estimated driving distance, then generate a second route instruction and send a command to the drone to execute the second route instruction.

[0014] In some embodiments, the fourth determination module includes an acquisition submodule, a first processing submodule, and a second processing submodule; wherein, The acquisition submodule is used to obtain the total driving distance based on the plurality of exit location information and the current location information, and compare the total driving distance with the distance to be driven; The first processing submodule is used to generate a second route instruction and send a command to the drone to execute the second route instruction if the distance to be traveled is less than the total travel distance; The second processing submodule is used to generate a third route instruction and send a command to the drone to execute the third route instruction if the distance to be traveled is greater than the total travel distance.

[0015] Thirdly, this application provides a storage medium, which adopts the following technical solution: A storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded by a processor and executed by the intelligent underground space mapping method.

[0016] The intelligent underground space mapping method, system, and storage medium provided in this application can, when a drone encounters a fork in the road, compare the estimated travel distance with the required travel distance based on the exit location information and the current location information of different forks in the road. This allows the estimated travel distance to be less than the required travel distance. A first route instruction can be generated based on the exit location information and the current location information, and a command to execute the first route instruction can be sent to the drone. Conversely, when the estimated travel distance is greater than the required travel distance, different routes can be planned based on the number of exit location information corresponding to the estimated travel distance, allowing the drone to rationally choose a route within its travel range. This further improves the drone's mapping speed and allows for more efficient use of its stored power, thus increasing its power utilization rate. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall steps in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the steps involved in obtaining the estimated driving distance; Figure 3 This is a schematic diagram of the overall steps of another embodiment; Figure 4 This is a schematic diagram of the overall steps of yet another embodiment; Figure 5 This is a schematic diagram of the steps after the travel distance is less than the total travel distance in another embodiment. Detailed Implementation

[0018] For software implementations, the techniques described herein can be implemented using modules (e.g., programs, functions, etc.) that perform the functions described herein. Software code can be stored in memory cells and executed by a processor. The memory cells can be implemented within or outside the processor; in the latter case, the memory cells can be communicatively coupled to the processor via various methods known in this art. The present application will be further described in detail below with reference to the accompanying drawings.

[0019] This application discloses an intelligent mapping method for underground space.

[0020] like Figure 1 As shown, the intelligent mapping method for underground space includes the following steps: S100 obtains the estimated driving area and current location information.

[0021] The estimated travel area represents the route area requiring pipeline inspection, while the current location information represents the drone's current location. The drone is equipped with a positioning device capable of determining its current location.

[0022] It should be noted here that obtaining the estimated driving area specifically includes the following steps: S110, Obtain the area to be tested.

[0023] S120: Based on the area to be measured, obtain several estimated driving routes corresponding to the area to be measured using a pipeline measuring instrument.

[0024] S130 uses several estimated driving routes as estimated driving areas.

[0025] The area to be measured represents the region requiring rough measurements, while the estimated travel route represents the route the UAV will take. Before measuring underground pipelines, a pipeline measuring instrument is used to roughly calculate the pipeline's approximate length on the ground, facilitating the planning of the UAV's measurement route. The measuring instrument connects one end of the pipeline detector's transmitter to the exposed end of the pipeline and the other end to the ground wire perpendicular to the pipeline's direction. The transmitter applies an alternating current of a specific frequency to the pipeline, which flows along the pipeline's extension direction and returns to the ground wire, forming a loop. Simultaneously, an alternating electromagnetic field of the same frequency is generated around the pipeline. A receiver on the ground above the pipeline scans and receives this alternating electromagnetic field, enabling measurements such as pipeline location and depth determination.

[0026] It should be noted that the above-mentioned measurement methods are not the only ones used; clamping methods or electromagnetic induction methods can also be employed. Because the underground pipeline layout may deviate from the actual structure in order to reduce installation costs, drones are needed to enter the underground environment and conduct on-site surveys to obtain an accurate underground pipeline layout map.

[0027] It should be noted that the purpose of surveying underground pipelines is mainly to check the actual planning of underground pipelines, so as to provide better convenience for the next reconstruction. However, the above measurement can only obtain the approximate length of underground pipelines. How underground pipelines are connected and the specific situation of pipeline bends are all required to be measured by drones through actual photography.

[0028] S200 obtains several exit location information based on the current location information and the estimated driving area.

[0029] The exit location information represents the exit location at different intersections. Since there are multiple exit locations at each intersection, the exit location information mentioned here mainly refers to the exit location closest to the current location at that intersection.

[0030] For example, based on the current location information, there are three intersections: intersection A, intersection B, and intersection C. The closest distances of intersection A, intersection B, and intersection C to the current location information are 100m, 50m, and 150m, respectively. Therefore, the locations of intersections A, B, and C that are 100m, 50m, and 150m away from the current location information are taken as the corresponding exit locations for each intersection. Thus, the distance between exit location information A and the current location information is 100m, the distance between exit location information B and the current location information is 50m, and the distance between exit location information C and the current location information is 150m.

[0031] The S300 obtains the estimated driving distance based on the current location information and several exit location information.

[0032] Combination Figure 2 The estimated driving distance is obtained based on the current location information and several exit location information, specifically including the following steps: S310, sequentially obtain the exit location information as a temporary calculation location, calculate the distance between the temporary calculation location and the current location information, and use this distance as the temporary calculation distance.

[0033] S320 sorts the exit location information in ascending order according to their corresponding temporary calculated distance.

[0034] S330 uses the temporary calculated distance corresponding to the exit location information that is ranked first as the estimated driving distance.

[0035] The estimated driving distance represents the closest distance among several exit location information to the current location information. The temporary calculated location is used to represent the location obtained one by one from the exit location information, and the temporary calculated distance is used to represent the distance between the exit location information and the current location information.

[0036] For example, based on the current location information, there are three intersections: intersection A, intersection B, and intersection C. The closest distances of intersections A, B, and C to the current location are 100m, 50m, and 150m, respectively. Therefore, these locations (100m, 50m, and 150m) are considered the exit locations for each intersection. This results in the distance between exit location A and the current location being 100m, exit location B being 50m, and exit location C being 150m. By selecting from these three intersections, the distance between exit location B and the current location is used as the estimated travel distance.

[0037] It should be noted that the current location information is used as the center to obtain the location information of different intersections around the current location information. Each intersection has one or more exit location information. In this embodiment, the exit location information is the exit that is closest to the current location information on the intersection.

[0038] For example, for one of the forks in the road, there are multiple exit locations, namely exit location A, exit location B and exit location C. At this time, the distances of exit location A, exit location B and exit location C from the current location information are 100m, 150m and 250m respectively. After comparison, exit location A is found to be the closest to the current location information, and thus exit location A is taken as the exit location information corresponding to fork in the road.

[0039] S400: Obtain the distance to be traveled based on the current location information.

[0040] The S500 compares the estimated driving distance with the actual driving distance.

[0041] If the estimated travel distance is greater than the required travel distance, the S600 generates a first route instruction based on the exit location information and the current location information and sends a command to the drone to execute the first route instruction.

[0042] Among them, the distance to be traveled represents the distance the drone will travel for testing. The distance to be traveled is mainly obtained by the terminal server based on the drone's measurement speed of the pipeline and its flight speed.

[0043] The first route instruction represents the command sent by the terminal server to the drone, and is used to control the drone to perform measurements along the first route. This first route is formed based on the estimated nearest exit location information and the current location information.

[0044] S700: If the estimated driving distance is less than the driving distance to be traveled, then determine whether there are multiple exit locations corresponding to the estimated driving distance based on the estimated driving area.

[0045] If there are multiple exit locations corresponding to the estimated travel distance, the S800 generates a first route instruction based on the exit location information and the current location information and sends a command to the drone to execute the first route instruction.

[0046] If the estimated travel distance corresponds to a single exit location, the S900 generates a second route instruction and sends a command to the drone to execute the second route instruction.

[0047] The term "exit location" indicates the number of exits corresponding to that specific exit location. Since the same fork in the road may branch into one or more other forks, there may be one or more exit locations. The exact number is determined in advance by estimating the travel area, suggesting there are likely multiple exit locations.

[0048] The second route instruction, which differs from the first route instruction, is used to represent the exit location information corresponding to the branch intersection location that is different from the first route instruction, from the current location information.

[0049] For example, consider intersections A and B. The closest distances between intersection A and B and the current location are 100m and 50m respectively. Therefore, the corresponding exit locations for intersections A and B are 100m and 50m respectively. The estimated travel distance is the distance between exit location B and the current location, i.e., the estimated travel distance is 50m. However, if the terminal server calculates the actual travel distance to be 30m, then the estimated travel distance is greater than the actual travel distance. In this case, the first route is from the current location to exit location B. The terminal server then generates a first route command and controls the drone to fly and measure along the current location towards exit location B.

[0050] When the terminal server calculates the distance to be traveled to be 70m, the estimated travel distance is less than the distance to be traveled. The terminal server also determines that there is a single exit location corresponding to the estimated travel distance. The terminal server generates a second route, which is from the current location to the exit location A. The terminal server then generates a second route instruction and controls the drone to fly and measure along the current location towards the exit location A.

[0051] When the terminal server calculates that the distance to be traveled is 50m, the estimated travel distance is equal to the distance to be traveled. The route the drone takes is determined based on the estimated travel area, which determines whether there are multiple exit locations corresponding to the estimated travel distance.

[0052] Because drones, when mapping underground pipelines, not only have a pre-set mapping distance but also a standby flight distance—a distance that can be used for standby flight after the drone has completed mapping—in another embodiment, if the estimated travel distance is less than the standby travel distance, refer to... Figure 3 It also includes the following steps: S610, obtains estimated flight distance.

[0053] S620 obtains a first flight distance based on the estimated travel distance and the estimated flight distance, and compares the first flight distance with the distance to be traveled.

[0054] S630: If the first flight distance is greater than the distance to be traveled, a first route instruction is generated and a command to execute the first route instruction is sent to the UAV.

[0055] S640: If the first flight distance is less than the distance to be traveled, a control command to shut down the measurement is generated and a command to execute the control command is sent to the UAV.

[0056] The estimated flight distance represents the distance the drone can fly in standby mode. The first flight distance represents the sum of the drone's measurement distance and standby flight distance. The control command is mainly the instruction sent by the terminal server to the drone. This control command is mainly used to control the drone to stop measuring and start standby flight mode.

[0057] When the drone's mapping distance is long and the estimated travel area is relatively short, the drone can measure the entire route of the estimated travel area. Therefore, in another embodiment, if the exit location information corresponding to the estimated travel distance contains a single exit location, then refer to... Figure 4 It also includes the following steps: S910 obtains the total driving distance based on several exit location information and the current location information, and compares the total driving distance with the distance to be driven.

[0058] S920: If the distance to be traveled is less than the total distance to be traveled, it generates a second route instruction and sends a command to the drone to execute the second route instruction.

[0059] S930: If the distance to be traveled is greater than the total travel distance, it generates a third route instruction and sends a command to the drone to execute the third route instruction.

[0060] The total travel distance represents the total distance the UAV travels from several exit location information points to its current location information. Unlike the first and second route commands, the third route command represents the UAV first performing measurements along the first route, and then flying from the location corresponding to the exit location information of the first route towards the location corresponding to the exit location information of the second route.

[0061] For example, consider intersections A and B. The closest distances from intersection A and B to the current location are 100m and 50m respectively. Therefore, the corresponding exit locations for intersections A and B are 100m and 50m respectively, meaning the total travel distance is 150m. When the terminal server calculates a remaining travel distance of 160m, which is greater than the total travel distance, the terminal server generates a third route instruction and sends a command to the drone to execute this instruction. The third route involves traveling from the current location towards exit location A to complete the measurement of the first route, then from exit location A towards exit location B, thus completing the measurement of the third route.

[0062] In another embodiment, if the distance to be traveled is less than the total distance traveled, refer to Figure 5 It also includes the following steps: S921, obtains estimated flight distance.

[0063] S922 compares the sum of the distance to be traveled and the estimated flight distance with the total travel distance.

[0064] S923, if the sum of the distance to be traveled and the estimated flight distance is less than the total travel distance, then a first route instruction is generated and a command to execute the first route instruction is sent to the UAV.

[0065] S924: If the sum of the distance to be traveled and the estimated flight distance is greater than the total travel distance, a second route instruction is generated and a command to execute the second route instruction is sent to the UAV.

[0066] Among them, the estimated flight distance represents the distance that the drone can fly while in standby mode, and the estimated flight distance is usually obtained by the terminal server by obtaining the drone model.

[0067] In another embodiment, if the sum of the distance to be traveled and the estimated flight distance is less than the total travel distance, the following steps are also included: The S925 generates a control command to shut down the measurement based on the distance to be traveled and the estimated flight distance, and sends a command to the UAV to execute the control command.

[0068] The implementation principle of the intelligent underground space mapping system disclosed in this application is as follows: First, the system obtains the current location information and estimated travel area from the UAV's positioning system through a terminal server, obtains the estimated travel distance closest to the current location information from several exit location information, and compares the estimated travel distance with the expected travel distance; then, by judging the magnitude of the estimated travel distance and the expected travel distance, different travel routes are obtained. If the estimated travel distance is less than the expected travel distance, a first route instruction is generated based on the exit location information and the current location information, and a command to execute the first route instruction is sent to the UAV; if the estimated travel distance is greater than the expected travel distance, it is determined whether there are multiple exit locations corresponding to the estimated travel distance based on the estimated travel area; if there are multiple exit locations corresponding to the estimated travel distance, a first route instruction is generated based on the exit location information and the current location information, and a command to execute the first route instruction is sent to the UAV; if there is a single exit location corresponding to the estimated travel distance, a second route instruction is generated, and a command to execute the second route instruction is sent to the UAV.

[0069] This application also discloses an intelligent mapping system for underground space.

[0070] The intelligent mapping system for underground space includes a first acquisition module, a second acquisition module connected to the first acquisition module, a third acquisition module connected to both the first and second acquisition modules, a distance acquisition module connected to the first acquisition module, a comparison module connected to both the third and distance acquisition modules, a first judgment module connected to the comparison module, a second judgment module connected to the comparison module, a third judgment module connected to the second judgment module, and a fourth judgment module connected to the second judgment module.

[0071] The system comprises the following modules: a first acquisition module for acquiring the estimated travel area and current location information; a second acquisition module for acquiring several exit location information based on the current location information and the estimated travel area, where each exit location represents an exit at a different intersection; a third acquisition module for acquiring the estimated travel distance based on the current location information and the several exit location information, where the estimated travel distance represents the closest distance among the several exit location information to the current location; a distance module for acquiring the distance to be traveled based on the current location information, where the distance to be traveled represents the travel distance the UAV will use for testing; a comparison module for comparing the estimated travel distance with the distance to be traveled; a first judgment module for determining if the estimated travel distance is greater than the distance to be traveled, generating a first route instruction based on the exit location information and the current location information, and sending a command to the UAV to execute the first route instruction; and a second judgment module for determining if the estimated travel distance is less than the distance to be traveled, determining whether there are multiple exit locations corresponding to the estimated travel distance based on the estimated travel area. The third judgment module determines if there are multiple exit locations corresponding to the estimated travel distance. If so, it generates a first route instruction based on the exit location information and the current location information and sends a command to the drone to execute the first route instruction. The fourth judgment module determines if there is a single exit location corresponding to the estimated travel distance. If so, it generates a second route instruction and sends a command to the drone to execute the second route instruction.

[0072] The methods for obtaining the estimated driving area, current location information, exit location information, and estimated driving distance are the same, so we will not go into detail here. Similarly, the methods for obtaining the driving distance, the first route instruction, the exit location, and the second route instruction are also the same, so we will not go into detail here.

[0073] The fourth judgment module includes an acquisition submodule, a first processing submodule, and a second processing submodule. The acquisition submodule calculates the total travel distance based on several exit location information and the current location information, and compares the total travel distance with the distance to be traveled. The first processing submodule generates a second route instruction and sends a command to the drone to execute the second route instruction if the distance to be traveled is less than the total travel distance. The second processing submodule generates a third route instruction and sends a command to the drone to execute the third route instruction if the distance to be traveled is greater than the total travel distance.

[0074] This application also discloses a storage medium that stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor as an intelligent underground space mapping method.

[0075] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method for intelligent mapping of underground space, characterized in that, Includes the following steps: Obtain the estimated driving area and current location information; Based on the current location information and the estimated driving area, several exit location information are obtained, and the exit location information represents the exit information located at different intersections. Based on the current location information and several exit location information, an estimated driving distance is obtained, wherein the estimated driving distance represents the distance among several exit location information that is closest to the current location information; The distance to be traveled is obtained based on the current location information, where the distance to be traveled represents the travel distance of the UAV used for testing; Compare the estimated driving distance with the distance to be driven; If the estimated travel distance is greater than the travel distance to be traveled, a first route instruction is generated based on the exit location information and the current location information, and a command to execute the first route instruction is sent to the drone. If the estimated driving distance is less than the driving distance to be traveled, then based on the estimated driving area, it is determined whether there are multiple exit locations corresponding to the estimated driving distance; If there are multiple exit locations corresponding to the estimated travel distance, a first route instruction is generated based on the exit location information and the current location information, and a command to execute the first route instruction is sent to the drone. If there is a single exit location corresponding to the estimated travel distance, a second route instruction is generated and a command to execute the second route instruction is sent to the drone.

2. The intelligent mapping method for underground space according to claim 1, characterized in that, The process of obtaining the estimated driving area includes the following steps: Obtain the area to be tested; Based on the area to be measured, several estimated driving routes corresponding to the area to be measured are obtained using a pipeline measuring instrument; Several of the predicted driving routes are used as the predicted driving areas.

3. The intelligent mapping method for underground space according to claim 1, characterized in that, The process of obtaining the estimated driving distance based on the current location information and several exit location information includes the following steps: The exit location information is sequentially obtained as a temporary calculation location, and the distance between the temporary calculation location and the current location information is calculated, and this distance is used as the temporary calculation distance; The exit location information is sorted in ascending order according to its corresponding temporary calculated distance; The temporary calculated distance corresponding to the exit location information that appears first in the ranking is used as the estimated driving distance.

4. The intelligent mapping method for underground space according to claim 1, characterized in that, After the estimated driving distance is greater than the driving distance to be traveled, the following steps are also included: Obtain the estimated flight distance, which represents the distance the UAV can fly while in standby mode; A first flight distance is obtained based on the estimated driving distance and the estimated flight distance, and the first flight distance is compared with the distance to be driven. If the first flight distance is greater than the distance to be traveled, a first route instruction is generated and a command to execute the first route instruction is sent to the drone; If the first flight distance is less than the distance to be traveled, a control command to shut down the measurement is generated and a command to execute the control command is sent to the drone.

5. The intelligent mapping method for underground space according to claim 1, characterized in that, After stating that if there is a single exit location corresponding to the estimated driving distance, the following steps are also included: The total driving distance is obtained based on the aforementioned exit location information and the current location information, and the total driving distance is compared with the distance to be driven. If the distance to be traveled is less than the total travel distance, a second route instruction is generated and a command to execute the second route instruction is sent to the drone. If the distance to be traveled is greater than the total travel distance, a third route instruction is generated and a command to execute the third route instruction is sent to the drone.

6. The intelligent mapping method for underground space according to claim 5, characterized in that, After the condition that the distance to be traveled is less than the total travel distance is met, the following steps are also included: Obtain the estimated flight distance, which represents the distance the UAV can fly while in standby mode; Compare the sum of the distance to be traveled and the estimated flight distance with the total travel distance; If the sum of the distance to be traveled and the estimated flight distance is less than the total travel distance, a first route instruction is generated and a command to execute the first route instruction is sent to the drone. If the sum of the distance to be traveled and the estimated flight distance is greater than the total travel distance, a second route instruction is generated and a command to execute the second route instruction is sent to the drone.

7. The intelligent mapping method for underground space according to claim 6, characterized in that, After the condition that the sum of the distance to be traveled and the estimated flight distance is less than the total travel distance is met, the following steps are also included: Based on the distance to be traveled and the estimated flight distance, a control command to shut down the measurement is generated and sent to the UAV to execute the control command.

8. An intelligent mapping system for underground space, characterized in that, A surveying system for implementing the intelligent underground space surveying method according to any one of claims 1-7 includes a first acquisition module, a second acquisition module connected to the first acquisition module, a third acquisition module connected to both the first acquisition module and the second acquisition module, a distance acquisition module connected to the first acquisition module, a comparison module connected to both the third acquisition module and the distance acquisition module, a first judgment module connected to the comparison module, a second judgment module connected to the comparison module, a third judgment module connected to the second judgment module, and a fourth judgment module connected to the second judgment module; wherein, The first acquisition module is used to acquire the estimated driving area and current location information; The second acquisition module is used to acquire several exit location information based on the current location information and the estimated driving area, wherein the exit location information represents the exit information located at different intersections; The third acquisition module is used to acquire an estimated driving distance based on the current location information and several exit location information, wherein the estimated driving distance represents the distance among several exit location information that is closest to the current location information; The distance acquisition module is used to acquire the distance to be traveled based on the current location information, and the distance to be traveled represents the travel distance of the UAV used for testing; The comparison module is used to compare the estimated driving distance with the driving distance to be driven. The first judgment module is used to determine if the estimated driving distance is greater than the driving distance, and then generate a first route instruction based on the exit location information and the current location information and send a command to the drone to execute the first route instruction; The second judgment module is used to determine whether there are multiple exit locations corresponding to the estimated driving distance if the estimated driving distance is less than the driving distance to be driven. The third judgment module is used to determine if there are multiple exit locations corresponding to the estimated driving distance, and then generate a first route instruction based on the exit location information and the current location information and send a command to the drone to execute the first route instruction. The fourth judgment module is used to determine if there is a single exit location corresponding to the estimated driving distance, then generate a second route instruction and send a command to the drone to execute the second route instruction.

9. The intelligent mapping system for underground space according to claim 8, characterized in that, The fourth judgment module includes an acquisition submodule, a first processing submodule, and a second processing submodule; wherein... The acquisition submodule is used to obtain the total driving distance based on the plurality of exit location information and the current location information, and compare the total driving distance with the distance to be driven; The first processing submodule is used to generate a second route instruction and send a command to the drone to execute the second route instruction if the distance to be traveled is less than the total travel distance; The second processing submodule is used to generate a third route instruction and send a command to the drone to execute the third route instruction if the distance to be traveled is greater than the total travel distance.

10. A storage medium, characterized in that, The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or instruction set is loaded and executed by a processor to implement the intelligent mapping method for underground space as described in any one of claims 1-7.

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