A surveying method, device, system and storage medium

Abstract

This application relates to a surveying method, apparatus, system, and storage medium. The method includes, in response to an acquired entrance command, scanning the entrance environment and determining the number of channels; grouping a drone swarm according to the number of channels, cruising from the entrance, and detecting entrances during the cruising process; dispatching a surveying drone to each detection entrance, and the surveying drone performing 3D laser modeling of the environment within the detection entrance; after all surveying drones have been dispatched, issuing sequential commands based on the appearance time of the detection entrances in a time sequence; and the surveying drone that has completed modeling at one detection entrance selecting another detection entrance according to the received sequential commands and performing 3D modeling of the environment within that detection entrance. The surveying method, apparatus, system, and storage medium disclosed in this application achieve comprehensive information collection of the building interior by using the self-organizing and self-detecting methods of the drone swarm, thereby providing sufficient data support for comprehensive building inspection.

Description

Technical Field

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

[0002] After the main construction of a building is completed, a quality inspection of the building's interior is required. This inspection includes checking the flatness, verticality, squareness, and deviations of internal and external corners in the concrete pouring, as well as ceiling protrusions and slab thickness. It also includes cross-sectional dimensions and various defects such as honeycombing, pitting, and leakage. Because of the large number of inspection items and the large volume of work, current inspections are mostly conducted manually and through random checks. This approach represents a balance between existing technological means and the required level of inspection.

[0003] With the development of automation and information technology in the construction industry, higher requirements have been put forward for building quality inspection, such as the requirement for comprehensive inspection. Comprehensive inspection cannot be achieved entirely by manual means, so various automated inspection methods have begun to be used, such as drones and laser point cloud data.

[0004] Drones combined with laser point cloud data can achieve remote data acquisition, but the data acquisition speed of a single drone is still insufficient. As a result, drone swarm data acquisition has emerged, but the control methods of drone swarms during the data acquisition process still require further research. Summary of the Invention

[0005] This application provides a surveying method, apparatus, system, and storage medium that uses the self-organizing and self-detecting methods of a drone swarm to achieve comprehensive information collection of the interior of a building, thereby providing sufficient data support for comprehensive building inspection.

[0006] The above-mentioned objective of this application is achieved through the following technical solution:

[0007] Firstly, this application provides a surveying method, including:

[0008] In response to the received entry command, scan the entry environment and determine the number of channels;

[0009] The drone swarms are grouped according to the number of channels, and each drone swarm includes one master drone and multiple mapping drones;

[0010] Starting from the entrance of the passage, the environment at the same horizontal level is patrolled, and the entrance is detected during the patrol.

[0011] A surveying drone is dispatched to each detection entrance. The surveying drone performs 3D laser modeling of the environment inside the detection entrance. After completing the modeling at a detection entrance, the surveying drone returns to its initial position at the detection entrance.

[0012] After all the surveying drones have been dispatched, sequential instructions are issued based on the time of appearance of the detection entry points in the time sequence.

[0013] The surveying drone, which completes the modeling of one detection entrance, selects one detection entrance according to the received sequential instructions and performs 3D modeling of the environment within the detection entrance until all detection entrances have completed 3D modeling.

[0014] In one possible implementation of the first aspect, the mapping UAV includes the following in the 3D modeling process:

[0015] Starting from the detection entrance, move along the wall and mark the first-level entrances found during the movement until you return to the detection entrance;

[0016] Enter each level of entrance sequentially, starting from the entrance of the first level and moving along the wall;

[0017] If a secondary entry is found within a primary entry point, then that primary entry point should be marked; and

[0018] The primary entry point is marked and broadcast within the drone swarm.

[0019] In one possible implementation of the first aspect, when a mapping drone is present behind the marked primary entrance, the mapping drone present behind the marked primary entrance moves to the marked primary entrance after completing the 3D model.

[0020] In one possible implementation of the first aspect, when there is no mapping drone behind the marked primary entrance, after the drone swarm has completed the 3D modeling of all primary entrances at the same horizontal height, the 3D modeling of each marked primary entrance is performed sequentially.

[0021] In one possible implementation of the first aspect, during the cruise, data communication is conducted with the last mapping drone in the sequence, and when communication with the last mapping drone is no longer possible, movement is stopped or one of the mapping drones in the drone swarm is converted into a communication drone.

[0022] The communication drone communicates with the mapping drone located behind it in the sequence of communication drones.

[0023] In one possible implementation of the first aspect, the communication drone transforms into a mapping drone when all the mapping drones located behind the communication drones in the sequence move to the front of the communication drone.

[0024] In one possible implementation of the first aspect, a communication drone is used to send path information to a mapping drone located after the communication drone in sequence. After receiving the path information, the mapping drone located after the communication drone in sequence transforms into a mapping drone.

[0025] Secondly, this application provides a surveying apparatus, comprising:

[0026] The first path processing unit is used to scan the entry environment and determine the number of channels in response to the acquired entry command;

[0027] Grouping unit, used to group drone swarms according to the number of channels, each drone swarm includes a master drone and multiple mapping drones;

[0028] The cruise unit is used to cruise the environment at the same horizontal level, starting from the channel entrance, and to detect the entrance during the cruise.

[0029] The task distribution unit is used to dispatch a surveying drone to each detection entrance. The surveying drone performs 3D laser modeling of the environment within the detection entrance. After completing the modeling at a detection entrance, the surveying drone returns to its initial position at the detection entrance.

[0030] The instruction issuing unit is used to issue sequential instructions based on the time of appearance of the detection entry points in the time sequence after all the surveying drones have been dispatched.

[0031] The 3D modeling unit is used to complete the modeling of a detection entrance. The surveying UAV selects a detection entrance according to the received sequential instructions and performs 3D modeling of the environment within the detection entrance until all detection entrances have completed 3D modeling.

[0032] Thirdly, this application provides a surveying system, the system comprising:

[0033] One or more memories for storing instructions; and

[0034] One or more processors are configured to call and execute the instructions from the memory to perform the methods described in the first aspect and any possible implementation thereof.

[0035] Fourthly, this application provides a computer-readable storage medium, the computer-readable storage medium comprising:

[0036] The program, when run by a processor, is executed as described in the first aspect and any possible implementation thereof.

[0037] Fifthly, this application provides a computer program product, including program instructions that, when run by a computing device, execute the method described in the first aspect and any possible implementation thereof.

[0038] Sixthly, this application provides a chip system including a processor for implementing the functions involved in the foregoing aspects, such as generating, receiving, transmitting, or processing the data and / or information involved in the foregoing methods.

[0039] This chip system can consist of chips or include chips and other discrete components.

[0040] In one possible design, the chip system also includes a memory for storing necessary program instructions and data. The processor and the memory can be decoupled and located on different devices, connected via wired or wireless means, or the processor and the memory can be coupled to the same device. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the steps of a surveying method provided in this application.

[0042] Figure 2 This is a schematic diagram illustrating one method of allocating detection entry points provided in this application.

[0043] Figure 3 This is a schematic diagram illustrating another method for allocating detection entry points provided in this application.

[0044] Figure 4 This application provides a schematic flowchart of the movement steps of a surveying drone during 3D modeling.

[0045] Figure 5 This is a schematic diagram illustrating the working principle of a communication drone provided in this application.

[0046] Figure 6 This is a schematic diagram illustrating the working principle of another type of communication drone provided in this application. Implementation

[0047] The technical solutions in this application will be further described in detail below with reference to the accompanying drawings.

[0048] This application discloses a surveying method, mainly used for surface surveying inside buildings. The data obtained during the surveying process can be used to analyze the quality of concrete pouring, such as flatness, verticality, squareness, deviation of inside and outside corners, ceiling protrusions, slab thickness, etc., as well as cross-sectional dimensions and various defects.

[0049] Please see Figure 1In some instances, the surveying method disclosed in this application includes the following steps:

[0050] S101, in response to the received entry command, scans the entry environment and determines the number of channels;

[0051] S102, the drone swarm is grouped according to the number of channels, and each drone swarm includes a master drone and multiple mapping drones;

[0052] S103, starting from the entrance of the passage, patrols the environment at the same horizontal level and detects the entrance during the patrol;

[0053] S104, dispatch a surveying drone to each detection entrance. The surveying drone performs 3D laser modeling of the environment inside the detection entrance. After completing the modeling at a detection entrance, the surveying drone returns to its initial position at the detection entrance.

[0054] S105: After all the surveying drones have been dispatched, sequential instructions are issued based on the time of appearance of the detection entry points in the time sequence.

[0055] S106, the surveying UAV that has completed the modeling of a detection entrance selects a detection entrance according to the received sequential instructions and performs 3D modeling of the environment within the detection entrance, until all detection entrances have completed 3D modeling.

[0056] First, it should be noted that the surveying method disclosed in this application is applied to a drone swarm. There are two ways for the drone swarm to obtain initial data. The first is to provide the drone swarm with various data of the building before each surveying work begins. This method can obtain accurate data, but it is affected by many factors in the actual process, such as missing drawings, timeliness, and the progress of the surveying project.

[0057] The second approach involves adaptive flight by a swarm of drones. This means that while flying inside a building, the drone swarm can automatically chart its course and complete a mapping of the building's interior. Clearly, this second approach is more advantageous and versatile.

[0058] This application uses the second processing method. Specifically, in step S101, in response to the obtained entry command, the entry environment is scanned and the number of channels is determined. The entry command here will be directly sent to one of the drones in the drone swarm. For ease of description, this drone is referred to as the master drone.

[0059] After receiving the entry command, the master control UAV scans the entry environment and determines the number of channels. After determining the number of channels, it executes step S102. In step S102, the master control UAV groups the UAV group according to the number of channels. Each UAV group includes one master control UAV and multiple mapping UAVs. The master control UAV carries multiple mapping UAVs to fly in one channel.

[0060] Regarding the number of channels and the number of drone swarms, this application needs to ensure a minimum number of drone swarms, meaning that some channels may need to be surveyed in batches.

[0061] In step S103, the main control drone or drone swarm patrols the environment at the same horizontal level, starting from the entrance of the channel, and detects the entrance during the patrol. For each detection entrance detected, the main control drone will send a mapping drone to the detection entrance, which is the content of step S104.

[0062] The purpose of using the same horizontal height as the limit is to prevent a swarm of drones from being scattered across different floors for surveying.

[0063] The dispatched surveying drone performs 3D laser modeling of the environment inside the detection entrance. After completing the modeling at one detection entrance, the surveying drone returns to its initial position at the detection entrance, which is the initial detection entrance.

[0064] The surveying drone, upon returning to the inspection entrance, communicates with the main control drone to proceed to the next inspection entrance to perform a 3D laser modeling task or return to the drone swarm.

[0065] In the above steps, the master control drone will face a situation where all mapping drones have been dispatched. At this point, the master control drone will continue to move forward and continue to obtain detection entry points. For these detection entry points, the master control drone will issue sequential instructions based on the appearance time of the detection entry points in the time sequence, and then the mapping drones will perform 3D laser modeling of the environment within each detection entry point.

[0066] It should be noted that the time taken for each surveying drone to perform 3D laser modeling within the detection entrance is not consistent. Therefore, the re-reception at the detection entrance is based on the completion of a 3D laser modeling task within one detection entrance. For example, after completing a 3D laser modeling task within one detection entrance, a surveying drone will move to another detection entrance in the time sequence to complete its 3D laser modeling task, and so on for the remaining surveying drones.

[0067] That is, the content in step S106, where the surveying drone that has completed the modeling of a detection entrance selects a detection entrance according to the received sequential instructions and performs 3D modeling of the environment within the detection entrance, until all detection entrances have completed 3D modeling.

[0068] Here, when selecting a detection entry point, you can choose it sequentially or by distance, such as... Figure 2 and Figure 3 As shown, the paths and detection entry points obtained by the master drone are shared throughout the entire drone swarm. When a mapping drone selects a new detection entry point, it will also share it throughout the entire drone swarm.

[0069] Overall, the surveying method provided in this application uses a drone self-grouping approach. After determining the entrance, it automatically divides into multiple drone swarms based on the number of passages at the entrance. In each swarm, a master drone is responsible for path reconnaissance, while the remaining surveying drones perform 3D laser modeling of the environment within the entrance. Of course, the master drone also performs 3D laser modeling of the environment along the path during the path reconnaissance process.

[0070] This approach gives the drone swarm strong adaptability, enabling it to survey the interior of buildings without prior data support. The resulting 3D laser modeling data can accurately reflect the quality of concrete pouring, including flatness, verticality, squareness, deviation of internal and external corners, ceiling protrusions, slab thickness, cross-sectional dimensions, and various defects such as honeycomb, pitting, and leakage.

[0071] Compared to manual sampling inspection methods, the surveying method provided in this application can provide a solid data foundation for comprehensive inspection. Taking the flatness of concrete pouring quality as an example, the surveying data provided in this application can reflect the flatness of each plane of the building.

[0072] In some examples, please refer to Figure 4 The role of surveying drones in 3D modeling includes:

[0073] S201, starting from the detection entrance, move along the wall and mark the first-level entrances found during the movement, until return to the detection entrance;

[0074] S202, enter each level of entrance in sequence, starting from the entrance of the first level entrance and moving along the wall;

[0075] S203, if a secondary entry is found within a primary entry point, mark that primary entry point; and

[0076] S204, mark the primary entry point and broadcast it within the drone swarm.

[0077] Steps S201 to S204 primarily address the issue of the surveying drone rediscovering an entrance during its movement. It should be understood that when the internal structure of a building is complex, if the surveying drone enters a multi-level entrance area, it will inevitably become lost, preventing it from returning to its starting point.

[0078] Therefore, in this application, for the surveying drone, it first moves along the wall from the detection entrance and marks the first-level entrances found during the movement until it returns to the detection entrance. During this process, three-dimensional laser modeling is continuously performed.

[0079] Then, 3D laser modeling is performed inside each primary entrance. When a secondary entrance exists within a primary entrance, the surveying drone will not enter again, but will instead mark the primary entrance and broadcast it within the drone swarm. At this point, more drones are needed to survey this primary entrance.

[0080] This method can effectively limit the movement range of the drone swarm, allowing the swarm to move to the next area after completing the mapping of one area. It also ensures the integrity of the swarm and prevents the swarm from becoming too dispersed, which would prevent the main control drone from issuing tasks to the reconnaissance drones.

[0081] For marked first-level entry points, there are two processing methods:

[0082] The first scenario involves a surveying drone located behind a marked primary entrance. After completing the 3D model, the surveying drone will move to the marked primary entrance.

[0083] The second approach is to perform 3D modeling on each marked primary entrance when there are no surveying drones behind it. After the drone swarm completes the 3D modeling of all primary entrances at the same horizontal level, the 3D modeling of each marked primary entrance is performed sequentially.

[0084] The first approach involves using a small number of surveying drones to map the marked primary entrances, while the second approach involves using a swarm of drones to map the marked primary entrances. The difference between the two approaches lies in the complexity of the internal conditions of the marked primary entrances.

[0085] In practical applications, the first approach is generally used for buildings with relatively simple internal structures, while the second approach is generally used for buildings with more complex internal structures. For buildings with unclear internal structures, the second approach is preferred.

[0086] In some cases, during the cruise, data communication is conducted with the last mapping drone in the sequence. When communication with the last mapping drone is no longer possible, the movement stops or one of the mapping drones in the drone swarm is converted into a communication drone.

[0087] The communication drone communicates with the mapping drone located behind it in the sequence of communication drones.

[0088] The purpose of this is to prevent drones from losing contact. It should be understood that communication quality inside buildings is poor, and in some cases, external signals may not be received. In such cases, a local area network (LAN) communication method is generally used, that is, communication takes place within the drone swarm.

[0089] This requires that the distance between the drones in the drone swarm meets the communication requirements of the local area network. To solve this problem, this application uses a communication drone solution, which specifically involves stopping movement or converting one of the mapping drones in the drone swarm into a communication drone when it is unable to communicate with the last mapping drone.

[0090] At this time, the communication drone communicates with the mapping drone located behind it in the sequence of communication drones.

[0091] There are two scenarios regarding the re-identification of communication drones:

[0092] The first scenario involves all the mapping drones positioned behind the communication drone in the sequence moving to the front of the communication drone, at which point the communication drone transforms into a mapping drone. Figure 5 As shown.

[0093] The second method involves using a communication drone to send path information to a mapping drone located after it in the communication drone's sequence. Upon receiving the path information, the mapping drone then switches to mapping mode. Figure 6 As shown.

[0094] This application also provides a surveying apparatus, comprising:

[0095] The first path processing unit is used to scan the entry environment and determine the number of channels in response to the acquired entry command;

[0096] Grouping unit, used to group drone swarms according to the number of channels, each drone swarm includes a master drone and multiple mapping drones;

[0097] The cruise unit is used to cruise the environment at the same horizontal level, starting from the channel entrance, and to detect the entrance during the cruise.

[0098] The task distribution unit is used to dispatch a surveying drone to each detection entrance. The surveying drone performs 3D laser modeling of the environment within the detection entrance. After completing the modeling at a detection entrance, the surveying drone returns to its initial position at the detection entrance.

[0099] The instruction issuing unit is used to issue sequential instructions based on the time of appearance of the detection entry points in the time sequence after all the surveying drones have been dispatched.

[0100] The 3D modeling unit is used to complete the modeling of a detection entrance. The surveying UAV selects a detection entrance according to the received sequential instructions and performs 3D modeling of the environment within the detection entrance until all detection entrances have completed 3D modeling.

[0101] Furthermore, it also includes:

[0102] The second path processing unit is used to move along the wall starting from the detection entrance and mark the first-level entrances found during the movement until it returns to the detection entrance.

[0103] The cruise unit is used to sequentially enter each level of entrance, moving along the wall starting from the entrance of the first level entrance;

[0104] A marking unit is used to mark the primary entry point when a secondary entry point is found to exist within the primary entry point; and

[0105] The broadcast unit is used to broadcast the primary entry point marker within the drone swarm.

[0106] Furthermore, when a surveying drone is located behind a marked primary entrance, the surveying drone located behind the marked primary entrance will move to the marked primary entrance after completing the 3D model.

[0107] Furthermore, if there are no surveying drones behind the marked primary entrance, after the drone swarm has completed the 3D modeling of all primary entrances at the same horizontal height, the 3D modeling of each marked primary entrance will be performed sequentially.

[0108] Furthermore, in the sequence, during the cruise, data communication is conducted with the last mapping drone in the sequence. When communication with the last mapping drone is no longer possible, the movement stops or one of the mapping drones in the drone swarm is converted into a communication drone.

[0109] The communication drone communicates with the mapping drone located behind it in the sequence of communication drones.

[0110] Furthermore, when all the mapping drones located behind the communication drones in the sequence move to the front of the communication drones, the communication drones are converted into mapping drones.

[0111] Furthermore, the path information is sent by the communication drone to the mapping drone located after it in the sequence of communication drones. After receiving the path information, the mapping drone located after it in the sequence of communication drones transforms into a mapping drone.

[0112] In one example, the unit in any of the above devices may be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0113] For example, when the units in the device can be implemented through a processing element scheduler, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling programs. Alternatively, these units can be integrated together to form a system-on-a-chip (SOC).

[0114] In this application, various objects such as messages / information / devices / network elements / systems / apparatus / actions / operations / processes / concepts may be named. It is understood that these specific names do not constitute a limitation on the relevant objects. The names may be changed depending on the scenario, context, or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from their functions and technical effects embodied / performed in the technical solution.

[0115] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0117] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0118] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0119] It should also be understood that in the various embodiments of this application, the terms "first," "second," etc., are merely to indicate that multiple objects are different. For example, a first time window and a second time window are only to indicate different time windows. They should not have any effect on the time windows themselves, and the aforementioned terms "first," "second," etc., should not impose any limitations on the embodiments of this application.

[0120] It should also be understood that, in the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0121] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned computer-readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0122] This application also provides a computer program product including instructions that, when executed, cause the terminal device and the network device to perform operations corresponding to the methods described above.

[0123] This application also provides a surveying system, the system comprising:

[0124] One or more memories for storing instructions; and

[0125] One or more processors are configured to retrieve and execute the instructions from the memory, performing the methods described above.

[0126] This application also provides a chip system including a processor for implementing the functions involved in the above description, such as generating, receiving, transmitting, or processing the data and / or information involved in the above methods.

[0127] This chip system can consist of chips or include chips and other discrete components.

[0128] The processor mentioned above can be a CPU, a microprocessor, an ASIC, or one or more integrated circuits that execute a program to control the method of transmitting the feedback information described above.

[0129] In one possible design, the chip system also includes a memory for storing necessary program instructions and data. The processor and the memory can be decoupled and located on different devices, connected via wired or wireless means to support the chip system in implementing the various functions described in the above embodiments. Alternatively, the processor and the memory can also be coupled to the same device.

[0130] Optionally, the computer instructions are stored in memory.

[0131] Optionally, the memory can be a storage unit within the chip, such as a register or cache. Alternatively, the memory can be a storage unit located outside the chip within the terminal, such as a ROM or other types of static storage devices that can store static information and instructions, such as RAM.

[0132] It is understood that the memory in this application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.

[0133] Non-volatile memory can be ROM, programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.

[0134] Volatile memory can be RAM, which is used as an external cache. There are many different types of RAM, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus random access memory.

[0135] The embodiments described in this specific implementation are 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 surveying method, characterized in that, include: In response to the received entry command, scan the entry environment and determine the number of channels; The drone swarms are grouped according to the number of channels, and each drone swarm includes one master drone and multiple mapping drones; Starting from the entrance of the passage, the environment at the same horizontal level is patrolled, and the entrance is detected during the patrol. A surveying drone is dispatched to each detection entrance. The surveying drone performs 3D laser modeling of the environment inside the detection entrance. After completing the modeling at a detection entrance, the surveying drone returns to its initial position at the detection entrance. After all the surveying drones have been dispatched, sequential instructions are issued based on the time of appearance of the detection entry points in the time sequence. The surveying drone, which completes the modeling of one detection entrance, selects one detection entrance according to the received sequential instructions and performs 3D modeling of the environment within the detection entrance until all detection entrances have completed 3D modeling.

2. The surveying method according to claim 1, characterized in that, The use of surveying drones in 3D modeling includes: Starting from the detection entrance, move along the wall and mark the first-level entrances found during the movement until you return to the detection entrance; Enter each level of entrance sequentially, starting from the entrance of the first level and moving along the wall; If a secondary entry is found within a primary entry point, then that primary entry point should be marked; and The primary entry point is marked and broadcast within the drone swarm.

3. The surveying method according to claim 2, characterized in that, In the sequential order, when there is a surveying drone behind the marked primary entrance, the surveying drone behind the marked primary entrance will move to the marked primary entrance after completing the 3D model.

4. The surveying method according to claim 2, characterized in that, In the sequential sequence, if there are no surveying drones behind the marked primary entrance, the drone swarm will perform 3D modeling on each marked primary entrance sequentially after completing the 3D modeling of all primary entrances at the same horizontal height.

5. The surveying method according to any one of claims 1 to 4, characterized in that, In the sequence, during the cruise, data communication is conducted with the last mapping drone in the sequence. When communication with the last mapping drone is no longer possible, the movement stops or one of the mapping drones in the drone swarm is converted into a communication drone. The communication drone communicates with the mapping drone located behind it in the sequence of communication drones.

6. The surveying method according to claim 5, characterized in that, When all the mapping drones located behind the communication drones in the sequence move to the front of the communication drones, the communication drones are converted into mapping drones.

7. The surveying method according to claim 5, characterized in that, The communication drone sends path information to the mapping drone located after it in the sequence. After receiving the path information, the mapping drone in the sequence switches from communication drone to mapping drone.

8. A surveying device, characterized in that, include: The first path processing unit is used to scan the entry environment and determine the number of channels in response to the acquired entry command; Grouping unit, used to group drone swarms according to the number of channels, each drone swarm includes a master drone and multiple mapping drones; The cruise unit is used to cruise the environment at the same horizontal level, starting from the channel entrance, and to detect the entrance during the cruise. The task distribution unit is used to dispatch a surveying drone to each detection entrance. The surveying drone performs 3D laser modeling of the environment within the detection entrance. After completing the modeling at a detection entrance, the surveying drone returns to its initial position at the detection entrance. The instruction issuing unit is used to issue sequential instructions based on the time of appearance of the detection entry points in the time sequence after all the surveying drones have been dispatched. The 3D modeling unit is used to complete the modeling of a detection entrance. The surveying UAV selects a detection entrance according to the received sequential instructions and performs 3D modeling of the environment within the detection entrance until all detection entrances have completed 3D modeling.

9. A surveying system, characterized in that, The system includes: One or more memories for storing instructions; and One or more processors are configured to retrieve and execute the instructions from the memory to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes: The program, when run by the processor, executes the method as described in any one of claims 1 to 7.

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