Path planning method and system based on unmanned aerial vehicle surveying and mapping

Abstract

The invention discloses a path planning method and system based on unmanned aerial vehicle surveying and mapping, and relates to the technical field of unmanned aerial vehicle surveying and mapping. Based on the configuration parameters of the unmanned aerial vehicle, marking the maximum area corresponding to the aerial survey image obtained by the unmanned aerial vehicle at the specified height as a sub-area; dividing the whole to-be-surveyed area by taking the single sub-area as a reference until all areas in the to-be-surveyed area are covered by the sub-areas; the central point of each sub-region is obtained and recorded as a route point, and any route point is located in the to-be-mapped region; all the route points are obtained and put into a preset set, and in the preset set, the initial route point of the unmanned aerial vehicle is determined; and traversing all the remaining route points in the preset set by taking the initial route point as a starting point to obtain a plurality of traversal paths, and taking the shortest traversal path as a surveying and mapping path of the unmanned aerial vehicle. The problem that the overall surveying and mapping efficiency of existing unmanned aerial vehicle surveying and mapping path planning is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle surveying and mapping, and in particular to a path planning method and system based on unmanned aerial vehicle surveying and mapping. Background Art

[0002] As a key area for obtaining geographic information and spatial data, surveying and mapping projects play an important role in achieving rapid development and urban construction. With the development of drone technology, drone aerial survey technology is increasingly used in the surveying and mapping process. Drone aerial survey technology refers to a group of surveying and mapping technologies that use drones as platforms, equipped with corresponding aerial survey equipment and sensors, and obtain geographic data and images through aerial photogrammetry technology. It plays an important role in the surveying and mapping process and provides efficient, flexible and cost-effective solutions for surveying and mapping projects. The application of drone aerial survey technology in the surveying and mapping process is wide and varied, covering terrain measurement and geomorphic analysis, building and infrastructure monitoring, land use planning, disaster monitoring and emergency response, etc.

[0003] However, when using drone aerial surveying technology for surveying and mapping projects, more consideration is given to how to collect more data, because the existing drone aerial surveys are all done after completing the aerial survey task, and the images taken by the aerial survey camera are stitched, registered and corrected through the image processing software. Therefore, more original data can ensure that the model formed by the surveying and mapping is more realistic. However, when planning the drone path, the above method is based on the logic of collecting more data, so the planned route is longer for the drone flight time, resulting in low efficiency of surveying and mapping by drone. This is not applicable to areas such as disaster monitoring and emergency response that require high efficiency of drone surveying and mapping. Therefore, it is urgent to provide a path planning method based on drone surveying and mapping to solve the problem of low overall surveying and mapping efficiency based on existing drone surveying and mapping. Summary of the invention

[0004] In order to solve the deficiencies of the prior art, the present invention provides a path planning method based on UAV mapping, the method comprising:

[0005] Get the area to be surveyed and the configuration parameters of the drone;

[0006] Based on the configuration parameters of the UAV, the maximum area corresponding to the aerial survey image that the UAV can obtain at a specified altitude is recorded as the sub-area;

[0007] Taking a single sub-region as a reference, the entire area to be surveyed is divided until all areas in the area to be surveyed are covered by the sub-region;

[0008] Obtain the center point of each sub-area, recorded as a route point, and any route point is located in the area to be surveyed;

[0009] Obtain all route points and put them into a preset set, and determine the starting route point of the drone in the preset set;

[0010] Taking the starting route point as the starting point, traverse all remaining route points in the preset set to obtain multiple traversal paths, and use the shortest traversal path as the mapping path of the UAV.

[0011] The present invention is implemented through the following technical scheme: this scheme first obtains the configuration parameters of the area to be surveyed and the drone, and through the drone configuration parameters, the maximum area corresponding to the aerial survey image that the drone can obtain at a specified height is recorded as a sub-area; and the entire area to be surveyed is divided as a single sub-area as a benchmark, that is, the area to be surveyed is filled with multiple sub-areas so that the sub-areas can completely cover the area to be surveyed, and then the center point of each sub-area is obtained and recorded as a route point. Any route point is located in the area to be surveyed, so it is only necessary to put all the route points into a preset set, determine the starting route point, and then traverse the remaining route points from the starting route point. The path corresponding to the shortest traversal path is the shortest surveying path of the drone.

[0012] This solution converts the drone path planning of the entire area to be surveyed into the path planning of multiple route points within the area to be surveyed. Since the aerial survey images that can be obtained from these multiple route points have already covered the area to be surveyed, it is only necessary to ensure that the drone can pass through these route points during the flight to complete the collection of surveying data for the area to be surveyed. To ensure high efficiency of drone surveying, the flight distance of the drone needs to be shorter, which is reflected in this solution in that the path traversed from the starting route point is the shortest, thereby ultimately converting the optimal drone path planning for the area to be surveyed into the shortest traversal path between route points in the area to be surveyed, solving the problem of low overall surveying efficiency of existing drone surveying path planning.

[0013] As an optional technical solution, in the preset set, determining the starting route point of the drone includes:

[0014] Calculating the distances between all route points in the preset set and the boundary of the area to be surveyed and mapped to obtain a first calculation result;

[0015] Based on the first calculation result, the route point corresponding to the minimum distance is screened and obtained as the starting route point.

[0016] As an optional technical solution, the acquisition of the shortest traversal path includes:

[0017] Taking the starting route point as the center, the distance d as the radius, and the single increase distance as r, the entire area to be surveyed and mapped is divided into multiple areas;

[0018] Taking the starting route point as the center and the distance d as the radius, a first area to be surveyed is formed. Taking the starting route point as the starting point, all route points in the first area to be surveyed are traversed to obtain multiple first paths, and the first path corresponding to the shortest distance is selected as the first surveying path of the UAV in the first area to be surveyed;

[0019] Taking the starting route point as the center of the circle and the distance (d+r) as the radius, a second area to be surveyed and mapped is formed, the end point of the first surveying and mapping path of the UAV is obtained as a new starting route point, and taking the new starting route point as the starting point, all route points in the second area to be surveyed and mapped except the first area to be surveyed and mapped are traversed to obtain multiple second paths, and the second path corresponding to the shortest distance is selected, and the first path corresponding to the shortest distance and the second path corresponding to the shortest distance are spliced ​​as the second surveying and mapping path of the UAV in the second area to be surveyed and mapped; ......

[0021] Taking the starting route point as the center and the distance (d+nr) as the radius, the (n+1)th area to be surveyed is constructed, the end point of the nth surveying path of the drone is obtained as the new starting route point, and the new starting route point is used as the starting point to traverse all route points in the (n+1)th area to be surveyed except the nth area to be surveyed, to obtain multiple (n+1)th paths, and the (n+1)th path corresponding to the shortest distance is selected, and the nth path corresponding to the shortest distance and the (n+1)th path corresponding to the shortest distance are spliced ​​as the drone surveying path in the entire area to be surveyed, so as to realize the planning of the drone surveying path.

[0022] As an optional technical solution, the configuration parameters of the UAV include the type and specifications of the UAV.

[0023] As an optional technical solution, the method further includes:

[0024] When the UAV mapping path planning is completed, the mapping data is obtained in real time through the UAV;

[0025] Transmit the real-time acquired surveying and mapping data to a preset platform on the ground;

[0026] The preset platform completes the surveying and mapping work of the area to be surveyed by processing the acquired surveying and mapping data.

[0027] As an optional technical solution, the processing of the acquired surveying and mapping data includes:

[0028] Obtain the location coordinates of the drone in real time and obtain the geographic coordinates of each route point;

[0029] Determine whether the position coordinates of the drone coincide with the geographic coordinates of any route point. If so, record the current time as t n, if not, no action is taken;

[0030] Based on the real-time surveying and mapping data, the n Multiple frames of aerial survey images before and after each moment;

[0031] t n The multiple frames of aerial survey images acquired at all times are used as the image set corresponding to the route point;

[0032] Obtain the image set of all route points to obtain the acquisition result;

[0033] Based on the acquisition results, all aerial survey images are stitched, registered and corrected to obtain a surveying image of the area to be surveyed;

[0034] Based on the surveying and mapping data acquired in real time, obtaining land data and vegetation data of the area to be surveyed and mapped;

[0035] Based on the surveying image, the land data and the vegetation data, a real-scene model of the area to be surveyed is constructed to complete the surveying work of the area to be surveyed.

[0036] As an optional technical solution, determining whether the position coordinates of the drone coincide with the geographic coordinates of any route point includes:

[0037] Based on the position coordinates of the drone and the geographic coordinates of all route points, the distance between the drone and all route points is calculated. When it is determined that the distance between the drone and one of the route points is less than a preset value, the drone is determined to coincide with the corresponding route point.

[0038] As an optional technical solution, real-time acquisition of surveying and mapping data through drones includes:

[0039] Aerial survey images are acquired in real time through the aerial survey camera configured on the drone, and land data and vegetation data are acquired in real time through the multispectral sensor configured on the drone.

[0040] In order to solve the deficiencies of the prior art, the present invention provides a path planning system based on UAV mapping, the system comprising:

[0041] An acquisition unit, used to acquire the configuration parameters of the area to be surveyed and the UAV;

[0042] The sub-region unit is used to record the maximum area corresponding to the aerial survey image that the drone can obtain at a specified altitude as a sub-region based on the configuration parameters of the drone;

[0043] A division unit, used to divide the entire area to be surveyed based on a single sub-area, until all areas in the area to be surveyed are covered by the sub-area;

[0044] A route point unit is used to obtain the center point of each sub-area, which is recorded as a route point. Any route point is located in the area to be surveyed;

[0045] A collection unit, used to obtain all route points and put them into a preset collection, and determine the starting route point of the drone in the preset collection;

[0046] The path planning unit is used to take the starting route point as the starting point, traverse all remaining route points in the preset set to obtain multiple traversal paths, and use the shortest traversal path as the mapping path of the UAV.

[0047] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0048] This solution converts the drone path planning of the entire area to be surveyed into the path planning of multiple route points within the area to be surveyed. Since the aerial survey images that can be obtained from these multiple route points have already covered the area to be surveyed, it is only necessary to ensure that the drone can pass through these route points during the flight to complete the collection of surveying data for the area to be surveyed. To ensure high efficiency of drone surveying, the flight distance of the drone needs to be shorter, which is reflected in this solution in that the path traversed from the starting route point is the shortest, thereby ultimately converting the optimal drone path planning for the area to be surveyed into the shortest traversal path between route points in the area to be surveyed, solving the problem of low overall surveying efficiency of existing drone surveying path planning.

[0049] When this solution obtains the shortest traversal path between route points, if the route points in the entire area to be surveyed are traversed, the time and workload required for the traversal will be very huge. Therefore, the entire area to be surveyed is divided into levels, and the route points are traversed level by level. The shortest traversal path is determined for each level of area traversal. Finally, the shortest traversal paths in all levels of areas are spliced ​​together to obtain the shortest UAV mapping path in the area to be surveyed, which greatly improves the planning efficiency of the shortest UAV mapping path.

[0050] Based on the premise of completing the UAV mapping path planning, this solution also realizes the modeling of the area to be surveyed by acquiring mapping data in real time. Since the amount of UAV mapping data in the past was large, the acquired mapping data was not processed until the UAV completed the mapping task. However, since this solution divides the entire area to be surveyed into areas containing multiple route points, it is only necessary to obtain the mapping data collected when the UAV is near the route points. This greatly reduces the amount of mapping data that needs to be transmitted and processed, making it possible to realize real-time mapping modeling based on UAV mapping technology and improve the overall mapping efficiency of UAV mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of the present invention, and do not constitute a limitation on the embodiments of the present invention;

[0052] Figure 1 It is a flow chart of a path planning method based on UAV mapping in the present invention;

[0053] Figure 2 It is a schematic diagram of the composition of a path planning system based on UAV mapping in the present invention. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those within the scope of this description. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0056] Embodiment 1

[0057] Please refer to Figure 1 , Figure 1 The present invention is a flow chart of a path planning method based on UAV mapping, the method comprising the following steps:

[0058] Get the area to be surveyed and the configuration parameters of the drone;

[0059] Based on the configuration parameters of the UAV, the maximum area corresponding to the aerial survey image that the UAV can obtain at a specified height is recorded as a sub-area;

[0060] Taking a single sub-region as a reference, the entire area to be surveyed is divided until all areas in the area to be surveyed are covered by the sub-region;

[0061] Obtain the center point of each sub-area, recorded as a route point, and any route point is located in the area to be surveyed;

[0062] Obtain all route points and put them into a preset set, and determine the starting route point of the drone in the preset set;

[0063] Taking the starting route point as the starting point, traverse all remaining route points in the preset set to obtain multiple traversal paths, and use the shortest traversal path as the mapping path of the UAV.

[0064] The specific embodiments of the present invention are as follows: In this embodiment, the configuration parameters of the area to be surveyed and the drone are first obtained. The configuration parameters of the drone include type and specifications. Therefore, through the configuration parameters of the drone, we can obtain the maximum area that can be photographed when the drone flies at a specified altitude, which is recorded as a sub-area. The specified altitude is the flight altitude of the drone during surveying, which can be adjusted according to actual conditions. This embodiment does not make specific limitations.

[0065] Based on a single sub-area, the entire area to be surveyed is divided until all areas in the area to be surveyed are covered by any sub-area. At this time, the entire area to be surveyed is divided into multiple sub-areas. Then the midpoint of each sub-area is obtained and recorded as the route point. Because the entire area to be surveyed is covered by any sub-area, it is only necessary to ensure that the UAV passes through all route points to complete the collection of surveying data for the entire area to be surveyed. At this time, the UAV path planning based on the area to be surveyed is converted into path planning based on route points.

[0066] Then put all the route points into a preset set, and determine the starting route point of the drone in the preset set, specifically: calculate the distance between all the route points in the preset set and the boundary of the area to be surveyed to obtain a first calculation result; based on the first calculation result, select the route point with the smallest distance as the starting route point. Then, take the starting route point as the starting point, traverse all the remaining route points in the preset set to obtain multiple traversal paths. It can be seen that if the route points in the entire area to be surveyed are traversed one by one, the traversal workload is undoubtedly huge, so this embodiment provides a specific method for obtaining the shortest traversal path:

[0067] Taking the starting route point as the center, the distance d as the radius, and the single increase distance as r, the entire area to be surveyed and mapped is divided into multiple areas;

[0068] Taking the starting route point as the center and the distance d as the radius, a first area to be surveyed is formed. Taking the starting route point as the starting point, all route points in the first area to be surveyed are traversed to obtain multiple first paths, and the first path corresponding to the shortest distance is selected as the first surveying path of the UAV in the first area to be surveyed;

[0069] Taking the starting route point as the center of the circle and the distance (d+r) as the radius, a second area to be surveyed and mapped is formed, the end point of the first surveying and mapping path of the UAV is obtained as a new starting route point, and taking the new starting route point as the starting point, all route points in the second area to be surveyed and mapped except the first area to be surveyed and mapped are traversed to obtain multiple second paths, and the second path corresponding to the shortest distance is selected, and the first path corresponding to the shortest distance and the second path corresponding to the shortest distance are spliced ​​as the second surveying and mapping path of the UAV in the second area to be surveyed and mapped;

[0070] …

[0071] Taking the starting route point as the center and the distance (d+nr) as the radius, the (n+1)th area to be surveyed is constructed, the end point of the nth surveying path of the drone is obtained as the new starting route point, and the new starting route point is used as the starting point to traverse all route points in the (n+1)th area to be surveyed except the nth area to be surveyed, to obtain multiple (n+1)th paths, and the (n+1)th path corresponding to the shortest distance is selected, and the nth path corresponding to the shortest distance and the (n+1)th path corresponding to the shortest distance are spliced ​​as the drone surveying path in the entire area to be surveyed, so as to realize the planning of the drone surveying path.

[0072] The core idea of ​​the method for obtaining the shortest traversal path of the route points in the area to be surveyed is to divide the entire area to be surveyed level by level, and then traverse the first level area level by level. For example, the first area to be surveyed is traversed to obtain the first surveying path of the UAV, and then the end point of the first surveying path of the UAV is used as the starting point of the second area to be surveyed, and then all the route points in the second area to be surveyed except the first area to be surveyed are traversed to obtain the second surveying path of the UAV in the second area to be surveyed. The above steps are repeated until all the route points in the area to be surveyed are traversed, which reduces the workload required for traversal and improves the planning efficiency of the UAV surveying path.

[0073] Furthermore, the method further comprises:

[0074] When the UAV mapping path planning is completed, the mapping data is obtained in real time through the UAV;

[0075] Transmit the real-time acquired surveying and mapping data to a preset platform on the ground;

[0076] The preset platform completes the surveying and mapping work of the area to be surveyed by processing the acquired surveying and mapping data.

[0077] Furthermore, processing the acquired surveying and mapping data includes:

[0078] Obtain the location coordinates of the drone in real time and obtain the geographic coordinates of each route point;

[0079] Determine whether the position coordinates of the drone coincide with the geographic coordinates of any route point. If so, record the current time as t n , if not, no action is taken;

[0080] Based on the real-time surveying and mapping data, the n Multiple frames of aerial survey images before and after each moment;

[0081] t nThe multiple frames of aerial survey images acquired at all times are used as the image set corresponding to the route point;

[0082] Obtain the image set of all route points to obtain the acquisition result;

[0083] Based on the acquisition results, all aerial survey images are stitched, registered and corrected to obtain a surveying image of the area to be surveyed;

[0084] Based on the surveying and mapping data acquired in real time, obtaining land data and vegetation data of the area to be surveyed and mapped;

[0085] Based on the surveying image, the land data and the vegetation data, a real-scene model of the area to be surveyed is constructed to complete the surveying work of the area to be surveyed.

[0086] Further, determining whether the position coordinates of the drone coincide with the geographic coordinates of any route point includes:

[0087] Based on the position coordinates of the drone and the geographic coordinates of all route points, the distance between the drone and all route points is calculated. When it is determined that the distance between the drone and one of the route points is less than a preset value, the drone is determined to coincide with the corresponding route point.

[0088] Furthermore, real-time acquisition of surveying and mapping data through drones includes:

[0089] Aerial survey images are acquired in real time through the aerial survey camera configured on the drone, and land data and vegetation data are acquired in real time through the multispectral sensor configured on the drone.

[0090] In this embodiment, after the UAV surveying and mapping path planning is completed, the surveying and mapping data is obtained in real time through the UAV, specifically, the aerial survey camera configured by the UAV is used to obtain aerial survey images in real time, and the land data and vegetation data are obtained through the multispectral sensor configured by the UAV; the surveying and mapping data obtained in real time are transmitted to a preset platform on the ground, and the preset platform processes the obtained surveying and mapping data, such as splicing, registering and correcting the images taken by the aerial survey camera through image processing software to generate a panoramic image, and classifying and analyzing the land data and vegetation data through remote sensing image processing software to obtain specific type information of the land and vegetation. If all the obtained surveying and mapping data are processed, then due to the huge amount of data, the surveying and mapping efficiency will eventually be reduced. Therefore, this embodiment processes the obtained surveying and mapping data specifically as follows: by obtaining the position coordinates of the UAV and the geographic coordinates of each route point, by calculating the distance between the UAV and any route point, when it is determined that the distance is less than the preset value, it is determined that the UAV coincides with the route point at this time, and the time of coincidence is recorded as t n , then get the nMultiple frames of aerial survey images before and after the time are placed in the image set, and the above operation is repeated for all route points. This will greatly reduce the amount of data that needs to be processed. Finally, the aerial survey images in all image sets are spliced, registered and corrected to obtain the surveying image of the area to be surveyed. Based on the acquired land data and vegetation data of the area to be surveyed, a real-life model of the area to be surveyed is constructed to complete the surveying work of the area to be surveyed.

[0091] In the past, drones had to collect as much surveying and mapping data as possible, resulting in a huge amount of collected data. Therefore, the acquired surveying and mapping data were processed and analyzed after completing the aerial survey mission, which indirectly led to a reduction in the surveying and mapping efficiency based on drone surveying. However, in this embodiment, on the premise of completing the drone surveying and mapping path planning, it is only necessary to collect aerial surveying image data, land data and vegetation data near the route points, and the amount of data required to be collected is greatly reduced. Therefore, based on drone surveying and mapping technology, real-time surveying and mapping modeling is realized, and the overall surveying and mapping efficiency of drone surveying is improved.

[0092] Embodiment 2

[0093] Please refer to Figure 2 , Figure 2 : is a schematic diagram of a path planning system based on UAV mapping in the present invention, the system comprising:

[0094] An acquisition unit, used to acquire the configuration parameters of the area to be surveyed and the UAV;

[0095] The sub-region unit is used to record the maximum area corresponding to the aerial survey image that the drone can obtain at a specified altitude as a sub-region based on the configuration parameters of the drone;

[0096] A division unit, used to divide the entire area to be surveyed based on a single sub-area, until all areas in the area to be surveyed are covered by the sub-area;

[0097] A route point unit is used to obtain the center point of each sub-area, which is recorded as a route point. Any route point is located in the area to be surveyed;

[0098] A collection unit, used to obtain all route points and put them into a preset collection, and determine the starting route point of the drone in the preset collection;

[0099] The path planning unit is used to take the starting route point as the starting point, traverse all remaining route points in the preset set to obtain multiple traversal paths, and use the shortest traversal path as the mapping path of the UAV.

[0100] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0101] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A path planning method based on UAV mapping, characterized in that: The method comprises the following steps: Get the area to be surveyed and the configuration parameters of the drone; Based on the configuration parameters of the UAV, the maximum area corresponding to the aerial survey image that the UAV can obtain at a specified altitude is recorded as the sub-area; Taking a single sub-region as a reference, the entire area to be surveyed is divided until all areas in the area to be surveyed are covered by the sub-region; Obtain the center point of each sub-area, recorded as a route point, and any route point is located in the area to be surveyed; Obtain all route points and put them into a preset set, and determine the starting route point of the drone in the preset set; Taking the starting route point as the starting point, traverse all remaining route points in the preset set to obtain multiple traversal paths, and use the shortest traversal path as the mapping path of the UAV.

2. A path planning method based on drone mapping according to claim 1, characterized in that: In the preset set, determining the starting route point of the drone includes: Calculating the distances between all route points in the preset set and the boundary of the area to be surveyed and mapped to obtain a first calculation result; Based on the first calculation result, the route point corresponding to the minimum distance is screened and obtained as the starting route point.

3. The path planning method based on drone mapping according to claim 1 is characterized in that: The acquisition of the shortest traversal path includes: Taking the starting route point as the center, the distance d as the radius, and the single increase distance as r, the entire area to be surveyed and mapped is divided into multiple areas; Taking the starting route point as the center and the distance d as the radius, a first area to be surveyed is formed. Taking the starting route point as the starting point, all route points in the first area to be surveyed are traversed to obtain multiple first paths, and the first path corresponding to the shortest distance is selected as the first surveying path of the UAV in the first area to be surveyed; Taking the starting route point as the center of the circle and the distance (d+r) as the radius, a second area to be surveyed and mapped is formed, the end point of the first surveying and mapping path of the UAV is obtained as a new starting route point, and taking the new starting route point as the starting point, all route points in the second area to be surveyed and mapped except the first area to be surveyed and mapped are traversed to obtain multiple second paths, and the second path corresponding to the shortest distance is selected, and the first path corresponding to the shortest distance and the second path corresponding to the shortest distance are spliced ​​as the second surveying and mapping path of the UAV in the second area to be surveyed and mapped; ...... Taking the starting route point as the center and the distance (d+nr) as the radius, the (n+1)th area to be surveyed is constructed, the end point of the nth surveying path of the drone is obtained as the new starting route point, and the new starting route point is used as the starting point to traverse all route points in the (n+1)th area to be surveyed except the nth area to be surveyed, to obtain multiple (n+1)th paths, and the (n+1)th path corresponding to the shortest distance is selected, and the nth path corresponding to the shortest distance and the (n+1)th path corresponding to the shortest distance are spliced ​​as the drone surveying path in the entire area to be surveyed, so as to realize the planning of the drone surveying path.

4. The path planning method based on drone mapping according to claim 1 is characterized in that: The configuration parameters of the drone include the type and specifications of the drone.

5. The path planning method based on UAV mapping according to claim 1 is characterized in that: The method further comprises: When the UAV mapping path planning is completed, the mapping data is obtained in real time through the UAV; Transmit the real-time acquired surveying and mapping data to a preset platform on the ground; The preset platform completes the surveying and mapping work of the area to be surveyed by processing the acquired surveying and mapping data.

6. A path planning method based on drone mapping according to claim 5, characterized in that: Processing of the acquired surveying and mapping data includes: Obtain the location coordinates of the drone in real time and obtain the geographic coordinates of each route point; Determine whether the position coordinates of the drone coincide with the geographic coordinates of any route point. If so, record the current time as t n , if not, no action is taken; Based on the real-time surveying and mapping data, the n Multiple frames of aerial survey images before and after each moment; t n The multiple frames of aerial survey images acquired at all times are used as the image set corresponding to the route point; Obtain the image set of all route points to obtain the acquisition result; Based on the acquisition results, all aerial survey images are stitched, registered and corrected to obtain a surveying image of the area to be surveyed; Based on the surveying and mapping data acquired in real time, obtaining land data and vegetation data of the area to be surveyed and mapped; Based on the surveying image, the land data and the vegetation data, a real-scene model of the area to be surveyed is constructed to complete the surveying work of the area to be surveyed.

7. The path planning method based on UAV mapping according to claim 6 is characterized in that: Determining whether the drone's location coordinates coincide with the geographic coordinates of any route point includes: Based on the position coordinates of the drone and the geographic coordinates of all route points, the distance between the drone and all route points is calculated. When it is determined that the distance between the drone and one of the route points is less than a preset value, the drone is determined to coincide with the corresponding route point.

8. The path planning method based on UAV mapping according to claim 5 is characterized in that: Real-time mapping data acquisition via drones includes: Aerial survey images are acquired in real time through the aerial survey camera configured on the drone, and land data and vegetation data are acquired in real time through the multispectral sensor configured on the drone.

9. A path planning system based on drone mapping, characterized in that: The system comprises: An acquisition unit, used to acquire the configuration parameters of the area to be surveyed and the UAV; The sub-region unit is used to record the maximum area corresponding to the aerial survey image that the drone can obtain at a specified altitude as a sub-region based on the configuration parameters of the drone; A division unit, used to divide the entire area to be surveyed based on a single sub-area, until all areas in the area to be surveyed are covered by the sub-area; A route point unit is used to obtain the center point of each sub-area, which is recorded as a route point. Any route point is located in the area to be surveyed; A collection unit, used to obtain all route points and put them into a preset collection, and determine the starting route point of the drone in the preset collection; The path planning unit is used to take the starting route point as the starting point, traverse all remaining route points in the preset set to obtain multiple traversal paths, and use the shortest traversal path as the mapping path of the UAV.

Images