Air-ground collaborative railway field investigation method, device, equipment and storage medium

Abstract

The invention relates to the technical field of field investigation, in particular to an air-ground collaborative railway field investigation method, device and equipment and a storage medium, and the method comprises the steps: generating a planning point based on a railway project stage and a work point constraint rule; acquiring elevation data of the planning point, calculating the gradient of the planning point and the distance from the current position point to the planning point based on the elevation data, and judging whether the planning point is an unmanned aerial vehicle survey point; and according to the current position point and the unmanned aerial vehicle survey point, constructing an unmanned aerial vehicle flight path, and performing survey work. According to the invention, the planning point needing to be investigated this time can be generated in real time; and under the condition of considering the influence of multiple factors such as terrain, the air-ground investigation points are autonomously planned and allocated, the optimal route planning of the unmanned aerial vehicle is realized, the problem of difficulty in field investigation in a hard mountainous area in the past is solved, and unified planning of unmanned aerial vehicle investigation and ground investigation is realized.

Description

Technical Field

[0001] The present invention relates to the field of field survey technology, and in particular to an air-ground coordinated railway field survey method, device, equipment and storage medium. Background Art

[0002] At present, railway field surveys use paper maps or KML files plus electronic map tools to determine the relative position relationship between survey points and railway lines through manual visual inspection. The survey method is mostly human walking with sporadic drone assistance. The drone and field survey system are independent of each other, and the survey efficiency is low. In addition, the use of drones is mostly temporary manual control as a supplement, and there is no unified air-ground survey point analysis and path planning function. Summary of the invention

[0003] The purpose of the present invention is to provide an air-ground coordinated railway field survey method, device, equipment and storage medium to improve the above problems. In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0004] In a first aspect, the present application provides an air-ground collaborative railway field survey method, comprising:

[0005] Obtaining the qualified line plan and the location information of the current location point, determining the type and range of the work point closest to the current location point according to the location information and the qualified line plan, and obtaining the corresponding survey requirement density according to the type of the nearest work point;

[0006] Acquire existing survey points within the scope of the work point, and generate planning points based on the existing survey points and the survey required density;

[0007] Acquire the elevation data of the planned point, and calculate the slope at the planned point and the distance from the current position point to the planned point based on the elevation data;

[0008] Based on the slope at the planned point and the distance from the current position point to the planned point, determining whether the planned point is a drone survey point;

[0009] Based on the current location point and the drone survey point, a drone flight path is constructed to conduct survey work.

[0010] In a second aspect, the present application also provides an air-ground collaborative railway field survey device, comprising:

[0011] A work point determination module is used to obtain the qualified line plan and the location information of the current location point, determine the type and range of the work point closest to the current location point according to the location information and the qualified line plan, and obtain the corresponding survey requirement density according to the type of the nearest work point;

[0012] A planning point generation module, used for acquiring existing survey points within the scope of the work point, and generating planning points based on the existing survey points and the survey required density;

[0013] A data calculation module, used to obtain the elevation data of the planning point, and calculate the slope at the planning point and the distance from the current position point to the planning point based on the elevation data;

[0014] A task judgment module, used to judge whether the planned point is a drone survey point based on the slope at the planned point and the distance from the current position point to the planned point;

[0015] The path planning module is used to construct a UAV flight path based on the current location point and the UAV survey point to conduct survey work.

[0016] In a third aspect, the present application also provides an air-ground collaborative railway field survey device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the air-ground collaborative railway field survey method described in the present application when executing the computer program.

[0017] In a fourth aspect, the present application further provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the air-ground collaborative railway field survey method described in the present application are implemented.

[0018] The beneficial effects of the present invention are:

[0019] The air-ground collaborative railway field survey method of the present invention can generate the planned points to be surveyed in real time based on the existing survey points, according to the work point type and survey requirement density; it can independently plan and allocate air-ground survey points according to multiple factors such as terrain, and realize the optimal route planning of unmanned aerial vehicles, thus overcoming the difficulties of field surveys in dangerous mountainous areas in the past, realizing the unified planning of unmanned aerial vehicle surveys and ground surveys, greatly saving manpower and material resources, and improving field work efficiency.

[0020] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 This is a flow chart of the air-ground collaborative railway field survey method in the embodiment of the present application;

[0023] Figure 2 This is a schematic diagram of the structure of the air-ground collaborative railway field survey device in the embodiment of the present application;

[0024] Figure 3 It is a structural schematic diagram of the air-ground collaborative railway field survey equipment in the embodiment of the present application.

[0025] Figure numerals: 100, air-ground collaborative railway field survey device; 200, work point determination module; 300, planning point generation module; 310, first calculation unit; 320, second calculation unit; 330, third calculation unit; 340, result generation unit; 400, data calculation module; 500 task judgment module; 600, path planning module; 610, recommended range generation unit; 620, planning point optimization unit; 630, path optimization unit; 800, air-ground collaborative railway field survey device; 801, processor; 802, memory; 803, multimedia component; 804, I / O interface; 805, communication component. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0028] Example 1

[0029] This embodiment provides an air-ground collaborative railway field survey method, including step S100, step S200, step S300, step S400 and step S500.

[0030] Step S100, obtaining the qualified line plan and the location information of the current location point, determining the type and range of the work point closest to the current location point according to the location information and the qualified line plan, and obtaining the corresponding survey requirement density according to the type of the nearest work point; specifically as follows:

[0031] Step S101, first obtain the prepared route plan from the route library; each route plan contains information about the railway line such as the slope table SL, curve table CU, broken link table CH, tunnel TU, station ST, small bridge culvert BC and large and medium bridge BR. Each prepared route plan has a unique corresponding plan number, and the information in the plan number includes the project to which it belongs and the stage it is in. When obtaining the prepared route plan, its corresponding plan number is also obtained.

[0032] Step S102: After obtaining the preliminary route plan, each construction point such as tunnels, stations, small bridges and culverts, and large and medium bridges in each plan is expressed in mileage as [S F ,E F ], and S F ≤E F , F = 1, 2, ..., n. Among them, S F Indicates the starting mileage point of the work site, E F It indicates the end mileage point of the work site, and F indicates the number of the work site.

[0033] Step S103: determine the relationship between the broken link table CH and each work point, and adjust to form an accurate representation [S f ,E f ], f=1,2,…,n, f represents the number of the work point after adjustment; [S f ,E f ] is based on the broken link table CH for [S F ,E F ] is the result after adjustment; the broken chain table CH records the railway broken chain information. "Chain" refers to the mileage pile number on the railway. "Broken chain" refers to the phenomenon of discontinuity of pile number caused by local line change or segment measurement. It is a method of replacing the original mileage of a certain point on the line with another new mileage to continue the calculation. That is, the introduction of mileage difference will cause broken chain. Therefore, it is necessary to obtain [S F ,E F ], the mileage of each work point is adjusted (increased or reduced) according to the chain break situation, and finally the accurate [S f ,E f ].

[0034] Step S104: extract S of each work point f , forming a set W = {S1, S2, ..., S n}, sort the elements of set W from small to large, and get the ordered set W s ={S s1 ,S s2 ,…,S sn}.

[0035] Step S105: According to the ordered set of starting mileage points of all work points W s , extract the E that matches it f , forming a set of work point intervals S s ={[S s1 ,E s1 ],[S s2 ,E s2 ],…,[S sn ,E sn ]}.

[0036] Check set S s , if there is S sf <E s(f-1) , f=2,3,…,n, then it is determined that there is a work point collision in the prepared line plan, and a notification is generated and returned to the user, indicating that the prepared line plan is wrong.

[0037] If S sf ≥E s(f-1) , then the backup line plan is judged to be qualified and is taken as the qualified line plan.

[0038] As an optional implementation, when S sf ≥E s(f-1) There are two situations: when S sf =E s(f-1) , it is judged that the working points are connected; when S sf >E s(f-1) , then S sf and E s(f-1) The mileage between them is judged as the roadbed work point, and the roadbed table is automatically generated.

[0039] After determining the qualified route plan, obtain the prj or xml coordinate system projection file corresponding to the qualified route plan, and uniformly deploy the obtained qualified route plan, the corresponding plan number and the coordinate system projection file in the route data server.

[0040] This step can automatically complete the collision check of line data and automatically generate the roadbed work point table, realizing the real-time generation and update of line data.

[0041] Step S106, obtain the longitude and latitude of the current position point through the mobile terminal positioning unit, pull the qualified route plan by selecting the plan number, and call the coordinate forward and reverse calculation server to obtain the mileage Mil and offset Off of the current position point, and determine the type and range of the work point closest to the current position point according to the obtained position information and the pulled qualified route plan, the work point range S = 2×L×R, where L is the length along the railway line and R is the offset to either side of the railway line; and obtain the survey requirement density D (pieces / km) of the work point type belonging to the current stage from the database; that is, L can be obtained from the information contained in the route plan. After the work point type and the stage are determined, the values ​​of R and D can be directly obtained from the database.

[0042] Step S200, obtaining existing survey points within the scope of the work point, and generating planning points based on the existing survey points and the survey required density;

[0043] Since the field survey of railways will be carried out many times, each field survey will collect a batch of survey point information records and store them in the database. Therefore, after the scope of the work site is determined, the existing survey points within the scope of the work site can be directly pulled from the database, and the existing survey points can be used to construct the points to be surveyed this time, specifically:

[0044] According to the existing survey point set P = {p i |p i =(Lat i ,Lon i ,Mil i ,Off i ,x i ,y i ),i=1,2,…,N}, calculate the distance between each two adjacent existing survey points as ΔM={Δm i |Δm i =Mil i -Mil i-1 ,i=2,3,…,N}.

[0045] Among them, Lat i , Lon i Mil is the longitude and latitude of the existing survey points; i , Off i is the mileage and offset of the existing survey points; x i ,y i is the engineering plane coordinate value of the existing survey point, and i is the serial number of the existing survey point.

[0046] It should be noted that (Lat i , Lon i ) is derived from the geographic coordinate system, which uses longitude and latitude to represent location; (Mil i ,Offi ) is derived from the line mileage offset coordinate system, which is usually used in linear engineering such as roads and railways. It uses a certain center line as a reference and uses mileage (position along the center line) and offset (shortest distance to the center line) to represent the position of the survey point; (x i ,y i ) is derived from the engineering plane coordinate system, which involves map projection calculation, and its related projection parameters are read through the prj or xml coordinate system projection file. The above three coordinate systems can be converted to each other. This embodiment deploys a dedicated coordinate forward and reverse calculation server to provide core coordinate real-time conversion services for mobile terminals and drones.

[0047] The basic principles of coordinate forward and inverse calculation are as follows:

[0048] ① Latitude and longitude (Lat, Lon) and engineering plane (x, y) forward and reverse calculation

[0049] The WGS-84 coordinate system in which the longitude and latitude coordinates are located is an internationally adopted geocentric coordinate system, and the origin of the coordinates is the center of mass of the earth. The coordinate system in which the line engineering plane (x, y) is located is a projection plane coordinate system, and the relevant parameter information of the coordinate system, such as: projection type, reference ellipsoid, ellipsoid major semi-axis, inverse flattening, false east and false north, and a series of other parameters are recorded in the prj or xml coordinate system projection file corresponding to the line engineering. The basic principle is to convert the point in the WGS-84 coordinate system into the point coordinates in the engineering plane coordinate system or convert the point in the engineering plane coordinate system into the point coordinates in the WGS-84 coordinate system according to the difference between the longitude and latitude of the origin in the geocentric coordinate system and the projection coordinate system through a certain calculation formula (such as the Gauss projection forward and reverse calculation formula).

[0050] ② Engineering plane (x, y) and mileage offset (Mil, Off) forward and reverse calculation

[0051] Total line mileage = terminal pile mileage - starting pile mileage + Σ long chain - Σ short chain

[0052] (1) Calculate the engineering plane (x, y) of the mileage offset (Mil, Off) of point P:

[0053] Due to the restrictions of many control factors such as topography, geological conditions, etc., railway lines often need to change direction. To ensure smoothness, adjacent straight lines should be connected by smooth curves. my country's railway plane line shape is usually composed of three types: straight line, circular curve and transition curve, among which the transition curve adopts a spiral line type. The three line types are all curves whose curvature changes linearly with the arc length, which can be uniformly summarized as "curve elements". The curvature of the transition curve gradually changes from 0 to the curvature of the circular curve. The circular curve and the straight line can be regarded as special cases of the transition curve. Therefore, a general formula for calculating the integral of the point mileage offset (positive calculation unified model) can be established according to the designed line type parameters. The basic principle is to determine the intersection interval where point P is located, calculate the mileage of each main point of the curve corresponding to the intersection interval, determine the specific curve element where point P is located, calculate the curve element parameters of the positive calculation unified model, and obtain (x, y) through the positive calculation unified model.

[0054] (2) Back-calculate the mileage offset (Mil, Off) of the engineering plane (x, y) at point P:

[0055] According to point P (x, y), calculate the normal perpendicular distance to the starting and ending points of each line element, and determine the corresponding line element interval. Set the iterative convergence condition, and use the normal perpendicular distance to approach the Mil and the median tangent perpendicular distance Off that meet the conditions. Set the offset limit. When Off exceeds the offset limit, it is determined that the corresponding line element interval is incorrect. Repeat the above steps to determine the calculation until the correct mileage offset (Mil, Off) is obtained.

[0056] ③ Latitude and longitude (Lat, Lon) and mileage offset (Mil, Off) forward and reverse calculation

[0057] According to the combination of ① and ② above, the forward and reverse calculation of longitude and latitude (Lat, Lon) and mileage offset (Mil, Off) can be realized.

[0058] After ΔM is calculated through mileage data, the number of planning points c to be inserted between every two adjacent existing survey points is calculated based on the spacing ΔM of the existing survey points and the survey required density. i ;

[0059] First, the planning point set is expressed as:

[0060]

[0061] in, represents the jth planning point inserted between the i-th existing survey point and the i-1-th existing survey point; i j It can represent the sequence number of the planning point. is the longitude and latitude of the planning point; The mileage and offset of the planning point; The engineering plane coordinate value of the planning point;

[0062] in,

[0063] The mileage of each planning point is calculated based on the spacing of the existing survey points, the survey required density and the mileage of the existing survey points:

[0064]

[0065]

[0066] The mileage and offset parameters of each planning point are obtained from the above formula, and the remaining parameters are obtained by calling the coordinate forward and reverse calculation server:

[0067] Step S300, obtaining elevation data of the planned point, and calculating the slope at the planned point and the distance from the current position point to the planned point based on the elevation data;

[0068] Retrieve the DEM (digital elevation model) service to obtain elevation data, and calculate the slope at each planning point based on the terrain of the planning point The distance from the current location to the planned point Among them, Δh is the rising height at the planning point, Δl is the horizontal distance along the rising direction at the planning point, and x s and s The coordinate value of the engineering plane of the current position point.

[0069] In addition to obtaining elevation data through DEM, other data required for the field survey method of this application can also be obtained by calling public geological maps, structural maps, hydrogeological maps and seismic zoning services.

[0070] Step S400, judging whether the planned point is a drone survey point based on the slope at the planned point and the distance from the current position point to the planned point;

[0071] The judgment formula is:

[0072]

[0073] θ is the preset maximum human climbing slope for walking survey; L is the maximum range of the UAV. The planning points that do not meet the above formula form Qr as ground walking survey points, and the remaining planning points are used as UAV survey points Qs.

[0074] Step S500: constructing a UAV flight path based on the current location point and the UAV survey point to conduct survey work, including:

[0075] Step S501: After obtaining the drone survey points Qs, the drone survey points can be manually adjusted. The adjustment amount A can be a positive number (increase) or a negative number (decrease) to form the final set of points to be surveyed Qs'=Qs+A. If drone survey points are to be added, the added points must be within the recommended range. ij Inside;

[0076]

[0077] The final set of points to be investigated Qs' is used as the UAV survey points;

[0078] Step S502: adopt the path planning strategy of specifying the initial path + greedy algorithm, take the current position point as the starting point, and directly preset the drone survey point Qs with the smallest mileage value from the starting point Pos to Qs' based on the characteristics of the survey distribution along the railway. min ' is the initial path of the entire UAV route. After flying along the initial path, the subsequent path planning adopts the method of searching for the nearest unvisited UAV survey point;

[0079] That is, the drone first moves from the starting point Pos to point Qs according to the initial path min ', then search for the nearest unvisited drone survey point, add the searched drone survey point as a new node to the path, move to the new node, and repeat the search and move until it moves to the last drone survey point, and then return to the starting point Pos.

[0080] If no drone survey points are added manually on the basis of Qs, the path planned by the above greedy algorithm can be used as the drone flight path; if drone survey points are added manually on the basis of Qs, the following steps are used to plan the drone local flight path:

[0081] Step S503, arranging the recommended ranges in ascending order of mileage;

[0082] Since the recommended range is the range generated around each planning point, and the planning points are distributed along the railway, the recommended range is also distributed along the railway. Different recommended ranges are located at different mileages, and the recommended ranges can be sorted from small to large according to their mileages.

[0083] Step S504, obtaining a newly added drone survey point, where the newly added drone survey point is the drone survey point manually added in step S501;

[0084] If there are more than one drone survey points in the recommended range after the addition, the drone survey points in the recommended range, the last drone survey point in the recommended range in front of it, and the first drone survey point in the recommended range behind it will form the optimal planning point set for the local path;

[0085] The above-mentioned front recommended range and rear recommended range are two adjacent recommended ranges after being sorted by mileage. The mileage of the front recommended range is smaller, and the mileage of the rear recommended range is larger. In each recommended range, the mileages of different drone survey points are also different. The last drone survey point refers to the survey point with the largest mileage in the recommended range, and the first drone survey point refers to the survey point with the smallest mileage in the recommended range.

[0086] Generate a local flight path based on the optimized planning point set, specifically:

[0087] If the number of planning points in the optimized planning point set is 4 to t, then an exhaustive method is used to generate a path based on the planning point set, and the shortest path is obtained by comparing them one by one as the local flight path;

[0088] As the number of nodes increases, the amount of calculation will increase exponentially. When the number of nodes reaches a certain level, the exhaustive method is no longer suitable. Therefore, if the number of planning points in the optimized planning point set is greater than t (for example, 10), the local initial path is constructed according to the above greedy algorithm based on the optimized planning point set, and then the Opt (optimal permutation) algorithm under conditional constraints is used to randomly select a section of the local initial path that does not contain the starting point and the end point, and the direction of the section is reversed to form a local new path; if the length of the local new path generated after the reversal is shorter, it is retained, otherwise the original path is maintained. When the number of cycles reaches (t-1)!, the calculation is stopped, and the currently generated path is used as the local flight path.

[0089] As an example, the local initial path is planning point 1 → planning point 2 → planning point 3 → planning point 4 → planning point 5 → planning point 6 → planning point 7 → ... planning point 12, and a section of the path that does not contain the starting point and the end point is randomly intercepted:

[0090] Planning point 2 → planning point 3 → planning point 4 → planning point 5 → planning point 6;

[0091] Reverse the direction of this path:

[0092] Planning point 6 → planning point 5 → planning point 4 → planning point 3 → planning point 2;

[0093] After the rotation, it is inserted back into the original path to form a new local initial path: planning point 1→planning point 6→planning point 5→planning point 4→planning point 3→planning point 2→planning point 7→…planning point 12.

[0094] In this application, the calculation of the length of the UAV flight path is to calculate the actual length of each small segment of the path along the terrain through DEM data. For example, a small segment is moved horizontally by 0.5m, and the actual displacement is calculated based on the length of the segment and the rising height. The total length is obtained by adding up the displacement of each small segment, which is used as the flight path length of the UAV along the terrain at a fixed height.

[0095] Step S600, the UAV flies autonomously according to the planned flight path, and can be manually remotely controlled at any time to conduct survey work; the UAV of this application includes not only the necessary modules of common unmanned aerial vehicles, but also a satellite positioning unit, an inertial measurement unit, and a camera module unit, which respectively record Lng (longitude), Lat (latitude), Heg (altitude), Yaw (yaw), Pitch (pitch), Roll (roll) parameters and camera ranging information and photos. The Lng, Lat, and Heg parameter data are used to determine whether the flight trajectory and positioning position of the UAV are the required survey points, and the Yaw, Pitch, Roll and camera ranging information parameter data are used to determine the attitude of the UAV to ensure the shooting attitude of the photos taken at the survey point and its attitude position relative to the subject. Photos are used to obtain the actual on-site conditions of the survey points.

[0096] The data parameters and images of the drone survey points obtained by the drone are transmitted back to the mobile terminal through the wireless communication module. The mobile terminal processes the data parameters and images, matches the generated keywords into the relevant survey form, and manually enters and adjusts the unmatched, insufficiently described or erroneous places in the form to form the final survey results.

[0097] The present invention proposes a method for air-ground collaborative railway field survey, which integrates a mobile field survey system and an unmanned aerial vehicle into one system, works together under the same line position service and coordinate forward and inverse calculation service, autonomously allocates air-ground survey points and plans the optimal route, realizes air-ground collaborative survey, and greatly improves the survey efficiency.

[0098] Example 2

[0099] See also Figure 2 The present application also provides an air-ground collaborative railway field survey device 100, comprising:

[0100] The work point determination module 200 is used to obtain the qualified line plan and the location information of the current location point, determine the type and range of the work point closest to the current location point according to the location information and the qualified line plan, and obtain the corresponding survey requirement density according to the type of the nearest work point;

[0101] A planning point generation module 300 is used to obtain existing survey points within the scope of the work point, and generate planning points based on the existing survey points and the survey required density;

[0102] The data calculation module 400 is used to obtain the elevation data of the planning point, and calculate the slope at the planning point and the distance from the current position point to the planning point based on the elevation data;

[0103] A task determination module 500 is used to determine whether the planned point is a drone survey point based on the slope at the planned point and the distance from the current position point to the planned point;

[0104] The path planning module 600 is used to construct a UAV flight path according to the current location point and the UAV survey point to conduct survey work.

[0105] As an optional implementation of the present application, the planning point generation module 300 includes:

[0106] A first calculation unit 310 is used to calculate the distance between every two adjacent existing survey points;

[0107] A second calculation unit 320 is used to calculate the number of planning points to be inserted between every two adjacent existing survey points according to the spacing between the existing survey points and the survey required density;

[0108] A third calculation unit 330 is used to calculate the mileage of each of the planned points according to the spacing of the existing survey points, the survey required density and the mileage of the existing survey points;

[0109] The result generating unit 340 is used to generate the planning points according to the number and mileage of the planning points.

[0110] As an optional implementation of the present application, the path planning module 600 includes:

[0111] A recommended range generating unit 610 is used to generate a recommended range for each planning point according to the spacing between the adjacent existing survey points and the survey required density, wherein the recommended ranges are arranged in ascending order of mileage;

[0112] The planning point optimization unit 620 is used to obtain a newly added drone survey point, where the newly added drone survey point is within the recommended range; if there is more than one drone survey point in the recommended range, the drone survey point in the recommended range, the last drone survey point in the recommended range in front of it, and the first drone survey point in the recommended range in the rear to form an optimized planning point set for the local path;

[0113] The path optimization unit 630 is used to generate a local flight path according to the set of optimized planning points.

[0114] Example 3

[0115] Corresponding to the above method embodiment, this embodiment also provides an air-ground collaborative railway field survey equipment. The air-ground collaborative railway field survey equipment described below and the air-ground collaborative railway field survey method described above can be referenced to each other.

[0116] Figure 3 FIG. 8 is a block diagram of an air-ground collaborative railway field survey device 800 according to an exemplary embodiment. Figure 3 As shown, the air-ground collaborative railway field survey device 800 includes a processor 801 and a memory 802. The air-ground collaborative railway field survey device 800 may also include one or more of a multimedia component 803, an input / output (I / O) interface 804, and a communication component 805. Among them, the processor 801 is used to control the overall operation of the air-ground collaborative railway field survey device 800 to complete all or part of the steps in the above-mentioned air-ground collaborative railway field survey method. The memory 802 is used to store various types of data to support the operation of the air-ground collaborative railway field survey device 800. These data may, for example, include commands for any application or method operating on the air-ground collaborative railway field survey device 800, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, disk or optical disk.

[0117] The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone, and the microphone is used to receive external audio signals.

[0118] The received audio signal can be further stored in the memory 802 or sent through the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the air-ground collaborative railway field survey equipment 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 805 can include: Wi-Fi module, Bluetooth module, NFC module.

[0119] In an exemplary embodiment, the device 800 for mutual signing and verification of digital files can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned air-ground collaborative railway field survey method.

[0120] In another exemplary embodiment, a computer-readable storage medium including program commands is also provided, and when the program commands are executed by a processor, the steps of the above-mentioned air-ground collaborative railway field survey method are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 802 including program commands, and the above-mentioned program commands may be executed by the processor 801 of the air-ground collaborative railway field survey device 800 to complete the above-mentioned air-ground collaborative railway field survey method.

[0121] Example 4

[0122] Corresponding to the above embodiment of the air-ground collaborative railway field survey method, a readable storage medium is also provided in this embodiment. The readable storage medium described below and the air-ground collaborative railway field survey method described above can be referenced to each other.

[0123] A readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned air-ground collaborative railway field survey method embodiment.

[0124] The readable storage medium may specifically be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other readable storage medium that can store program codes.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0126] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An air-ground collaborative railway field survey method, characterized in that: include: Obtaining the qualified line plan and the location information of the current location point, determining the type and range of the work point closest to the current location point according to the location information and the qualified line plan, and obtaining the corresponding survey requirement density according to the type of the nearest work point; Acquire existing survey points within the scope of the work point, and generate planning points based on the existing survey points and the survey required density; Acquire the elevation data of the planned point, and calculate the slope at the planned point and the distance from the current position point to the planned point based on the elevation data; Based on the slope at the planned point and the distance from the current position point to the planned point, determining whether the planned point is a drone survey point; Based on the current location point and the drone survey point, a drone flight path is constructed to conduct survey work.

2. The air-ground coordinated railway field survey method according to claim 1 is characterized in that: The generating of planning points based on the existing survey points and the survey required density includes: Calculate the distance between every two adjacent existing survey points; Calculate the number of planning points to be inserted between every two adjacent existing survey points according to the spacing between the existing survey points and the survey required density; Calculate the mileage of each of the planned points according to the spacing of the existing survey points, the survey required density and the mileage of the existing survey points; The planning points are generated according to the number and mileage of the planning points.

3. The air-ground coordinated railway field survey method according to claim 1 is characterized in that: The step of constructing a UAV flight path according to the current location point and the UAV survey point includes: Taking the current location as the starting point, taking the starting point to the drone survey point with the smallest mileage value as the initial path, after flying along the initial path, searching for the nearest unvisited drone survey point; The searched drone survey point is added as a new node to the path, and the user moves to the new node, and then the search and movement are repeated until the user moves to the last drone survey point, and then the user returns to the starting point.

4. The air-ground coordinated railway field survey method according to claim 3 is characterized in that: The step of constructing a UAV flight path according to the current location point and the UAV survey point further includes: According to the spacing between the adjacent existing survey points and the survey required density, a recommended range is generated for each planning point, and the recommended ranges are arranged in ascending order of mileage; Get a newly added drone survey point, which is within the recommended range; if there are more than one drone survey point in the recommended range, the drone survey point in the recommended range, the last drone survey point in the recommended range in front of it, and the first drone survey point in the recommended range in the back form an optimized planning point set for the local path; A local flight path is generated according to the optimized planning point set.

5. The air-ground coordinated railway field survey method according to claim 4 is characterized in that: Generating a local flight path according to the optimized planning point set includes: If the number of planning points in the optimized planning point set is 4 to t, then an exhaustive method is used to generate a path based on the planning point set, and the shortest path is obtained by comparing them one by one as the local flight path; If the number of planning points in the optimized planning point set is greater than t, then a local initial path is constructed by a greedy algorithm based on the optimized planning point set, and then a section of the path that does not contain the starting point and the end point in the local initial path is randomly intercepted, and the direction of the intercepted path is reversed to form a local new path. If the length of the formed local new path is shorter, it is retained, otherwise the original path is maintained. When the number of cycles reaches (t-1)!, the calculation is stopped, and the currently generated path is used as the local flight path.

6. An air-ground coordinated railway field survey device, characterized in that: include: A work point determination module is used to obtain the qualified line plan and the location information of the current location point, determine the type and range of the work point closest to the current location point according to the location information and the qualified line plan, and obtain the corresponding survey requirement density according to the type of the nearest work point; A planning point generation module, used for acquiring existing survey points within the scope of the work point, and generating planning points based on the existing survey points and the survey required density; A data calculation module, used to obtain the elevation data of the planning point, and calculate the slope at the planning point and the distance from the current position point to the planning point based on the elevation data; A task judgment module, used to judge whether the planned point is a drone survey point based on the slope at the planned point and the distance from the current position point to the planned point; The path planning module is used to construct a UAV flight path based on the current location point and the UAV survey point to conduct survey work.

7. The air-ground coordinated railway field survey device according to claim 1 is characterized in that: The planning point generation module includes: A first calculation unit, used for calculating the distance between every two adjacent existing survey points; A second calculation unit is used to calculate the number of planning points to be inserted between every two adjacent existing survey points according to the spacing between the existing survey points and the survey required density; A third calculation unit, configured to calculate the mileage of each of the planned points according to the spacing of the existing survey points, the survey required density and the mileage of the existing survey points; A result generating unit is used to generate the planning points according to the number and mileage of the planning points.

8. The air-ground coordinated railway field survey device according to claim 1 is characterized in that: The path planning module includes: A recommended range generating unit, configured to generate a recommended range for each planning point according to the spacing between the adjacent existing survey points and the survey required density, wherein the recommended ranges are arranged in ascending order of mileage; A planning point optimization unit is used to obtain a newly added UAV survey point, where the newly added UAV survey point is within the recommended range; if there is more than one UAV survey point in the recommended range, the UAV survey point in the recommended range, the last UAV survey point in the recommended range in front of it, and the first UAV survey point in the recommended range in the rear are used to form an optimized planning point set for the local path; A path optimization unit is used to generate a local flight path according to the set of optimized planning points.

9. An air-ground coordinated railway field survey device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the air-ground collaborative railway field survey method as described in any one of claims 1 to 5 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the air-ground collaborative railway field survey method as described in any one of claims 1 to 5.

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