Aerial surveying and mapping system based on unmanned aerial vehicle

Abstract

According to the aerial surveying and mapping system based on the unmanned aerial vehicle, in the aerial flight surveying and mapping process of the unmanned aerial vehicle, a battery module or a standby battery can supply power to the unmanned aerial vehicle and a processor. According to the system, the abnormity detection unit is adopted to detect signal abnormity and hardware faults in real time, when the signal abnormity and the hardware faults are detected, abnormal electric signals are sent to the abnormity receiving unit, and the abnormity receiving unit carries out correction processing according to the abnormal signal conditions sent by the abnormity detection unit; a correction completion signal is sent to the standby processing unit, then the standby processing unit is started, the standby processing unit corrects the completion signal and starts standby equipment, the standby equipment completes repairing of the abnormity of the unmanned aerial vehicle, finally the function transmitting unit is started, the signal is transmitted back to the receiving main station again, and the self-inspection repairing function of the unmanned aerial vehicle is completed. The safety and the repairability of the unmanned aerial vehicle are further improved, and out-of-control crash or data loss caused by sudden abnormity in re-control of the unmanned aerial vehicle is avoided.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping technology, and in particular to an aerial surveying and mapping system based on an unmanned aerial vehicle. Background Art

[0002] Aerial mapping is to use photographic equipment or sensors such as laser radar mounted on aircraft or drones to shoot or scan the ground from the air to obtain high-resolution images or three-dimensional point cloud data. By processing data with ERDAS Imagine professional software, accurate maps, topographic maps, digital elevation models and other geographic information products can be generated. It is widely used in land surveys, urban planning, disaster monitoring and other fields to improve the efficiency and accuracy of geographic information collection.

[0003] During drone aerial mapping operations, drones occasionally "freeze" due to signal interference or hardware failure. At this time, the drone cannot respond to remote control commands, resulting in loss of control and crash or data loss. Summary of the invention

[0004] The purpose of the present invention is to provide an aerial mapping system based on a drone to solve the problems described in the background technology.

[0005] The technical solution of the present invention is achieved in this way:

[0006] An aerial mapping system based on a drone includes a processor connected to an anomaly detection unit, an anomaly receiving unit, a backup processing unit, and a function transmitting unit;

[0007] The abnormality detection unit is used to detect abnormal signals that appear during the flight of the UAV;

[0008] The abnormality receiving unit performs correction processing according to the abnormality signal sent by the abnormality detecting unit, and sends a correction completion signal to the standby processing unit;

[0009] The backup processing unit starts the backup device according to the correction completion signal, and the backup device repairs the abnormal function of the drone;

[0010] When the backup processing unit activates the normal function of the drone, the function transmitting unit retransmits the signal back to the receiving station.

[0011] A further technical solution is that the anomaly detection unit includes a signal anomaly detector, a battery anomaly detector, and a hardware detector;

[0012] The signal anomaly detector detects signal transmission wave anomaly information when the signal transmission wave of the drone is abnormal during flight, wherein the signal transmission wave anomaly information includes excessive signal attenuation, large multi-effect phase difference and transmission module failure;

[0013] The battery anomaly detector is used to receive information about battery overheating or insufficient power during the flight of the drone;

[0014] The hardware detector is used to detect camera lens abnormalities and temperature sensor abnormalities.

[0015] A further technical solution is that the detection method of the abnormality detection unit comprises the following steps:

[0016] The signal anomaly detector detects the signal generator, makes a signal anomaly judgment based on the emission threshold of the signal generator, and if abnormal, sends an abnormal signal;

[0017] The battery abnormality detector detects the battery module, detects the change of the battery module through the wireless communication module, and the wireless communication makes a signal abnormality judgment based on the change of the battery module. If it is abnormal, an abnormal signal is issued;

[0018] The surface temperature of the drone, the temperature of the battery module, and the abnormality of the camera lens are detected by a thermal imaging camera. If there is any abnormality based on the detection result of the thermal imaging camera, an abnormal signal is issued.

[0019] A further technical solution is that the abnormal receiving unit receiving method comprises the following steps:

[0020] receiving an abnormal electrical signal sent by the abnormality detection unit;

[0021] Classification is performed according to the abnormal electrical signals, and the classified abnormal electrical signals are stored.

[0022] A further technical solution is that the abnormal electrical signal is classified into a first abnormal signal, a second abnormal signal and a third abnormal signal, and the first abnormal signal, the second abnormal signal and the third abnormal signal are assigned a first abnormal value, a second abnormal value and a third abnormal value;

[0023] The first abnormal signal, the second abnormal signal and the third abnormal signal are assigned a first abnormal value, a second abnormal value and a third abnormal value, including the following formulas:

[0024] V (n) =f(S n )

[0025] Among them, f is a linear function, V is an outlier, S is an abnormal signal, and n is the number of sets.

[0026] A further technical solution is that when the first abnormal value, the second abnormal value and the third abnormal value are stored, the processor triggers signals to the backup processing unit in sequence.

[0027] A further technical solution is that the backup processing unit includes a backup battery, a signal amplifier, a hardware processing element and a start-up element, the backup battery is used to provide power and is connected to the signal amplifier and the start-up element, the start-up element is used to receive the first abnormal value, the second abnormal value and the third abnormal value, and start the backup battery, the signal amplifier and the hardware processing element in sequence;

[0028] The hardware processing element includes a driving motor, a scraper plate and a cooling fan. The driving motor is located on the top of the camera, and its output end is connected to the scraper plate. The scraper plate is used to scrape off stains on the camera. The cooling fan is used to dissipate heat for the battery module and the backup battery. The driving motor and the cooling fan are both connected to the battery module and the backup battery.

[0029] A further technical solution is that the starting element starting method comprises the following steps:

[0030] According to the first abnormal value, converting the first abnormal value into a first abnormal value virtual signal through data conversion, wherein the first abnormal value virtual signal starts the backup battery to provide power;

[0031] According to the second abnormal value, convert the second abnormal value into a second abnormal value virtual signal through data conversion, and the second abnormal value virtual signal starts the signal amplifier to provide a signal;

[0032] According to the third abnormal value, the third abnormal value is converted into a third abnormal value virtual signal through data conversion, and the third abnormal value virtual signal starts the hardware processing element to process the camera abnormality and the temperature abnormality.

[0033] A further technical solution is that the starting element completes identification based on the first abnormal value, the second abnormal value and the third abnormal value, and after the first abnormal value, the second abnormal value and the third abnormal value are identified, they are marked as the first digital signal, the second digital signal and the third digital signal, and data conversion is completed based on the first digital signal, the second digital signal and the third digital signal.

[0034] A further technical solution is that the functional transmitting unit is used to send an enhanced signal to a receiving station.

[0035] The beneficial effects of the present invention are:

[0036] During the aerial surveying process, the UAV uses an abnormal detection unit to detect signal anomalies and hardware failures in real time. When the signal anomalies and hardware failures are detected, the abnormal electrical signal is sent to the abnormal receiving unit. The abnormal receiving unit performs correction processing according to the abnormal signal sent by the abnormal detection unit, and sends the correction completion signal to the backup processing unit, and then starts the backup processing unit. The backup processing unit corrects the completion signal and starts the backup equipment. The backup equipment completes the repair of the UAV abnormality, and finally starts the function transmission unit to retransmit the signal back to the receiving station to complete the self-check and repair function of the UAV. Further improve the safety and repairability of the UAV, and avoid sudden abnormalities in the control of the UAV, resulting in uncontrolled crashes or data loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a system block diagram of the present invention;

[0038] Figure 2 is a flow chart of a detection method of an abnormality detection unit of the present invention;

[0039] Figure 3 It is a flow chart of the abnormal receiving unit receiving method of the present invention;

[0040] Figure 4 This is a flow chart of the method for starting a starting element of the present invention;

[0041] Figure 5 It is a schematic diagram of the structure of the hardware processing element;

[0042] Figure 6 It is a schematic diagram of the structure of the battery module and the backup battery.

[0043] In the figure, 1. camera; 2. drive motor; 3. scraper plate; 4. cooling fan; 5. battery module; 6. backup battery. DETAILED DESCRIPTION

[0044] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0045] See also Figures 1 to 6 An aerial mapping system based on a drone includes a processor, the processor is connected to an abnormality detection unit, an abnormality receiving unit, a backup processing unit and a function transmitting unit; the abnormality detection unit is used to detect abnormal signals appearing in the drone during flight; the abnormality receiving unit performs correction processing according to the abnormal signal sent by the abnormality detection unit, and sends a correction completion signal to the backup processing unit; the backup processing unit starts a backup device according to the correction completion signal, and the backup device repairs the abnormal function of the drone; the function transmitting unit retransmits the signal back to the receiving station when the backup processing unit activates the normal function of the drone.

[0046] Specifically, during the aerial surveying process of the drone, the battery module 5 or the backup battery 6 can power the drone and the processor. This system uses an abnormal detection unit to detect signal anomalies and hardware failures in real time. When signal anomalies and hardware failures are detected, an abnormal electrical signal is sent to an abnormal receiving unit. The abnormal receiving unit performs correction processing according to the abnormal signal sent by the abnormal detection unit, and sends a correction completion signal to the backup processing unit, and then starts the backup processing unit. The backup processing unit corrects the completion signal and starts the backup equipment. The backup equipment drone abnormality is repaired, and finally the function transmitting unit is started to retransmit the signal back to the receiving station to complete the drone self-check and repair function. Further improve the safety and repairability of the drone, and avoid sudden abnormalities in the drone control, resulting in loss of control or data loss.

[0047] In this embodiment, the abnormality detection unit includes a signal abnormality detector, a battery abnormality detector, and a hardware detector; the signal abnormality detector detects signal transmission wave abnormality information when an abnormality occurs in the signal transmission wave of the drone during flight, wherein the signal transmission wave abnormality information includes excessive signal attenuation, large multi-effect phase difference, and transmission module failure; the battery abnormality detector is used to receive information that the battery of the drone is overheated or low on power during flight; the hardware detector is used to detect camera lens abnormalities and temperature sensor abnormalities.

[0048] The signal anomaly detector uses a spectrum analyzer, which is installed in the drone to detect whether the drone signal is interfered. The battery anomaly detector uses a current sensor, which detects abnormal battery status. The hardware detector uses a thermal imaging camera to detect the drone surface temperature, battery module 5 temperature, and camera lens abnormalities.

[0049] Wherein, the detection method of the abnormality detection unit comprises the following steps;

[0050] Step S101: The signal anomaly detector detects the signal generator and makes a signal anomaly judgment based on the emission threshold of the signal generator. If it is abnormal, an abnormal signal is issued;

[0051] Step S102: The battery abnormality detector detects the battery module 5, and detects the change of the battery module 5 through the wireless communication module. The wireless communication makes a signal abnormality judgment based on the change of the battery module 5. If it is abnormal, an abnormal signal is issued;

[0052] Step S103: Detect the drone surface temperature, the battery module 5 temperature, and the camera lens abnormality through the thermal imaging camera. If there is an abnormality, an abnormal signal is issued according to the thermal imaging camera detection result.

[0053] It should be noted that this step sets the detection sequence. Battery abnormalities include insufficient power and battery overheating.

[0054] In this embodiment, the abnormal receiving unit receiving method includes the following steps:

[0055] Step S201: receiving an abnormal electrical signal sent by an abnormality detection unit;

[0056] Step S202: classifying the abnormal electrical signals and storing the classified abnormal electrical signals.

[0057] It should be noted that by classifying abnormal electrical signals, it is possible to quickly screen for designated signal anomalies, battery module 5 anomalies, and hardware anomalies.

[0058] Further, the abnormal electrical signal is classified into a first abnormal signal, a second abnormal signal and a third abnormal signal, and the first abnormal signal, the second abnormal signal and the third abnormal signal are assigned a first abnormal value, a second abnormal value and a third abnormal value.

[0059] The first abnormal signal, the second abnormal signal and the third abnormal signal are assigned a first abnormal value, a second abnormal value and a third abnormal value, including the following formulas:

[0060] V (n) =f(S n )

[0061] Where f is a linear function, V is an outlier, S is an abnormal signal, and n is the number of sets.

[0062] Exemplarily, the linear function f adopts the specific formula: V n =a n ·S n +b n Calculate, let a n = 0.5 and b n =0.2. The first abnormal signal assigns the first abnormal value as V1=a1·S1+b1. If S1=0, then V1=0.2, which is a normal state. If S1=1, then V1=0.7>0.2, indicating an abnormality. Similarly, the second abnormal signal assigns the second abnormal value as V2=a2·S2+b2, and the second abnormal signal assigns the second abnormal value as V3=a3·S3+b3, which can be calculated according to the above algorithm. The mathematical value is used as the signal trigger state, which facilitates the processor to process quickly and improve the response capability.

[0063] It is worth noting that the first abnormal signal, the second abnormal signal and the third abnormal signal are respectively represented as signal abnormality, battery module 5 abnormality and hardware abnormality, and are assigned a first abnormal value, a second abnormal value and a third abnormal value. The first abnormal value, the second abnormal value or the third abnormal value initiates the transmission signal to the processor for rapid processing.

[0064] Furthermore, when the first abnormal value, the second abnormal value and the third abnormal value are stored, the processor triggers signals to the backup processing unit in sequence.

[0065] It should be noted that the processor is the processor of the drone, so that the drone can rely on the processor to start the system and improve the overall self-repair capability.

[0066] In this embodiment, the backup processing unit includes a backup battery 6, a signal amplifier, a hardware processing element and a starting element. The backup battery 6 is used to provide power and is connected to the signal amplifier and the starting element. The starting element is used to receive the first abnormal value, the second abnormal value and the third abnormal value, and start the backup battery 6, the signal amplifier and the hardware processing element in sequence; the hardware processing element includes a drive motor 2, a scraper plate 3 and a cooling fan 4. The drive motor 2 is located at the top of the camera 1, and its output end is connected to the scraper plate 3. The scraper plate 3 is used to scrape stains off the camera 1. The cooling fan 4 is used to dissipate heat for the battery module 5 and the backup battery 6. The drive motor 2 and the cooling fan 4 are both connected to the battery module 5 and the backup battery 6.

[0067] Exemplarily, the start-up element is turned on by the first abnormal value, the second abnormal value and the third abnormal value, and the start-up element triggers the backup battery 6, the signal amplifier and the hardware processing element to start, thereby providing a normal surveying and mapping mode for the UAV.

[0068] Specifically, the starting element is an internal trigger unit of the drone processor. When the abnormality detection unit sees that the signal is interfered, it will restore the signal to a normal state by starting the signal amplifier; when the abnormality detection unit detects that the battery module 5 is low on power or overheated, it will continue to run by starting the backup battery 6, and starting the cooling fan 4 through the backup battery 6 can dissipate heat for the battery module 5 while also dissipating heat for the backup battery 6, reducing the safety hazards caused by continuous overheating of the battery module 5, and reducing the temperature of the backup battery 6 to increase its service life. When the abnormality detection unit detects that there is dirt on the camera 1, the starting element will start the motor, and the scraper plate 3 at its output end will scrape the lens of the camera 1 clean to ensure smooth surveying and mapping work.

[0069] like Figure 6 As shown, the battery module 5 and the backup battery 6 are designed to be tilted, so that the cooling fan 4 can increase the cooling area and improve the cooling efficiency.

[0070] The specific method includes the following steps:

[0071] Step S301: According to the first abnormal value, the first abnormal value is converted into a first abnormal value virtual signal through data conversion, and the first abnormal value virtual signal starts the backup battery 6 to provide power;

[0072] Step 302: According to the second abnormal value, the second abnormal value is converted into a second abnormal value virtual signal through data conversion, and the second abnormal value virtual signal starts a signal amplifier to provide a signal;

[0073] Step S303: According to the third abnormal value, the third abnormal value is converted into a third abnormal value virtual signal through data conversion, and the third abnormal value virtual signal starts the hardware processing element to process the camera 1 abnormality and the temperature abnormality.

[0074] Furthermore, the starting element completes identification based on the first abnormal value, the second abnormal value and the third abnormal value. After the first abnormal value, the second abnormal value and the third abnormal value are identified, they are marked as the first digital signal, the second digital signal and the third digital signal, and data conversion is completed based on the first digital signal, the second digital signal and the third digital signal.

[0075] Specifically, in the processor, the first abnormal value, the second abnormal value and the third abnormal value are converted into the first digital signal, the second digital signal and the third digital signal by A\D conversion, so as to facilitate the processor to quickly identify and trigger the operation of the starting element.

[0076] In this embodiment, the functional transmitting unit is used to send the enhanced signal to the receiving station.

[0077] It should be noted that the functional transmitting unit uses an antenna in conjunction with a signal amplifier to send the surveying and mapping content to the receiving station to improve work integrity.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An aerial mapping system based on a drone, comprising a processor, characterized in that: The processor is connected to an abnormality detection unit, an abnormality receiving unit, a backup processing unit and a function transmitting unit; The abnormality detection unit is used to detect abnormal signals that appear during the flight of the UAV; The abnormality receiving unit performs correction processing according to the abnormality signal sent by the abnormality detecting unit, and sends a correction completion signal to the standby processing unit; The backup processing unit starts the backup device according to the correction completion signal, and the backup device repairs the abnormal function of the drone; When the backup processing unit activates the normal function of the drone, the function transmitting unit retransmits the signal back to the receiving station.

2. The aerial mapping system based on a drone according to claim 1, characterized in that: The abnormality detection unit includes a signal abnormality detector, a battery abnormality detector, and a hardware detector; The signal anomaly detector detects signal transmission wave anomaly information when the signal transmission wave of the drone is abnormal during flight, wherein the signal transmission wave anomaly information includes excessive signal attenuation, large multi-effect phase difference and transmission module failure; The battery anomaly detector is used to receive information about battery overheating or insufficient power during the flight of the drone; The hardware detector is used to detect camera lens abnormalities and temperature sensor abnormalities.

3. The aerial mapping system based on a drone according to claim 2, characterized in that: The detection method of the abnormality detection unit comprises the following steps: The signal anomaly detector detects the signal generator, makes a signal anomaly judgment based on the emission threshold of the signal generator, and if abnormal, sends an abnormal signal; The battery abnormality detector detects the battery module, detects the change of the battery module through the wireless communication module, and the wireless communication makes a signal abnormality judgment based on the change of the battery module. If it is abnormal, an abnormal signal is issued; The surface temperature of the drone, the temperature of the battery module, and the abnormality of the camera lens are detected by a thermal imaging camera. If there is any abnormality based on the detection result of the thermal imaging camera, an abnormal signal is issued.

4. The aerial mapping system based on a drone according to claim 1, characterized in that: The abnormal receiving unit receiving method comprises the following steps: receiving an abnormal electrical signal sent by the abnormality detection unit; Classification is performed according to the abnormal electrical signals, and the classified abnormal electrical signals are stored.

5. The aerial mapping system based on a drone according to claim 4, characterized in that: The abnormal electrical signal is classified into a first abnormal signal, a second abnormal signal and a third abnormal signal, and the first abnormal signal, the second abnormal signal and the third abnormal signal are assigned a first abnormal value, a second abnormal value and a third abnormal value; The first abnormal signal, the second abnormal signal and the third abnormal signal are assigned a first abnormal value, a second abnormal value and a third abnormal value, including the following formulas: V (n) =f(S n ) Among them, f is a linear function, V is an outlier, S is an abnormal signal, and n is the number of sets.

6. The aerial mapping system based on a drone according to claim 5, characterized in that: When the first abnormal value, the second abnormal value and the third abnormal value are stored, the processor triggers signals to the backup processing unit in sequence.

7. The aerial mapping system based on a drone according to claim 1 or 6, characterized in that: The backup processing unit includes a backup battery, a signal amplifier, a hardware processing element and a start-up element, wherein the backup battery is used to provide power and is connected to the signal amplifier and the start-up element, and the start-up element is used to receive the first abnormal value, the second abnormal value and the third abnormal value, and sequentially start the backup battery, the signal amplifier and the hardware processing element; The hardware processing element includes a driving motor, a scraper plate and a cooling fan. The driving motor is located on the top of the camera, and its output end is connected to the scraper plate. The scraper plate is used to scrape off stains on the camera. The cooling fan is used to dissipate heat for the battery module and the backup battery. The driving motor and the cooling fan are both connected to the battery module and the backup battery.

8. The aerial mapping system based on a drone according to claim 7, characterized in that: The starting element starting method comprises the following steps: According to the first abnormal value, converting the first abnormal value into a first abnormal value virtual signal through data conversion, wherein the first abnormal value virtual signal starts the backup battery to provide power; According to the second abnormal value, convert the second abnormal value into a second abnormal value virtual signal through data conversion, and the second abnormal value virtual signal starts the signal amplifier to provide a signal; According to the third abnormal value, the third abnormal value is converted into a third abnormal value virtual signal through data conversion, and the third abnormal value virtual signal starts the hardware processing element to process the camera abnormality and the temperature abnormality.

9. The aerial mapping system based on a drone according to claim 8, characterized in that: The starting element completes identification according to the first abnormal value, the second abnormal value and the third abnormal value. After the first abnormal value, the second abnormal value and the third abnormal value are identified, they are marked as the first digital signal, the second digital signal and the third digital signal, and data conversion is completed according to the first digital signal, the second digital signal and the third digital signal.

10. The aerial mapping system based on a drone according to claim 1, characterized in that: The functional transmitting unit is used to send the enhanced signal to the receiving station.

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