Method and system for map construction of battle environment through cooperation of unmanned aerial vehicle and robot
Through the coordinated work of drones and robots, monitoring the combat environment and building a physical map, the problem of single reconnaissance and display methods of combat environment weapons in the existing technology is solved, and a higher battlefield visualization and control capabilities are achieved.
Patent Information
- Application Number
- CN202411860489.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-17
- Publication Date
- 2025-03-14
AI Technical Summary
The existing technology has single weapons reconnaissance and display methods in combat environments, resulting in low overall visualization of the battlefield by the military central institutions, weak observation and control capabilities, and difficulty in macro-decision making and command.
Through drones and robots, a control system is established to monitor the combat environment and its weapons, process the monitoring results and build a body map. The specific steps include calling the graphics processing components to build the battlefield surface and weapon layer, and integrating data to obtain a three-dimensional map of the weapon.
Through digital visualization, we can display the weapon status and spatial distribution in the combat environment in three-dimensionally, providing a digital display method for weapon management in combat environments, and improving the battlefield visualization level and observation and control capabilities.
Smart Images
Figure CN119625184A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of military monitoring technology, and specifically to a method and system for using drones in conjunction with robots to construct maps of combat environments. Background Art
[0002] In recent years, more and more countries around the world have been involved in local wars, and the risk of regional wars has become increasingly high. From the First World War to the present, the three-dimensional and information technology of the battlefield has been increasingly valued.
[0003] At present, there are more and more types of weapons on the actual battlefield, and the physical locations of various weapons are widely distributed and becoming more and more three-dimensional. The existing means of weapon reconnaissance and display in the combat environment are relatively simple, and the focus tends to be on data. This has resulted in low overall battlefield visualization, weak observation and control capabilities, and difficulty in macro-decision-making and command by the central military agencies.
[0004] The integration and coordination of drones and robots has gradually become an important direction for the development of artificial intelligence and robotics technology, and the application of drones and robots in combat environments is becoming more and more extensive. A drone (Unmanned Aerial Vehicle) is an aircraft that can perform tasks without human operation. It can fly autonomously through remote control or preset routes, and has the characteristics of flexible flight and efficient law enforcement; an intelligent robot is a robot system that can perceive, learn and adapt to the environment. It has the ability to make decisions and perform tasks autonomously, and can complete tasks that humans cannot or are unwilling to complete; they have their own unique applications in different fields, such as drones are widely used in aviation, military, aerial photography, surveying and mapping, and robots are widely used in industry, medical care, military, services and other fields.
[0005] With the continuous advancement and innovation of science and technology, the people-oriented concept has penetrated into all walks of life. Battlefields or combat environments with high risks and injury rates increasingly require the integration and collaboration of drones and robots to improve work efficiency and the quality of task completion, and complete tasks that are difficult for soldiers to complete at low cost, high reliability and more accurately, such as obtaining the distribution and operation of weapons in a combat environment. The actual situation or weapons in the battlefield or combat environment urgently need to be displayed, managed and decided through digital visualization, spatial geography and other dimensions, thereby realizing the upgrade of battlefield monitoring and control methods. Summary of the invention
[0006] In order to solve the above technical problems, the present application provides a method and system for using a drone in cooperation with a robot to construct a map of a combat environment.
[0007] The method for mapping a combat environment by cooperating with a drone and a robot includes the following steps:
[0008] Calling the first graphics processing component to construct a battlefield surface layer and a battlefield according to the spherical radius and the rendering material;
[0009] Obtain the latitude and longitude data of each battlefield in the battlefield surface layer, standardize the data format, and call the geometry type component to pre-process the standardized latitude and longitude data to obtain a polygon data set, which represents the latitude and longitude data of the battlefield;
[0010] Call the projection conversion component to obtain the two-dimensional graphic outline of each battlefield according to the longitude and latitude conversion of the polygonal data set, and use the three-dimensional stretching component to stretch the two-dimensional graphic outline along the specified path to construct a three-dimensional battlefield layer;
[0011] The second graphics processing component is called to construct a weapon object according to the top-down information of the drone, the head-up information of the robot, the weapon form synthesized therefrom, and the latitude and longitude information of the weapon, and after determining the spatial angle, spatial distance, and weapon form between the weapon object and the battlefield surface, the weapon object of the weapon is rendered to construct a weapon layer;
[0012] The battlefield surface layer, the three-dimensional battlefield layer and the weapon layer are integrated to obtain a three-dimensional map of the weapons;
[0013] Among them, the bird's-eye view information of the drone includes: the battlefield space viewed from above and around by the drone, the weapon outline and the three-dimensional relative position, distance and angle relationship between each weapon and the battlefield space; the head-up information of the robot includes: the battlefield situation viewed from the front, side and rear of the robot, the weapon form and the two-dimensional relative position, distance and angle relationship between each weapon and the battlefield space; the weapon form includes: weapon appearance, weapon category, weapon action and weapon attributes; the weapon attributes include: weapon latitude and longitude information, and weapon enemy and friend information; the synthesis of the drone's bird's-eye view information and the robot's head-up view information is synthesized and processed by a computing unit connected to the control unit of the drone and the robot.
[0014] As a further improvement of the above technical solution: calling the projection conversion component, converting the longitude and latitude of the polygonal data set to obtain the two-dimensional graphic outline of each battlefield, and stretching the two-dimensional graphic outline along the specified path through the three-dimensional stretching component to construct a three-dimensional battlefield layer, including the following steps:
[0015] The X-axis and Y-axis of each battlefield plane are calculated by using a Mercator projection method or a national standard Gauss-Krüger projection method; the X-coordinate value and the Y-coordinate value of each battlefield edge point are calculated according to the longitude and latitude of the polygonal data set by calling a projection conversion component or a trigonometric function method;
[0016] According to the X coordinate value and Y coordinate value of each battlefield edge point, the Z coordinate value of each battlefield edge point is calculated by the space conversion formula;
[0017] Call the three-dimensional stretching component to stretch the two-dimensional graphic outline of each battlefield along the path from zero to the Z coordinate value, and adaptively calculate the surface inside the two-dimensional graphic outline of each battlefield based on the battlefield surface, and finally obtain the three-dimensional battlefield layer of each battlefield.
[0018] In an embodiment of the present solution, calling the second graphics processing component to construct a weapon object according to the top-down information of the drone, the head-up information of the robot, the synthesized weapon form and the latitude and longitude information of the weapon includes the following steps:
[0019] The weapon morphology model is synthesized based on the drone's bird's-eye view, the robot's front view, side view, and rear view information, and the latitude and longitude information of each weapon;
[0020] Call the weapon form model to construct the weapon object of each weapon according to the latitude and longitude information and weapon form of each weapon;
[0021] Among them, the weapon shape model includes: weapon pictures, cube shapes or audio and video dynamics.
[0022] In an embodiment of the present solution, after determining the spatial angle and spatial distance between the weapon object and the battlefield surface layer, rendering the weapon object of the weapon to construct the weapon layer includes the following steps:
[0023] Taking the target space position of the weapon object as the center point of the surface, calculate the first normal vector formed by the center point of the surface and the center of the sphere where the battlefield surface is located, and scale the three XYZ components of the first normal in equal proportions for normalization;
[0024] By default, the mesh object is attached to the XOY plane where the weapon object is located for rendering. The normal direction of the XOY plane is set to be tangent to the battlefield surface along the Z axis, so that the second normal vector of the XOY plane is (0, 0, 1).
[0025] Calling the quaternion library encapsulated by the first graphics processing component, defining the quaternion to include four components: x-axis movement, y-axis movement, z-axis movement, and rotation angle w; calculating the quaternion value corresponding to the moving path from the second normal vector to the first normal vector based on the quaternion library;
[0026] The weapon layer is constructed by controlling the weapon objects at a reasonable angle on the three-dimensional spherical map where the battlefield surface is located according to the quaternion values, and rendering each weapon object of the weapon.
[0027] In an embodiment of the present scheme, the first graphics processing component and the second graphics processing component receive geometric data (such as vertex coordinates / normal vectors, etc.), texture data (such as color / material, etc.), and lighting data (such as light source position / light intensity, etc.) of the program based on computer graphics and visual perception, and convert the three-dimensional model or scene into a realistic two-dimensional image through algorithms and calculation steps, and finally generate a two-dimensional image that conforms to the actual combat environment; the drone cooperates with the robot to collect, monitor and transmit the three-dimensional spatial position and morphological data of various weapons on the battlefield, and the computing system can display the status and spatial distribution of various weapons in three dimensions through digital visualization means, and display a three-dimensional map of the combat environment.
[0028] In the embodiment of the present solution, the spherical three-dimensional battlefield surface is constructed by calling the first graphics processing component, specifically defining a three-dimensional spherical model Sphere Geometry in, for example, Three JS, fixing the radius of the sphere, and performing spherical mapping of the three-dimensional map through a material Mesh Phong Material for a glossy surface with specular highlights to obtain the battlefield surface; finally, based on the longitude (lng), latitude (lat) and sphere radius (radius), as well as the corresponding relationship between the angles at the time of creation, combined with trigonometric functions, the corresponding three-dimensional world coordinates can be calculated; wherein x and z need to first calculate the projection point, and then calculate the specific coordinates;
[0029] The step of constructing the target three-dimensional battlefield layer includes the following steps:
[0030] Collect the Geo JSON of the map location information provided by Beidou or GPS and preprocess it. The map location information includes longitude and latitude data; then define the THREE.Shape objects of each two-dimensional shape plane that composes the spherical map, convert the longitude and latitude location information of the preprocessed polygon set into the XYZ position in the 3D model, assign the edge points of each battlefield two-dimensional plane to obtain the two-dimensional spatial contour, perform spatial coordinate conversion to obtain the X coordinate value and Y coordinate value of each battlefield edge point, and also perform custom projection calculations through trigonometric functions to reduce dependence on third-party libraries; according to the X coordinate value and Y coordinate value of each battlefield edge point, calculate the Z coordinate value of each battlefield edge point through the spatial conversion formula; then use the extended geometric model ExtrudeGeometry to convert the Z axis of the two-dimensional shape plane from the default value 0 to the calculated Z axis value;
[0031] The weapon layer is constructed by collecting, monitoring and acquiring the three-dimensional spatial data of networked weapons in a large-scale combat environment through high-altitude drones and ground robots, and constructing weapon objects that are the same as those in the actual combat environment through weapon morphology models, and displaying them on a map.
[0032] An embodiment of the present application also provides a system for drones cooperating with robots to construct a map of a combat environment, which is used to execute any of the aforementioned methods for drones cooperating with robots to construct a map of a combat environment, including: a computer system and drones and robots connected to the computing system.
[0033] In an embodiment of the present scheme, the computing system includes: a control unit for controlling the UAV to cooperate with the robot in action, a computing unit for executing program computing tasks, and a storage unit for storing data; the UAV includes an aircraft body, electronic equipment, and a payload, and the electronic equipment and the payload are arranged on the aircraft body; the aircraft body is generally composed of a fuselage, wings, tail, propellers, and sensing devices, and the electronic equipment includes a flight control system, a controller, a navigation system, a communication system, and sensors, and the payload refers to various equipment and instruments carried by the UAV, such as lenses, sensors, cameras, etc. These payloads can be used for aerial photography of various weapons in a battlefield environment or a combat environment, reconnaissance, or / and meteorological observation, etc.; the robot includes a fuselage, a perception system, a decision-making system, an execution system, and a control system. The system can be an inspection robot, wherein the perception system, the decision system and the execution system are arranged on the fuselage; the fuselage is generally composed of a mechanical structure and electronic equipment, the mechanical structure is used to realize the movement and operation of the robot, the electronic equipment is responsible for controlling and managing the various functional components of the robot, the perception system is used to perceive the environment and obtain external information, the decision system is used to analyze and judge the command tasks and issue instructions, and the execution system is used to perform actions according to the instructions of the decision system, such as action, monitoring, transmission or processing of information; the integration and collaborative work of drones and robots integrates the various parts of drones and intelligent robots to form a system that works together, and through the mutual cooperation and collaboration between drones and intelligent robots, more efficient and accurate monitoring task execution can be achieved.
[0034] In an embodiment of the present scheme, the control unit or control center includes: control system hardware, communication network and audio, video and text synthesis software; the control system hardware includes: communication data link, uplink and downlink conversion module, data transceiver module, controller; the uplink and downlink conversion module is used to convert battlefield weapon pictures, cube shapes or audio and video dynamics obtained by the monitoring equipment received through the communication data link channel or modulated to 25MH by the data transceiver module and transmitted through the communication data link; the controller is used to control the data transceiver module to process data sending and receiving, and the controller uses the gate array to control the monitoring equipment to monitor the battlefield environment and its weapon conditions; the The control system hardware also includes: a random access memory (RAM), a power supply module, a UAV flight control module and a robot control module; the random access memory (RAM) stores instructions, load data and other data controlled by the response controller received by the data transceiver module through the data transmission loop; the power supply module provides +5V and +12V DC voltages to the UAV and various components through the controller; the controller controls the flight process and monitoring process of the UAV in the airspace of the combat environment through the UAV flight control module, and controls its action process and monitoring process on the surface of the combat environment through the robot control module.
[0035] In an embodiment of the present scheme, the computing system further includes: a transmission device, a display; the control unit and the computing unit of the computing system may be a general-purpose processor, which may be a microprocessor or the processor may also be any conventional processor, etc.; the processor is the control center of the stereoscopic map construction device, and uses various interfaces and lines to connect the various parts of the entire stereoscopic map construction device; the storage unit is used to store software programs, modules and various parameters of the application software; the transmission device is used to receive or send data via a network, and a specific example of the network may include a wireless network provided by a communication provider of a computer terminal; the display may be, for example, a touch-screen liquid crystal display (LCD), which can display and output the constructed map, or enable a user to interact with a user interface of a computer terminal, a controller or a mobile device.
[0036] Beneficial effects of this application:
[0037] The method and system for mapping a combat environment using the unmanned aerial vehicle of the present application in cooperation with a robot include calling a first graphics processing component to obtain a battlefield surface layer according to a spherical radius and a rendering material; obtaining the latitude and longitude data of each battlefield in the battlefield surface layer and performing data format standardization; calling a geometry type component to pre-process the latitude and longitude data after format standardization to obtain a polygonal data set, wherein one polygonal data represents the latitude and longitude data of one battlefield; calling a projection conversion component to obtain a two-dimensional graphic outline of each battlefield according to the longitude and latitude conversion of the polygonal data set, and constructing a three-dimensional battlefield layer by stretching the two-dimensional graphic outline along a specified path through a three-dimensional stretching component; calling a second graphics processing component to construct a weapon object according to the latitude and longitude information of the weapon; after determining the spatial angle and spatial distance between the weapon object and the battlefield surface layer, rendering the weapon object of the weapon to construct a weapon layer; integrating the battlefield surface layer, the three-dimensional battlefield layer and the weapon layer to obtain a three-dimensional map of the weapon; constructing and displaying a three-dimensional map of the weapon distribution in the combat environment, realizing a three-dimensional display of the status and spatial distribution of the weapon through digital visualization means, providing a digital display method for the management of weapons in the combat environment, and promoting a higher standardization and specialization of the combat environment visual system. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:
[0039] Figure 1 A schematic diagram of the method steps for a drone to cooperate with a robot to construct a map of a combat environment provided in an embodiment of the present application;
[0040] Figure 2 A schematic diagram of the process of constructing a three-dimensional battlefield layer provided in an embodiment of the present application;
[0041] Figure 3 A schematic diagram of the functional architecture of a computing system provided in an embodiment of the present application;
[0042] Figure 4 A schematic diagram of the process of constructing a weapon object provided in an embodiment of the present application;
[0043] Figure 5 A schematic diagram of the weapon layer construction process provided in an embodiment of the present application. DETAILED DESCRIPTION
[0044] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.
[0045] In the process of realizing this application, the applicant found that there are more and more types of weapons on the actual battlefield, and the physical locations of various weapons are widely distributed and increasingly three-dimensional. The existing means of weapon reconnaissance and display in the combat environment are relatively single, resulting in the central military agencies having low overall visualization of the battlefield, weak observation and control capabilities, and difficult macro-decision-making and command. The integration and coordination of drones and robots has gradually become an important direction for the development of artificial intelligence and robotics technology, and the application of drones and robots in combat environments has become more and more extensive. With the continuous advancement and innovation of science and technology, the people-oriented concept has penetrated into all walks of life. Battlefields or combat environments with high dangers and injury rates increasingly need to integrate drones and robots and achieve collaborative work to improve work efficiency and the quality of task completion, and complete tasks that are difficult for soldiers to complete at low cost, high reliability, and more accurately, such as obtaining the distribution and operation of weapons in the combat environment. The actual situation or weapons of the battlefield or combat environment urgently need to be displayed, managed and decided through dimensions such as digital visualization and spatial geography, so as to achieve the upgrade of battlefield monitoring and control methods, which has become an urgent problem to be solved by the military industry.
[0046] Example
[0047] In response to the above problems, the embodiments of the present application provide a method and system for using a drone in cooperation with a robot to construct a map of a combat environment.
[0048] The method provided in this embodiment needs to be executed by a computer system or a computing device of a computing system. For example, the computer system may include one or more computing units or processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a storage unit or memory for storing data. It will be appreciated by those skilled in the art that the stereo map construction device or image recognition device that executes this method may include more or fewer components than having a processor and memory architecture, or a combination of certain components, or different components, such as a stereo map construction device may also include input and output devices, network access devices, buses, transmission devices, displays, input / output interfaces (I / O interfaces), universal serial bus (USB) ports (which may be included as one of the ports of the I / O interface), network interfaces, and power supplies. It will be appreciated by those skilled in the art that the structure is only an explanation and does not limit the structure of the above-mentioned electronic device. For example, a controller or a computer terminal may also include more or fewer components.
[0049] It should be noted that the above-mentioned one or more computing units and / or other data processing circuits can generally be referred to as "data processing circuits". The data processing circuit can be embodied in whole or in part as software, hardware, firmware or any other combination. In addition, the data processing circuit can be a single independent processing module, or can be integrated into any one of the other components in the controller in whole or in part. As the storage unit and computing unit involved in the embodiments of the present application, the data processing circuit is controlled as a processor, such as the selection of the variable resistance terminal path connected to the interface. The processor (Central Processing Unit, CPU) can also be other general-purpose processors, digital signal processors (DigitalSignal Processor, DSP), application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the stereo map construction device, and various interfaces and lines are used to connect the various parts of the entire stereo map construction device.
[0050] The storage unit can be used to store software programs and modules and various parameters of application software, such as the synthesis information of the drone's overhead information and the robot's head-up information in the embodiment of the present application, and the program instructions / data storage device corresponding to the graphics processing. The computing unit executes various functional applications and data processing or controls related functional components to execute corresponding behaviors by running the software programs, modules, various models and their parameters and preset values stored in the storage unit, that is, to realize the above-mentioned positioning program. The storage unit may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the storage unit may further include a memory remotely arranged relative to the computing unit, and these remote memories may be connected to the computer terminal or controller of the system through a network. The memory can be used to store computer-readable instructions, and the processor realizes various functions of the stereo map construction device by running or executing the computer-readable instructions or modules stored in the memory, and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the storage data area may store data created according to the use of the stereo map construction device, etc. In addition, the memory may include a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, a read-only memory (ROM), a random access memory (RAM) or other non-volatile / volatile storage devices.
[0051] The transmission device is used to receive or send data via a network, and a specific example of the network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.
[0052] The display may be, for example, a touch screen liquid crystal display (LCD), which may display and output the constructed map, or enable a user to interact with a user interface of a computer terminal, a controller, or a mobile device.
[0053] like Figure 1As shown, the method of using a drone in cooperation with a robot to construct a map of a combat environment in this embodiment can be specifically implemented by a military officer or soldier or technician establishing a computing system that can control the drone to cooperate with the robot to monitor weapons in the combat environment and process the monitoring results, and includes the following steps:
[0054] S102: calling the first graphics processing component to obtain a battlefield surface layer according to the spherical radius and the rendering material;
[0055] S103: obtaining the latitude and longitude data of each battlefield in the battlefield surface layer, standardizing the data format, and calling the geometry type component to pre-process the standardized latitude and longitude data to obtain a polygon data set, where the polygon data represents the latitude and longitude data of the battlefield;
[0056] S104: calling the projection conversion component to obtain the two-dimensional graphic outline of each battlefield according to the longitude and latitude conversion of the polygonal data set, and stretching the two-dimensional graphic outline into a three-dimensional battlefield layer along the specified path through the three-dimensional stretching component;
[0057] S105: calling the second graphics processing component to construct a weapon object according to the top-down information of the drone, the head-up information of the robot, the weapon form synthesized therefrom, and the latitude and longitude information of the weapon, and after determining the spatial angle, spatial distance, and weapon form between the weapon object and the battlefield surface, render the weapon object of the weapon to obtain a weapon layer;
[0058] S106: The battlefield surface layer, the three-dimensional battlefield layer and the weapon layer are integrated to obtain a three-dimensional map of the weapons.
[0059] The computing system includes: a control unit for controlling the UAV to coordinate with the actions of the robot, a computing unit for executing program computing tasks, and a storage unit for storing data; the UAV's bird's-eye view information includes: the battlefield space viewed from above and around by the UAV, the weapon outline, and the three-dimensional relative position, distance, and angle relationship between each weapon and the battlefield space; the robot's head-on view information includes: the battlefield situation viewed from the front, side, and rear by the robot, the weapon form, and the two-dimensional relative position, distance, and angle relationship between each weapon and the battlefield space; the weapon form includes: weapon appearance, weapon category, weapon action, and weapon attributes, and the weapon attributes include: weapon latitude and longitude information, and weapon friend and foe information; the synthetic information of the UAV's bird's-eye view information and the robot's head-on view information is synthesized and processed by a computing unit connected to the control units of the UAV and the robot to obtain a weapon form including weapon attributes that is consistent with the monitoring scene.
[0060] like Figure 3As shown, the main components of the UAV include the aircraft body, electronic equipment and payload, and the electronic equipment and payload are arranged on the aircraft body; the aircraft body is generally composed of the fuselage, wings, tail, propellers and sensing devices, and the fuselage is the main load-bearing component of the UAV, which is usually made of lightweight materials to achieve the lightweight and high strength of the aircraft, and the wings and tail are used to provide lift and stability; the electronic equipment includes the flight control system, navigation system, communication system and sensors, and the flight control system is responsible for controlling the attitude and flight trajectory of the aircraft, as well as realizing automatic flight and navigation functions. The navigation system is mainly used for positioning and navigation, and the common ones are GPS (Global Positioning System), etc. The communication system is used for data interaction and command transmission with the ground station, and the sensor is used to sense the environment and obtain aircraft status information. The payload refers to the various equipment and instruments carried by the UAV, such as lenses, sensors, cameras, etc. These payloads can be used for aerial photography, reconnaissance, meteorological observation, etc. of various weapons in the battlefield environment or combat environment; UAV The communication system of a drone is mainly used for data interaction and command transmission with the ground station. Wireless communication technologies such as Wi-Fi, Bluetooth and LTE are usually used. By communicating with the ground station, the drone can receive commands, transmit monitoring data and images, etc. The navigation system of the drone is used for positioning and navigation to realize autonomous flight functions. The navigation system usually includes GPS (Global Positioning System) and inertial navigation system. GPS can provide the global positioning information of the drone, while the inertial navigation system can measure the motion parameters such as the speed and acceleration of the drone. The perception and obstacle avoidance technology of the drone is the key to realize the autonomous flight of the drone and avoid collisions. It uses sensors and image processing technology to perceive and analyze the surrounding environment. Commonly used sensors include cameras, infrared sensors, radars and laser sensors. These sensors can obtain information about the surrounding environment in real time, including obstacles, terrain, altitude, etc. The drone can realize autonomous obstacle avoidance functions by processing and analyzing the perceived data, such as avoiding obstacles and adjusting the flight altitude, and successfully complete the monitoring task.
[0061] The robot can autonomously and adaptively perceive, make decisions and perform operations according to the environment and task requirements. The robot of this embodiment can be a patrol robot. The main components include a body, a perception system, a decision system, an execution system and a learning system, etc. The perception system, the decision system and the execution system are arranged on the body; the body is generally composed of a mechanical structure and electronic equipment. The mechanical structure is used to realize the movement and operation of the robot, and the electronic equipment is responsible for controlling and managing the various functional components of the robot; the perception system is used to perceive the environment and obtain external information. Common sensors include cameras, sound sensors, touch sensors, etc. Through the perception system, the robot can obtain information about the surrounding environment and often transmit or process it through the decision system, that is, the brain of the intelligent robot.
[0062] The integration and collaborative work of drones and robots is a key link in the embodiments of the present application. The various parts of drones and intelligent robots are integrated to form a system that works together. Through the mutual cooperation and collaboration between drones and intelligent robots, more efficient task execution and more precise operation are achieved, such as monitoring the actual situation of the combat environment and various weapons. The integration and collaborative work of drones and intelligent robots has a high practical significance: for example, high work efficiency: through integration and collaborative work, drones and intelligent robots can jointly complete some complex tasks, improve work efficiency, and reduce manpower burden; expand application fields: through integration and collaborative work, drones and intelligent robots can be applied in more fields, such as battlefield monitoring, reconnaissance, rescue, etc.; improve work quality: through integration and collaborative work, drones and intelligent robots can achieve precise control and high-precision operation, improve work quality, and reduce human errors. Of course, with the further development of electronics, communications and other technologies, the miniaturization and flexibility of devices will be further improved, and the drones and robots implemented in this embodiment will also be more miniaturized and concealed, and the monitoring ability of the combat environment will be better and better.
[0063] like Figure 2 As shown, in this embodiment, the S104 computing system calls the projection conversion component, obtains the two-dimensional graphic outline of each battlefield according to the longitude and latitude conversion of the polygonal data set, and stretches the two-dimensional graphic outline into a three-dimensional battlefield layer along the specified path through the three-dimensional stretching component, including the following steps:
[0064] S401: using a Mercator projection method or a national standard Gauss-Krüger projection method to calculate the X-axis and Y-axis of each battlefield plane; calling a projection conversion component or a trigonometric function method to calculate the X-coordinate value and the Y-coordinate value of each battlefield edge point according to the longitude and latitude of the polygonal data set;
[0065] S402: Calculate the Z coordinate value of each battlefield edge point using a space conversion formula according to the X coordinate value and the Y coordinate value of each battlefield edge point;
[0066] S403: Call the three-dimensional stretching component to stretch the two-dimensional graphic outline of each battlefield along the path from zero to the Z coordinate value, and adaptively calculate the surface inside the two-dimensional graphic outline of each battlefield according to the battlefield surface layer, and finally obtain the three-dimensional battlefield layer of each battlefield.
[0067] like Figure 4 As shown, in this embodiment, the S105 computing system calls the second graphics processing component to construct a weapon object according to the top-down information of the drone, the head-up information of the robot, the synthesized weapon form and the latitude and longitude information of the weapon, including the following steps:
[0068] S501: The control center of the UAV and the robot synthesizes the weapon morphology model according to the top view of the UAV, the front view, side view, and rear view information of the robot, and the latitude and longitude information of each weapon;
[0069] S501: Call the weapon form model to construct the weapon object of each weapon according to the latitude and longitude information and weapon form of each weapon.
[0070] In this embodiment, the weapon morphology model includes: weapon pictures, cube shapes or audio and video dynamics; the control unit of the drone and the robot includes: control system hardware and monitoring software; of course, the control unit and the computing unit can be the same processor or multiple processor physical components, as long as they can run or execute the monitoring software that matches the monitoring function requirements, there is no specific limitation here; the control system hardware may include: communication data link, uplink and downlink conversion module, data transceiver module and controller; the uplink and downlink conversion module is used to convert battlefield weapon pictures, cube shapes or audio and video dynamics obtained by the monitoring equipment received through the communication data link channel or modulated to 25MH by the data transceiver module and transmitted through the communication data link; the controller is used to control the data transceiver module The block processes data sending and receiving, and the controller uses the gate array to control the monitoring equipment to monitor the battlefield environment and its weapon conditions; the control system hardware also includes: random access memory (RAM), power supply module, UAV flight control module and robot control module; the random access memory (RAM) stores instructions, load characteristic data and other data received by the data transceiver module from the system control unit response controller through the data transmission loop; the power supply module provides +5V and +12V DC voltages through the controller to the UAV and various components; the controller controls the flight process and monitoring process of the UAV in the airspace of the combat environment through the UAV flight control module, and controls its action process and monitoring process on the surface of the combat environment through the robot control module.
[0071] like Figure 5 As shown, in this embodiment, after S105 determines the spatial angle and spatial distance between the weapon object and the battlefield surface layer, rendering the weapon object of the weapon to obtain the weapon layer includes the following steps:
[0072] S503: Taking the target spatial position of the weapon object as the center point of the surface, calculating the first normal vector formed by the center point of the surface and the center of the sphere where the battlefield surface is located, and scaling the three XYZ components of the first normal in equal proportions for normalization;
[0073] S504: The mesh object is attached to the XOY plane where the weapon object is located by default for rendering, and the normal direction of the XOY plane is set to be tangent to the battlefield surface along the Z axis, so that the second normal vector of the XOY plane is (0, 0, 1);
[0074] S505: calling the quaternion library packaged by the first graphics processing component, and defining the quaternion to include four components: x-axis movement, y-axis movement, z-axis movement, and rotation angle w;
[0075] S506: Calculating the quaternion value corresponding to the moving path from the second normal vector to the first normal vector based on the quaternion library;
[0076] S507: Controlling the weapon objects according to the quaternion values at a reasonable angle on the three-dimensional spherical map where the battlefield surface is located, and rendering each weapon object of the weapon to obtain a weapon layer.
[0077] During the implementation of this application, compared with the weapon distribution map of the traditional 2D map, the spatial display capability is stronger. Compared with the traditional technology, this application adopts the Three JS (Three.js) library for development, which has low implementation cost and high development efficiency. Three.js is a popular JavaScript library for creating and displaying 3D graphics in the browser. It is based on Web GL, a 3D graphics API supported by the browser, which enables developers to create complex 3D scenes and interactive experiences on the web page. Three.js provides rich functions and tools, allowing developers to easily create 3D objects, set lights, add animations, handle user interactions, etc.; it supports the import of multiple 3D formats, such as OBJ, GLTF, etc., and also supports custom materials and shaders; Three.js can be installed in a computing system or computer system. For example, if you are familiar with using npm (NodePackage Manager), you can install Three.js through npm. The specific installation and usage content will not be repeated here.
[0078] Specifically, the first graphics processing component and the second graphics processing component receive geometric data (such as vertex coordinates / normal vectors, etc.), texture data (such as color / material, etc.), and lighting data (such as light source position / light intensity, etc.) from the application based on computer graphics and visual perception, and convert the three-dimensional model or scene into a realistic two-dimensional image through a series of algorithms and calculation steps, and finally generate a two-dimensional image that conforms to the real combat environment; the drone cooperates with the robot to collect and monitor the three-dimensional spatial position and morphological data of various weapons on the battlefield, and then uses the digital visualization means of the computing system, such as the geometry type component can be geometry.type, the projection conversion component can use proj4js or d3-geo, and the first graphics processing component can use Three JS (Three.js), to achieve a three-dimensional display of the status and spatial distribution of various weapons, and finally provide a digital display method for battlefield environment observation and command, thereby promoting the extension of the combat control and command system to a higher level of productization, standardization and specialization.
[0079] More specifically, the stereoscopic map construction method of the embodiment of the present application mainly includes map construction from three levels, including constructing a spherical three-dimensional battlefield surface layer, constructing a target three-dimensional battlefield layer, and a weapon layer.
[0080] Regarding constructing a spherical three-dimensional battlefield surface, the first graphics processing component is called, for example: specifically, a three-dimensional spherical model Sphere Geometry is defined in Three JS, and after fixing the radius of the sphere, a spherical mapping of a three-dimensional map is performed through a material Mesh Phong Material for a glossy surface with specular highlights to obtain the battlefield surface; in Three JS, there are several important parameters when creating a ball buffer geometry model: radius (radius) and the number of segments, horizontal (meridian) direction starting angle (phi Start, default value 0), horizontal direction angle size (phi Length, default value is Math.PI*2), vertical direction starting angle (theta Start, default value is 0), vertical direction angle size (thetaLength, default value is Math.PI); wherein, the starting point of the horizontal (meridian) direction starting angle phi Start is the negative direction of the x-axis, and the vertical direction starting angle theta The start point is the positive direction of the z axis. The spherical geometry is created by scanning and calculating the vertices around the Y axis (horizontal scan) and the X axis (vertical scan); the value of the fixed radius phi of the sphere is 0-Math.PI*2, and the corresponding longitude range is -180 to 180, so the phi value corresponding to the longitude should be 180+lng (lng is longitude); the value of the angle theta is 0-Math.PI, and the corresponding latitude is 90 to -90, so the angle theta value corresponding to the latitude should be 90-lat (lat is latitude); finally, based on the longitude (lng), latitude (lat) and sphere radius (radius), as well as the corresponding relationship between the angles at the time of creation, combined with trigonometric functions, the corresponding three-dimensional world coordinates can be calculated;
[0081] The formula is:
[0082] y = r*cos(theta);
[0083] x=-r*Math.sin(theta)*Math.cos(phi);
[0084] z=r*Math.sin(theta)*Math.sin(phi);
[0085] Among them, x and z need to calculate the projection point first, and then calculate the specific coordinates.
[0086] Regarding constructing the target three-dimensional battlefield layer, in this embodiment, the target battlefield can be a war zone or a warning zone.
[0087] First, collect the map location information provided by Beidou or GPS, such as Geo JSON, for preprocessing. The map location information includes longitude and latitude data. The target battlefield includes multiple small battlefields. For example, a war zone includes multiple warning areas or fire areas of different polygonal shapes. Specifically, load the longitude and latitude information through Geo JSON data, and determine whether it is a multi Polygon or a single Polygon according to geometry.type. Encapsulate unclosed single polygons and finally unify them into a polygon set, such as an Array list, to facilitate subsequent data processing. Geo JSON is a format for encoding geographic data structures. Geo JSON objects can represent geometric information, features, or feature sets. A complete Geo JSON data structure is always a JSON object.
[0088] Secondly, define the THREE.Shape objects of the two-dimensional shapes that make up the spherical map, convert the longitude and latitude position information of the pre-processed polygon set into the XYZ position in the 3D model, and assign the edge points of the two-dimensional plane of each battlefield to obtain the two-dimensional spatial contour. The X-axis and Y-axis of the two-dimensional plane can be calculated using Mercator projection or national standard Gauss-Krüger projection, and then reference JS libraries such as proj4js and d3-geo to convert spatial coordinates to obtain the X-coordinate value and Y-coordinate value of each battlefield edge point. Custom projection calculations can also be performed through trigonometric functions to reduce dependence on third-party libraries.
[0089] Finally, according to the X coordinate value and Y coordinate value of each battlefield edge point, the Z coordinate value of each battlefield edge point is calculated by the space conversion formula; specifically, the two-dimensional shape plane object THREE.Shape object is a two-dimensional contour line, which is composed of a series of points, lines and arcs, etc., and has no Z axis by default, but the points on the contour line have spatial coordinates. Therefore, after the longitude and latitude position information is pre-processed and converted into the XYZ position in the 3D model, the points on the contour line of the two-dimensional plane can be assigned to realize the three-dimensional space contour. At this time, it is only necessary to stretch the default value 0 of the Z axis of the arc on the plane into the calculated Z coordinate value; this embodiment is converted according to the Pythagorean theorem principle, because the three values of the spatial coordinates XYZ of the contour point are all the radius |AB| from the contour point to the center of the circle, through the space conversion formula:
[0090]
[0091] Among them, |AB| takes the radius of the sphere where the battlefield surface is located, and is the spatial coordinates of two points on the contour line respectively; the specific method is: subtract the square of the distance between the two contour points in the X-axis direction from the square of the radius |AB|, and then subtract the square of the distance between the two contour points in the Y-axis direction, and finally take the square root to obtain the absolute value of the distance from the Z axis to the center of the sphere. Because the square root is an absolute value, it is necessary to increase the direction ± so that the battlefield polygon is in a reasonable position. Here, according to the model scanning direction, the value is a negative number. Considering the three-dimensional position and display effect of the battlefield object layer and the spherical layer, the distance from the Z axis to the center of the circle can be adjusted, such as extending outward by 0.3 to avoid being covered by the original sphere, and finally calculating the Z axis value; then using the extended geometry model Extrude Geometry, the Z axis of the two-dimensional shape plane is converted from the default value 0 to the calculated Z axis value; the embodiment of the present application uses the Pythagorean theorem to calculate the Z value through the known XY values, without the need to recalculate the spatial position coordinates through the longitude and latitude, thereby improving the conversion efficiency.
[0092] Regarding the construction of the weapon layer, the networked three-dimensional spatial data of weapons in a large-scale combat environment is monitored and collected by high-altitude drones and ground robots, and the weapon objects that are the same as those in the actual combat environment are constructed through the weapon morphology model and displayed on the map; for example, after the mesh objects are merged, the XOY plane and quaternion attributes are calculated, and finally the weapon morphology effect is displayed on the three-dimensional spherical map at a reasonable angle; the default coordinate system of Three JS is a right-handed coordinate system with the Y axis upward by default, the X axis horizontally to the right, and the Z axis perpendicular to the Canvas canvas outward; when rendering a texture at a certain point on the three-dimensional sphere, the texture needs to be tangent to the sphere, and the most appropriate angle of the weapon object is calculated to render the texture, so that the rendered weapon object can be seen in the largest area when viewing the three-dimensional map from different angles; otherwise, even if the texture is visible on both sides, it cannot be guaranteed that the texture can be observed at any angle after the sphere is rotated; specifically, the angle correction of the weapon object needs to be performed so that the normal vector of the plane where the weapon is located is parallel and overlapped with the radius vector of the sphere, so that the plane where the weapon is located is tangent to the sphere where the battlefield surface is located.
[0093] In the embodiment of the present application, when calculating the most suitable angle of the weapon object and rendering the texture, the main steps are:
[0094] Step 1: Take the target space position of the weapon object as the center point of the surface, calculate the first normal vector formed by the three-dimensional coordinates of the center point C of the surface and the center of the battlefield surface sphere Q, and normalize it, that is, scale the three components of the vector XYZ in equal proportions to a vector length of 1;
[0095] Step 2: Paste the mesh object to the XOY plane where the weapon object is located by default, set the normal direction of the XOY plane to be tangent to the battlefield surface along the Z axis, and make the second normal vector of the XOY plane take (0, 0, 1);
[0096] Step 3: Call the quaternion library encapsulated by the first graphics processing component, define the quaternion to include four components: x-axis movement, y-axis movement, z-axis movement, and rotation angle w; calculate the quaternion value corresponding to the moving path from the second normal vector to the first normal vector based on the quaternion library;
[0097] Step 4: Control the weapon objects according to the quaternion values at a reasonable angle on the three-dimensional spherical map where the battlefield surface is located, and render each weapon object to obtain the weapon layer.
[0098] Therefore, through the collection and digital visualization of networked three-dimensional spatial data of weapons in large-scale combat environments by drones and ground robots, the status and spatial distribution of weapons can be displayed in three dimensions, providing a digital display method for weapon management in combat environments.
[0099] The embodiments of the present application also combine the aforementioned method of using drones in cooperation with robots to map the combat environment, forming a system for using drones in cooperation with robots to map the combat environment. The system can better execute the aforementioned method of using drones in cooperation with robots to map the combat environment, and through digital visualization means, it can three-dimensionally display the status and spatial distribution of weapons, thereby providing a digital display method for weapon management in a combat environment.
[0100] This embodiment also provides a module integrated with a stereo map construction device. If it is implemented in the form of a software function module and used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also instruct the relevant hardware to complete it through computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented.
[0101] This embodiment may also provide a computer-readable storage medium on which a computer program is stored; the computer program is executed by a processor to implement the method for constructing a three-dimensional map of weapon distribution in other embodiments.
[0102] The method, system, module or medium for mapping a combat environment using the unmanned aerial vehicle of the present application in cooperation with a robot comprises: calling a first graphics processing component to obtain a battlefield surface layer according to a spherical radius and a rendering material; obtaining the latitude and longitude data of each battlefield in the battlefield surface layer, and standardizing the data format; calling a geometry type component to pre-process the latitude and longitude data after the standardized format to obtain a polygonal data set, wherein one polygonal data represents the latitude and longitude data of one battlefield; calling a projection conversion component to obtain a two-dimensional graphic outline of each battlefield according to the longitude and latitude conversion of the polygonal data set, and stretching the two-dimensional graphic outline into a three-dimensional battlefield layer along a specified path through a three-dimensional stretching component; calling a second graphics processing component to construct a weapon object according to the latitude and longitude information of the weapon; after determining the spatial angle and spatial distance between the weapon object and the battlefield surface layer, rendering the weapon object of the weapon to obtain a weapon layer; fusing the battlefield surface layer, the three-dimensional battlefield layer and the weapon layer to obtain a three-dimensional map of the weapon; constructing and displaying a three-dimensional map of the weapon distribution in the combat environment, realizing the three-dimensional display of the status and spatial distribution of the weapon through digital visualization means, providing a digital display method for the management of weapons in the combat environment, and promoting the combat environment visual system to have higher standardized services and professional services.
[0103] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0104] Although the preferred embodiments of the present application 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 falling within the scope of the present application.
[0105] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.
Claims
1. A method for mapping a combat environment using a drone in cooperation with a robot, characterized in that: include: Calling the first graphics processing component to construct a battlefield surface layer and a battlefield according to the spherical radius and the rendering material; Obtain the latitude and longitude data of each battlefield in the battlefield surface layer, standardize the data format, and call the geometry type component to pre-process the standardized latitude and longitude data to obtain a polygon data set, which represents the latitude and longitude data of the battlefield; Call the projection conversion component to obtain the two-dimensional graphic outline of each battlefield according to the longitude and latitude conversion of the polygonal data set, and use the three-dimensional stretching component to stretch the two-dimensional graphic outline along the specified path to construct a three-dimensional battlefield layer; The second graphics processing component is called to construct a weapon object according to the top-down information of the drone, the head-up information of the robot, the weapon form synthesized therefrom, and the latitude and longitude information of the weapon, and after determining the spatial angle, spatial distance, and weapon form between the weapon object and the battlefield surface, the weapon object of the weapon is rendered to construct a weapon layer; The battlefield surface layer, the three-dimensional battlefield layer and the weapon layer are integrated to obtain a three-dimensional map of the weapons; in, The drone's bird's-eye view information includes: the drone's bird's-eye view and surrounding battlefield space, weapon outlines, and the three-dimensional relative position, distance, and angle relationship between each weapon and the battlefield space; The robot's head-up information includes: battlefield conditions in the robot's front, side and rear views, weapon forms, and the two-dimensional relative position, distance and angle relationship between each weapon and the battlefield space; The weapon form includes: weapon appearance, weapon category, weapon action and weapon attribute; The weapon attributes include: the latitude and longitude information of the weapon and the friend and foe information of the weapon.
2. The method for mapping a combat environment using a drone in cooperation with a robot according to claim 1, characterized in that: The calling of the projection conversion component obtains the two-dimensional graphic outline of each battlefield according to the longitude and latitude conversion of the polygonal data set, and constructs the three-dimensional battlefield layer by stretching the two-dimensional graphic outline along the specified path through the three-dimensional stretching component, including: The X-axis and Y-axis of each battlefield plane are calculated by using the projection method, and the projection conversion component or trigonometric function method is called to calculate the X-coordinate value and Y-coordinate value of each battlefield edge point according to the longitude and latitude of the polygon data set; According to the X coordinate value and Y coordinate value of each battlefield edge point, the Z coordinate value of each battlefield edge point is calculated by the space conversion formula; Call the three-dimensional stretching component to stretch the two-dimensional graphic outline of each battlefield along the path from zero to the Z coordinate value, and adaptively calculate the surface inside the two-dimensional graphic outline of each battlefield based on the battlefield surface, and finally obtain the three-dimensional battlefield layer of each battlefield.
3. The method for mapping a combat environment using a drone in cooperation with a robot according to claim 1, characterized in that: The calling of the second graphics processing component to construct a weapon object according to the top-down information of the drone, the head-up information of the robot, the synthesized weapon form and the latitude and longitude information of the weapon includes: The weapon morphology model is synthesized based on the drone's top view, the robot's front view, side view, and rear view information, and the latitude and longitude information of each weapon; Call the weapon form model to construct the weapon object of each weapon according to the latitude and longitude information and weapon form of each weapon; The weapon shape model includes: weapon picture, cube shape or audio and video dynamics.
4. The method for mapping a combat environment using a drone in cooperation with a robot according to claim 1, characterized in that: After determining the spatial angle and spatial distance between the weapon object and the battlefield surface layer, rendering the weapon object of the weapon to construct the weapon layer includes: Taking the target space position of the weapon object as the center point of the surface, calculate the first normal vector formed by the center point of the surface and the center of the sphere where the battlefield surface is located, and scale the three XYZ components of the first normal in equal proportions for normalization; By default, the mesh object is attached to the XOY plane where the weapon object is located for rendering. The normal direction of the XOY plane is set to be tangent to the battlefield surface along the Z axis, and the second normal vector of the XOY plane is (0,0,1). Calling the quaternion library encapsulated by the first graphics processing component, defining the quaternion to include four components: x-axis movement, y-axis movement, z-axis movement, and rotation angle w; Calculate the quaternion value corresponding to the moving path from the second normal vector to the first normal vector based on the quaternion library; The weapon layer is constructed by controlling the weapon objects at a reasonable angle on the three-dimensional spherical map where the battlefield surface is located according to the quaternion values, and rendering each weapon object of the weapon.
5. The method for mapping a combat environment using a drone in cooperation with a robot according to claim 4, characterized in that: The first graphics processing component and the second graphics processing component receive geometric data, texture data, and illumination data of the program based on computer graphics and visual perception, and convert the three-dimensional model into a two-dimensional image through algorithms and calculation steps, and finally generate a two-dimensional image that conforms to the real combat environment; The drone cooperates with the robot to collect, monitor and transmit the three-dimensional spatial position and shape data of various weapons on the battlefield, and the computing system uses digital visualization means to display the status and spatial distribution of various weapons in three dimensions.
6. The method for mapping a combat environment using a drone in cooperation with a robot according to claim 5, characterized in that: The construction of the battlefield surface layer includes: Calling the first graphics processing component to define a three-dimensional spherical model, fixing the radius of the sphere, and performing spherical mapping of the three-dimensional map through a material for a glossy surface with specular highlights to obtain a battlefield surface layer; Based on the correspondence between longitude, latitude, sphere radius, and angle at creation, combined with trigonometric functions, the corresponding three-dimensional world coordinates are calculated; The construction of the three-dimensional battlefield layer includes: Collect map location information provided by Beidou or GPS and perform preprocessing; Then define the two-dimensional shape plane objects that make up the spherical map, convert the longitude and latitude position information of the pre-processed polygon set into the XYZ position in the 3D model, assign the edge points of the two-dimensional plane of each battlefield to obtain the two-dimensional space contour, and perform spatial coordinate conversion to obtain the X coordinate value and Y coordinate value of each battlefield edge point; According to the X coordinate value and Y coordinate value of each battlefield edge point, the Z coordinate value of each battlefield edge point is calculated by the space conversion formula; The extended geometry model is then used to convert the Z axis of the two-dimensional shape plane from the default value of 0 to the calculated Z axis value.
7. The method for mapping a combat environment using a drone in cooperation with a robot according to claim 6, characterized in that: The construction of the weapon layer includes: Monitoring and acquisition of networked three-dimensional spatial data of weapons in large-scale combat environments through high-altitude drones and ground robots; The weapon shape model is used to construct the same weapon object as in the actual combat environment and display it on the map.
8. A system for mapping a combat environment by using a drone in cooperation with a robot, used to execute the method for mapping a combat environment by using a drone in cooperation with a robot as described in any one of claims 1 to 7, characterized in that: include: Computer systems and drones and robots connected to said computing systems; The computing system includes: a control unit for controlling the drone to cooperate with the robot, a computing unit for executing program operation tasks, a storage unit for storing data, a transmission device for receiving or sending data to the drone and the robot via a communication network, and a display for displaying and outputting the constructed map.
9. The system for mapping the combat environment using a drone in cooperation with a robot according to claim 8, characterized in that: The unmanned aerial vehicle comprises: an aircraft body, electronic equipment and a payload, wherein the electronic equipment and the payload are arranged on the aircraft body; The electronic equipment includes: a flight control system and a controller; The payload includes: detection equipment and instruments carried by the drone, used for aerial photography, reconnaissance and / or meteorological observation of various types of weapons in a combat environment; The robot comprises: a body, a perception system, a decision-making system, and an execution system; The perception system, the decision-making system and the execution system are arranged on the fuselage; The perception system is used to perceive the environment and obtain external information; The decision-making system is used to analyze and judge command tasks and issue instructions; The execution system is used to perform actions according to the instructions of the decision system.
10. The system for mapping a combat environment using a drone in cooperation with a robot according to claim 9, characterized in that: The control unit includes: control system hardware, communication network and audio, video and text synthesis software; The control system hardware includes: a communication data link, an uplink and downlink conversion module, a data transceiver module, a controller, a random access memory, a power supply module, a UAV flight control module and a robot control module; The random access memory stores instructions, load data and other data controlled by the response controller received by the data transceiver module through the communication data link; The DC voltage provided by the power supply module is transmitted to the drone and various components through the controller; The controller controls the flight process and monitoring process of the UAV in the airspace of the combat environment through the UAV flight control module, and controls the action process and monitoring process of the UAV on the surface of the combat environment through the robot control module.