Intelligent control system based on surveying and mapping equipment

Abstract

The invention discloses an intelligent control system based on surveying and mapping equipment, and relates to the field of surveying and mapping, and the system comprises an input module which is used for uploading position coordinates, and creating an unmanned plane surveying and mapping path based on the uploaded position coordinates; the monitoring module is used for monitoring state information of the unmanned aerial vehicle in real time and deciding whether to return based on the state information of the unmanned aerial vehicle; the storage module is used for receiving a land surface remote sensing image collected by the unmanned aerial vehicle in the process of executing the flight surveying and mapping task based on the surveying and mapping path, and storing the land surface remote sensing image; according to the method, in surveying and mapping path planning, a user defines and uploads three-dimensional coordinates to create a path, the method is flexible and accurate, different scene requirements can be met, the state of the unmanned aerial vehicle is monitored in real time, whether to return flight or not is determined according to the accumulated flight distance, the power consumption and the remaining electric quantity, and flight safety and task completion are guaranteed; and the image quality is ensured through quality evaluation logic, and the data accuracy is improved through in-situ re-acquisition of substandard images.

Description

Technical Field

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

[0002] UAV mapping equipment mainly includes UAV platforms and various sensors carried by them. UAV platforms are highly maneuverable and can flexibly reach target areas. The cameras carried by them are used to obtain high-resolution images, the laser radar can quickly obtain three-dimensional terrain data, and the oblique photography camera can shoot from multiple angles, providing rich data for three-dimensional modeling.

[0003] The invention patent application with application number 202310704509.3 discloses an intelligent UAV control system based on stream data processing: it includes an information acquisition unit, a data processing unit, an image control unit and an automatic control unit, and the information acquisition unit, the data processing unit, the image control unit and the automatic control unit are signal-connected; the information acquisition unit is used to collect UAV flight information and transmit it to the data processing unit; wherein the UAV flight information includes image information T and influencing factor information Y, and the image information T includes acquisition image parameters TJ and transmission image parameters TS; the data processing unit is used to receive UAV flight information, first pre-process the information to fuse it, and then perform in-depth analysis: by comparing and analyzing the acquisition image parameters TJ under different image acquisition modes, the influence pattern of the influencing factor information Y on the acquisition process is obtained; by comparing and analyzing the acquisition image parameters TJ and the transmission image parameters TS before and after communication transmission under the same image acquisition mode, the influence pattern of the influencing factor information y on the transmission process is obtained; and then The comprehensive influence mode of the influencing factor information Y on the acquisition and transmission process is comprehensively generated to determine the stability of image acquisition and transmission; the image control unit selects the image acquisition mode with the best stability according to the comprehensive influence mode, and identifies obstacles in the flight process according to the acquired images, and then generates and sends obstacle avoidance signals to the automatic control unit; the automatic control unit generates the best flight path after receiving the obstacle avoidance signal, and automatically controls the flight of the UAV. This patent effectively solves the problem that "the existing civil UAVs have the defects of low accuracy of obstacle avoidance system and great influence of the environment. When binocular cameras are used to shoot and collect image information, objects at a distance can be detected and obstacles can be found earlier, but the image accuracy is not high and is restricted by ambient light; when laser radar scanning is used to generate image information, small obstacles can be found with high accuracy, but it is easy to form side effects, resulting in dispersion of laser energy, and it is difficult to detect objects at a distance; when the two image acquisition modes are used at the same time, the energy consumption of the UAV will increase, resulting in poor endurance of the UAV."

[0004] However, current UAV remote sensing and mapping equipment still lacks in terms of intelligent control, and there are cases of UAVs being lost or missing during the process of performing flight remote sensing and mapping.

[0005] Therefore, an intelligent control system based on surveying and mapping equipment is proposed. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides an intelligent control system based on surveying and mapping equipment, which can effectively solve the problems of the prior art.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] The present invention discloses an intelligent control system based on surveying and mapping equipment, comprising:

[0009] The input module is used to upload the location coordinates and create the UAV mapping path based on the uploaded location coordinates; the monitoring module is used to monitor the UAV status information in real time and make real-time decisions on whether to return based on the UAV status information; the storage module is used to receive the land remote sensing images collected by the UAV during the flight mapping mission based on the mapping path, and store the land remote sensing images; the perception module is used to perceive the environmental information of the scene where the UAV performs the flight mapping mission in real time; the trigger module is used to set the trigger interval. When any item of the environmental information perceived by the perception module meets the trigger interval, it triggers the jump to the monitoring module to run, and the return control command is issued through the monitoring module; the visualization module is used to obtain the UAV location information in real time, and the UAV location information is represented in the electronic map and updated in real time.

[0010] Furthermore, the position coordinates in the input module are edited and uploaded by the user of the system end, and the uploaded position coordinates are no less than two groups, and they are all three-dimensional coordinates. In the UAV mapping path creation stage, the position coordinates are connected to each other to complete the creation of the UAV mapping path, and the UAV mapping path is synchronously transmitted to the UAV after the creation is completed;

[0011] Among them, after the drone receives the drone mapping path, the system end user synchronously selects a set of coordinates representing the segment endpoints in the drone mapping path as the starting point for the drone to perform the flight mapping task.

[0012] Furthermore, after the UAV performs the flight surveying and mapping mission based on the UAV surveying and mapping path, when returning, the UAV returns along the original route based on the UAV surveying and mapping path, and during the UAV performing the flight surveying and mapping mission, the land surface remote sensing image is collected in real time;

[0013] Among them, during the acquisition stage of land remote sensing images, land remote sensing image quality assessment is performed simultaneously, and land remote sensing image qualification indicators are set. The assessment results are compared with the set land remote sensing image qualification indicators. When the land remote sensing image quality assessment result is greater than or equal to the land remote sensing image qualification indicators, the next land remote sensing image acquisition is performed. Otherwise, the UAV flies in place and performs the land remote sensing image acquisition operation at the same location again.

[0014] Furthermore, the quality assessment logic of the land surface remote sensing image is expressed as:

[0015] ;

[0016] Where: is the quality performance value of land surface remote sensing images; is the average gradient amplitude, color entropy and noise level of land surface remote sensing images; It is an interval consisting of the minimum and maximum values ​​of the average gradient amplitude set based on the land surface remote sensing image samples; It is an interval consisting of the minimum and maximum values ​​of color entropy set based on land surface remote sensing image samples; It is an interval consisting of the minimum and maximum noise levels set based on land surface remote sensing image samples;

[0017] Among them, the quality performance value of land remote sensing images The larger the value is, the better the quality of the land surface remote sensing image is; conversely, the smaller the value is, the worse the quality of the land surface remote sensing image is.

[0018] Furthermore, the color entropy of the land surface remote sensing image The formula is as follows:

[0019] ;

[0020] Where: is the color level, i.e. grayscale; is the probability of the i-th grayscale appearing.

[0021] Furthermore, the monitoring module operates to monitor the drone status information including: cumulative flight distance, cumulative power consumption, and remaining power;

[0022] ;

[0023] Where: is the remaining power; To accumulate flight distance; is the cumulative power consumption;

[0024] Among them, if this formula is true, the UAV continues to perform the flight mapping mission, otherwise, the UAV returns according to the UAV mapping path.

[0025] Furthermore, the storage module is provided with submodules at the lower level, including:

[0026] A marking unit, used for traversing the land surface remote sensing images received by the storage module and marking the land surface remote sensing images;

[0027] An interactive unit, used to upload the stored land surface remote sensing images to the cloud storage space preset by the system end user in real time;

[0028] Among them, the land surface remote sensing images stored in the cloud storage space are updated synchronously in real time based on the land surface remote sensing images stored in the storage module, and the marking content of the land surface remote sensing images by the marking unit is the position coordinates of the drone on the surveying path when the land surface remote sensing images are collected.

[0029] Furthermore, the interactive unit is customized by the system end user to have an operation cycle, and the interactive unit continuously performs the operation of uploading the land surface remote sensing image to the cloud storage space based on the operation cycle;

[0030] Among them, after the land surface remote sensing images stored in the storage module are uploaded to the cloud storage space, the land surface remote sensing images contained in the cloud storage space in the storage module are deleted synchronously.

[0031] Furthermore, the sensing module is integrated with a wind sensor, a rain sensor, a stability sensor, and a humidity sensor, and the sensing module is evenly deployed on the surface of the drone;

[0032] The perception module senses the environmental information of the scene where the UAV performs the flight surveying and mapping mission, namely, the numerical information sensed by the wind sensor, rain sensor, stability sensor, and humidity sensor;

[0033] Among them, the trigger area set in the trigger module corresponds one by one to various types of environmental information perceived by the perception module.

[0034] Furthermore, the input module is connected to a monitoring module and a storage module through a network, the storage module is connected to a marking unit and an interaction unit through a network, the storage module is connected to a perception module and a trigger module through a network, the trigger module is interactively connected to the monitoring module through a network, and the trigger module is connected to a visualization module through a network.

[0035] Compared with the known prior art, the technical solution provided by the present invention has the following beneficial effects:

[0036] The present invention provides an intelligent control system based on surveying and mapping equipment. In the surveying and mapping path planning, the system allows users to upload customized three-dimensional coordinates to create a path. The system is flexible and accurate, can meet the needs of different scenarios, monitor the status of drones in real time, and decide whether to return based on the accumulated flight distance, power consumption and remaining power to ensure flight safety and mission completion. When collecting land remote sensing images, the quality of the image is ensured through quality assessment logic, and the image that does not meet the standard is re-collected on the spot to improve data accuracy. The storage module submodule has practical functions. The marking unit marks the image acquisition position coordinates for easy tracing. The interactive unit uploads the image to the cloud according to the user-set cycle and deletes the local corresponding data, saving local space and ensuring real-time data synchronization. The perception module integrates multiple sensors to perceive environmental information in all directions. In conjunction with the trigger module, it quickly triggers the return when the environment is abnormal, ensuring the safety of the drone and data. The visualization module displays the drone position in real time, which is convenient for users to grasp the dynamics, greatly improving the efficiency and reliability of surveying and mapping work. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A structural diagram of an intelligent control system based on surveying and mapping equipment. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] The present invention will be further described below in conjunction with the embodiments.

[0041] Example:

[0042] This embodiment is an intelligent control system based on surveying and mapping equipment, such as Figure 1 As shown, including:

[0043] Input module, used to upload location coordinates and create a UAV mapping path based on the uploaded location coordinates;

[0044] The position coordinates in the input module are edited and uploaded by the user on the system side, and the uploaded position coordinates are no less than two groups, and they are all three-dimensional coordinates. In the UAV mapping path creation stage, the position coordinates are connected to each other to complete the creation of the UAV mapping path. After the creation of the UAV mapping path, it is synchronously transmitted to the UAV;

[0045] After receiving the UAV mapping path, the system end user synchronously selects a set of coordinates representing the segment endpoints in the UAV mapping path as the starting point for the UAV to perform the flight mapping task;

[0046] After the UAV performs the flight surveying and mapping mission based on the UAV surveying and mapping path, when returning, it returns along the original route based on the UAV surveying and mapping path. During the UAV's flight surveying and mapping mission, the land surface remote sensing images are collected in real time;

[0047] Among them, during the acquisition phase of land remote sensing images, land remote sensing image quality assessment is performed synchronously, and the land remote sensing image qualification index is set. The assessment result is compared with the set land remote sensing image qualification index. When the land remote sensing image quality assessment result is greater than or equal to the land remote sensing image qualification index, the next land remote sensing image acquisition is performed. Otherwise, the UAV flies in place and performs the land remote sensing image acquisition operation at the same location again.

[0048] The quality assessment logic of land surface remote sensing images is expressed as:

[0049] ;

[0050] Where: is the quality performance value of land surface remote sensing images; is the average gradient amplitude, color entropy and noise level of land surface remote sensing images; It is an interval consisting of the minimum and maximum values ​​of the average gradient amplitude set based on the land surface remote sensing image samples; It is an interval consisting of the minimum and maximum values ​​of color entropy set based on land surface remote sensing image samples; It is an interval consisting of the minimum and maximum noise levels set based on land surface remote sensing image samples;

[0051] Among them, the quality performance value of land remote sensing images The larger the value, the better the quality of the land surface remote sensing image; conversely, the smaller the value, the worse the quality of the land surface remote sensing image.

[0052] The quality of the land surface remote sensing image is evaluated by the above logic formula to provide support for the operation of subsequent modules of the system in this embodiment.

[0053] Color entropy of land surface remote sensing images The formula is as follows:

[0054] ;

[0055] Where: is the color level, i.e. grayscale; is the probability of the i-th grayscale appearing;

[0056] The monitoring module is used to monitor the status information of the drone in real time and make a real-time decision on whether to return based on the status information of the drone;

[0057] The monitoring module operates to monitor the status information of the monitored drone, including: cumulative flight distance, cumulative power consumption, and remaining power;

[0058] ;

[0059] Where: is the remaining power; To accumulate flight distance; is the cumulative power consumption;

[0060] Among them, if this formula is true, the UAV continues to perform the flight mapping mission, otherwise, the UAV returns according to the UAV mapping path;

[0061] A storage module is used to receive land surface remote sensing images collected by the UAV during the flight surveying and mapping mission based on the surveying and mapping path, and store the land surface remote sensing images;

[0062] The storage module is provided with submodules at the lower level, including:

[0063] A marking unit, used for traversing the land surface remote sensing images received by the storage module and marking the land surface remote sensing images;

[0064] An interactive unit, used to upload the stored land surface remote sensing images to the cloud storage space preset by the system end user in real time;

[0065] The land surface remote sensing images stored in the cloud storage space are updated synchronously in real time based on the land surface remote sensing images stored in the storage module, and the marking content of the land surface remote sensing images by the marking unit is the position coordinates of the drone on the surveying and mapping path when the land surface remote sensing images are collected;

[0066] The interactive unit has an operation cycle that is customized and edited by the system end user, and the interactive unit continuously performs the operation of uploading the land surface remote sensing image to the cloud storage space based on the operation cycle;

[0067] Wherein, after the land surface remote sensing images stored in the storage module are uploaded to the cloud storage space, the land surface remote sensing images contained in the cloud storage space in the storage module are deleted synchronously;

[0068] The perception module is used to perceive the environmental information of the scene where the UAV performs flight mapping missions in real time;

[0069] The perception module is integrated with wind sensor, rain sensor, stability sensor and humidity sensor, and the perception module is evenly deployed on the surface of the drone;

[0070] The perception module operates to perceive the environmental information of the UAV performing the flight surveying and mapping mission scene, namely, the numerical information perceived by the wind sensor, rain sensor, stability sensor, and humidity sensor;

[0071] Among them, the trigger area set in the trigger module corresponds one by one to various types of environmental information perceived by the perception module;

[0072] The trigger module is used to set the trigger interval. When any item of the environmental information perceived by the perception module meets the trigger interval, the trigger jumps to the monitoring module and the return control command is issued through the monitoring module.

[0073] A visualization module is used to obtain the drone location information in real time, represent the drone location information in an electronic map and update it in real time;

[0074] The input module is connected to the monitoring module and the storage module through the network, the storage module is connected to the marking unit and the interaction unit through the network, the storage module is connected to the perception module and the trigger module through the network, the trigger module is interactively connected to the monitoring module through the network, and the trigger module is connected to the visualization module through the network.

[0075] In this embodiment, the input module runs to upload the location coordinates, creates a UAV mapping path based on the uploaded location coordinates, the monitoring module runs in real time to monitor the UAV status information, and decides in real time whether to return based on the UAV status information. The storage module further receives the land remote sensing images collected by the UAV during the flight mapping task based on the mapping path, and stores the land remote sensing images. The marking unit synchronously traverses the land remote sensing images received by the storage module and marks the land remote sensing images. The interactive unit uploads the stored land remote sensing images to the cloud storage space preset by the system end user in real time. The perception module then perceives the environmental information of the scene where the UAV performs the flight mapping task in real time, and sets the trigger interval through the trigger module. When any one of the environmental information perceived by the perception module meets the trigger interval, it triggers the jump to the monitoring module to run, and the return control command is issued through the monitoring module. Finally, the UAV position information is obtained in real time through the visualization module, and the UAV position information is represented in the electronic map and updated in real time.

[0076] Through the operation of the system in the above embodiment, an intelligent control effect is provided for the UAV remote sensing mapping work, and the stability of the execution of the UAV remote sensing mapping task is guaranteed.

[0077] In summary, in the above embodiments, in the mapping path planning, the user customizes and uploads the three-dimensional coordinates to create the path, which is flexible and accurate, can meet the needs of different scenarios, monitor the status of the drone in real time, and decide whether to return based on the accumulated flight distance, power consumption and remaining power to ensure flight safety and mission completion. When collecting land remote sensing images, the quality of the image is ensured through quality assessment logic, and the image that does not meet the standard is re-collected on the spot to improve data accuracy. The storage module submodule is practical. The marking unit marks the image acquisition location coordinates for easy traceability. The interactive unit uploads the image to the cloud according to the user-set cycle and deletes the local corresponding data, saving local space and ensuring real-time data synchronization. The perception module integrates multiple sensors to perceive environmental information in all directions. In conjunction with the trigger module, it quickly triggers the return when the environment is abnormal, ensuring the safety of the drone and data. The visualization module displays the drone position in real time, which is convenient for users to grasp the dynamics, greatly improving the efficiency and reliability of mapping work.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control system based on surveying and mapping equipment, characterized in that: include: Input module, used to upload location coordinates and create a UAV mapping path based on the uploaded location coordinates; The monitoring module is used to monitor the status information of the drone in real time and make a real-time decision on whether to return based on the status information of the drone; A storage module is used to receive land surface remote sensing images collected by the UAV during the flight surveying and mapping mission based on the surveying and mapping path, and store the land surface remote sensing images; The perception module is used to perceive the environmental information of the scene where the UAV performs flight mapping missions in real time; The trigger module is used to set the trigger interval. When any item of the environmental information perceived by the perception module meets the trigger interval, the trigger jumps to the monitoring module and the return control command is issued through the monitoring module. The visualization module is used to obtain the drone location information in real time, represent the drone location information in the electronic map and update it in real time.

2. According to claim 1, an intelligent control system based on surveying and mapping equipment is characterized in that: The position coordinates in the input module are edited and uploaded by the user of the system end, and the uploaded position coordinates are no less than two groups, and they are all three-dimensional coordinates. In the UAV mapping path creation stage, the position coordinates are connected to each other to complete the creation of the UAV mapping path. The UAV mapping path is synchronously transmitted to the UAV after the creation is completed; Among them, after the drone receives the drone mapping path, the system end user synchronously selects a set of coordinates representing the segment endpoints in the drone mapping path as the starting point for the drone to perform the flight mapping task.

3. The intelligent control system based on surveying and mapping equipment according to claim 1 is characterized in that: After the UAV performs the flight surveying and mapping mission based on the UAV surveying and mapping path, when returning, the UAV returns along the original route based on the UAV surveying and mapping path. During the UAV performing the flight surveying and mapping mission, the land surface remote sensing image is collected in real time; Among them, during the acquisition stage of land remote sensing images, land remote sensing image quality assessment is performed simultaneously, and land remote sensing image qualification indicators are set. The assessment results are compared with the set land remote sensing image qualification indicators. When the land remote sensing image quality assessment result is greater than or equal to the land remote sensing image qualification indicators, the next land remote sensing image acquisition is performed. Otherwise, the UAV flies in place and performs the land remote sensing image acquisition operation at the same location again.

4. The intelligent control system based on surveying and mapping equipment according to claim 3 is characterized in that: The quality assessment logic of the land surface remote sensing image is expressed as: ； Where: is the quality performance value of land surface remote sensing images; is the average gradient amplitude, color entropy and noise level of land surface remote sensing images; It is an interval consisting of the minimum and maximum values ​​of the average gradient amplitude set based on the land surface remote sensing image samples; It is an interval consisting of the minimum and maximum values ​​of color entropy set based on land surface remote sensing image samples; It is an interval consisting of the minimum and maximum noise levels set based on land surface remote sensing image samples; Among them, the quality performance value of land remote sensing images The larger the value is, the better the quality of the land surface remote sensing image is; conversely, the smaller the value is, the worse the quality of the land surface remote sensing image is.

5. The intelligent control system based on surveying and mapping equipment according to claim 4 is characterized in that: The color entropy of the land surface remote sensing image The formula is as follows: ； Where: is the color level, i.e. grayscale; is the probability of the i-th grayscale appearing.

6. The intelligent control system based on surveying and mapping equipment according to claim 1 is characterized in that: The monitoring module monitors the status information of the monitored drone including: cumulative flight distance, cumulative power consumption, and remaining power; ； Where: is the remaining power; To accumulate flight distance; is the cumulative power consumption; Among them, if this formula is true, the UAV continues to perform the flight mapping mission, otherwise, the UAV returns according to the UAV mapping path.

7. The intelligent control system based on surveying and mapping equipment according to claim 1 is characterized in that: The storage module is provided with submodules at the lower level, including: A marking unit, used for traversing the land surface remote sensing images received by the storage module and marking the land surface remote sensing images; An interactive unit, used to upload the stored land surface remote sensing images to the cloud storage space preset by the system end user in real time; Among them, the land surface remote sensing images stored in the cloud storage space are updated synchronously in real time based on the land surface remote sensing images stored in the storage module, and the marking content of the land surface remote sensing images by the marking unit is the position coordinates of the drone on the surveying path when the land surface remote sensing images are collected.

8. The intelligent control system based on surveying and mapping equipment according to claim 7 is characterized in that: The interactive unit has an operation cycle that is customized and edited by a system end user, and the interactive unit continuously performs an operation of uploading the land surface remote sensing image to the cloud storage space based on the operation cycle; Among them, after the land surface remote sensing images stored in the storage module are uploaded to the cloud storage space, the land surface remote sensing images contained in the cloud storage space in the storage module are deleted synchronously.

9. The intelligent control system based on surveying and mapping equipment according to claim 1 is characterized in that: The sensing module is integrated with a wind sensor, a rain sensor, a stability sensor, and a humidity sensor, and the sensing module is evenly deployed on the surface of the drone; The perception module senses the environmental information of the scene where the UAV performs the flight surveying and mapping mission, namely, the numerical information sensed by the wind sensor, rain sensor, stability sensor, and humidity sensor; Among them, the trigger area set in the trigger module corresponds one by one to various types of environmental information perceived by the perception module.

10. The intelligent control system based on surveying and mapping equipment according to claim 1, characterized in that: The input module is connected to a monitoring module and a storage module via a network, the storage module is connected to a marking unit and an interactive unit via a network, the storage module is connected to a perception module and a trigger module via a network, the trigger module is interactively connected to the monitoring module via a network, and the trigger module is connected to a visualization module via a network.

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