Hangar-based automatic mapping method, device and storage medium

Abstract

Embodiments of the present application provide a hangar-based automatic mapping method and device and a storage medium, and relate to the technical field of mapping. The method comprises: constructing a reference mapping area in a target mapping area and determining a first mapping area; determining a to-be-planned area in the target mapping area excluding each first mapping area; constructing a second mapping area based on the to-be-planned area; generating a mapping flight route based on the first mapping area and the second mapping area; controlling an aircraft to perform a mapping operation based on the mapping flight route, and performing automatic mapping based on data collected in the mapping operation; and periodically updating a data model of the automatic mapping. Embodiments of the present application plan a mapping strategy for the target mapping area by combining the characteristics of fixed hangars and mobile hangars, fully exerting the respective advantages of mapping based on fixed hangars and mobile hangars, thereby effectively improving the efficiency of mapping in a large range or a complex terrain scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mapping, in particular to an automatic mapping method based on hangars, a device and a storage medium. BACKGROUND

[0002] In the field of surveying and mapping (including two-dimensional and three-dimensional map modeling), traditional schemes usually adopt a map collection method based on image control points (ground control points), and the layout and collection of image control points are key links for ensuring the spatial accuracy of modeling and performing geometric correction.

[0003] However, since the layout and collection of image control points are highly dependent on manual operation, the process is relatively cumbersome, so the above-mentioned traditional scheme is still applicable in small-scale modeling or simple terrain scenes, but for large-scale surveying and mapping scenes or complex terrain scenes, the efficiency of mapping using the above-mentioned traditional scheme is not high. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide an automatic mapping method based on hangars, a device and a storage medium, to improve the efficiency of mapping in large-scale or complex terrain scenes.

[0005] In a first aspect, the embodiments of the present application provide an automatic mapping method based on hangars, comprising:

[0006] Constructing at least one reference mapping area in a target mapping area to be modeled;

[0007] Determining first mapping areas corresponding to each of the reference mapping areas according to the communication state of the fixed hangar and the aircraft; wherein the first mapping areas are responsible for mapping operations by the aircraft of the fixed hangar;

[0008] Determining a to-be-planned area in the target mapping area excluding each of the first mapping areas;

[0009] Constructing at least one second mapping area based on the to-be-planned area; wherein the second mapping area is responsible for mapping operations by the aircraft of the mobile hangar;

[0010] Generating corresponding mapping flight routes based on each of the first mapping areas and each of the second mapping areas, respectively, controlling the aircraft to perform mapping operations based on each of the mapping flight routes, and performing automatic mapping based on the data collected by the mapping operations;

[0011] Periodically updating the data model of the automatic mapping.

[0012] In the embodiments of the present application, the target mapping area is planned by combining the fixed hangar and the mobile hangar, the fixed hangar is responsible for mapping operation in the area with suitable terrain to increase the convenience of mapping control, and the mobile hangar is responsible for mapping operation in the area with complex terrain to avoid the cumbersome process of laying fixed control points, thereby effectively improving the mapping efficiency in a large range or complex terrain scene.

[0013] In some embodiments, the at least one reference mapping area is constructed in the target mapping area to be modeled, comprising:

[0014] The target mapping area to be modeled is acquired, and at least one layout position of the fixed hangar is determined based on the target mapping area;

[0015] The corresponding reference mapping area is constructed based on the at least one layout position and the UAV operation radius of the fixed hangar.

[0016] In the embodiments of the present application, the reference mapping area is constructed based on the layout position and the UAV operation radius of the fixed hangar, thereby improving the applicability of the constructed reference mapping area in terms of position and range, and further improving the mapping efficiency.

[0017] In some embodiments, the first mapping area corresponding to each of the reference mapping areas is determined according to the communication state of the fixed hangar and the aircraft, comprising:

[0018] The signal strength grid information of the reference mapping area is acquired, the target grid area in the reference mapping area with signal strength exceeding a preset signal strength threshold is determined according to the signal strength grid information, and the actual mapping area is determined based on the target grid area;

[0019] The corresponding first mapping area is determined based on the actual mapping area.

[0020] In the embodiments of the present application, the signal strength of the area is further considered and the mapping area is adjusted based on the initially constructed reference mapping area, thereby improving the reliability of the mapping process and further improving the overall mapping efficiency.

[0021] In some embodiments, the at least one second mapping area is constructed based on the to-be-planned area, comprising:

[0022] The original road network corresponding to the to-be-planned area is acquired; wherein the original road network contains roads of different levels;

[0023] The highest level road in the original road network is integrated into the candidate road network;

[0024] construct a candidate photographing area based on the candidate road network, and determine a coverage state of an area covered by all candidate photographing areas relative to the region to be planned;

[0025] in a case where the coverage state satisfies a preset coverage condition, determine the candidate photographing area as the second photographing area;

[0026] in a case where the coverage state does not satisfy the coverage condition, incorporate a highest-level road in remaining roads of the original road network into the candidate road network, and return to perform the step of constructing a candidate photographing area until the coverage state satisfies the coverage condition;

[0027] wherein the remaining roads are roads in the original road network that are not incorporated into the candidate road network.

[0028] In the embodiments of the present application, the second photographing area is constructed according to the road network of the target photographing area in a level-by-level progressive manner until the target photographing area is covered, so that the photographing operation is preferentially based on high-level roads, and the photographing efficiency is further improved.

[0029] In some embodiments, after constructing at least one second photographing area based on the region to be planned, before generating corresponding photographing flight routes based on each first photographing area and each second photographing area respectively, the method further comprises:

[0030] determine a stay position of the mobile hangar in each second photographing area, and determine a set of trajectory points corresponding to each stay position;

[0031] determine a moving path of the mobile hangar based on the set of trajectory points using a preset path generation algorithm;

[0032] controlling the aerial vehicle to perform the photographing operation based on each photographing flight route, comprises:

[0033] controlling the aerial vehicle to perform the photographing operation based on each photographing flight route, comprises:

[0034] In the embodiments of the present application, the moving path of the mobile hangar is planned based on the set of trajectory points, so that the mobile hangar can move according to a reasonable moving path, thereby further improving the photographing efficiency.

[0035] In some embodiments, the method of determining the moving path of the mobile hangar based on the set of trajectory points using a preset path generation algorithm comprises:

[0036] determining a starting trajectory point and a target trajectory point based on the set of trajectory points;

[0037] traverse all reference movement paths starting from the starting track point, passing through all intermediate track points and reaching the target track point, wherein the intermediate track points are the rest of the track points in the track point set except the starting track point and the target track point;

[0038] respectively acquire path lengths corresponding to the reference movement paths;

[0039] select a reference movement path with the shortest path length from the reference movement paths as the movement path of the mobile hangar.

[0040] In the embodiments of the present application, the shortest path passing through all track points is solved based on a specific algorithm, which is used as the movement path of the mobile hangar, so as to further improve the mapping efficiency.

[0041] In some embodiments, the generating of the corresponding mapping flight routes based on the first mapping areas and the second mapping areas respectively comprises:

[0042] splitting at least one second mapping area based on the movement path to obtain corresponding second mapping sub-areas;

[0043] generating corresponding mapping flight routes based on the second mapping sub-areas respectively;

[0044] wherein different second mapping sub-areas of the same second mapping area are respectively responsible for mapping work by different aircrafts.

[0045] In the embodiments of the present application, the second mapping area is further divided into different sub-areas based on the movement path, and different aircrafts are used to perform mapping work in different sub-areas, so as to further improve the mapping efficiency.

[0046] In some embodiments, after the at least one second mapping area is constructed based on the region to be planned, before the corresponding mapping flight routes are generated based on the first mapping areas and the second mapping areas respectively, the method further comprises:

[0047] determining at least one mapping area combination with overlapping regions;

[0048] in a case where the region type of a single mapping area combination includes a first mapping area and a second mapping area, keeping the area of one first mapping area in the mapping area combination unchanged, and respectively deleting the overlapping regions from the rest of the mapping areas in the mapping area combination;

[0049] In a case where the region type of the single combination of the sampling regions only includes the first sampling region or only includes the second sampling region, the area of one of the sampling regions in the combination of the sampling regions is kept unchanged, and the rest of the sampling regions in the combination of the sampling regions are respectively deleted from the overlapping region.

[0050] In the embodiments of the present application, the unnecessary repeated sampling process is avoided by the de-duplication processing on the overlapping region, so as to further improve the sampling efficiency.

[0051] In some embodiments, after the at least one second sampling region is constructed based on the region to be planned, before the corresponding sampling flight routes are respectively generated based on each of the first sampling regions and each of the second sampling regions, the method further includes:

[0052] determining at least one blank region in the target sampling region, which is excluded from each of the first sampling regions and each of the second sampling regions;

[0053] determining at least one adjacent sampling region corresponding to each of the blank regions, and merging the blank region with one of the corresponding adjacent sampling regions.

[0054] In the embodiments of the present application, the remaining blank regions after the second sampling region is planned are merged, so as to ensure the integrity of the sampling region.

[0055] In some embodiments, the determination of at least one adjacent sampling region corresponding to each of the blank regions and the merging of the blank region with one of the corresponding adjacent sampling regions include:

[0056] determining at least one adjacent sampling region corresponding to each of the blank regions;

[0057] in a case where the blank region is smaller than a preset area threshold, merging the blank region with one of the corresponding adjacent sampling regions;

[0058] in a case where the blank region is not smaller than the area threshold, splitting the blank region into a plurality of blank sub-regions, and merging each of the blank sub-regions with the nearest adjacent sampling region;

[0059] wherein each of the blank sub-regions is smaller than the area threshold.

[0060] In the embodiments of the present application, the blank region with a larger area is further divided into blank sub-regions and merged into the corresponding sampling region according to the nearest principle, so as to avoid the case that the merged region is too large, and further improve the overall sampling efficiency.

[0061] In some embodiments, the method further comprises:

[0062] In a case where an abnormal event occurs to the aerial vehicle during the aerial photographing operation, a first distance between the aerial vehicle and the fixed hangar is obtained, and a second distance between the aerial vehicle and the mobile hangar is obtained;

[0063] In a case where the first distance is smaller than the second distance, the aerial vehicle is controlled to fly to the fixed hangar to handle the abnormal event;

[0064] In a case where the first distance is not smaller than the second distance, the aerial vehicle is controlled to fly to the mobile hangar to handle the abnormal event;

[0065] The type of the abnormal event includes at least one of the following: the power of the aerial vehicle is lower than a preset power threshold, and the available storage space of the aerial vehicle pod is smaller than a preset storage threshold.

[0066] In the embodiments of the present application, when an abnormal event occurs during the aerial photographing operation of the aerial vehicle, the aerial vehicle is controlled to fly to the hangar and handle the abnormal event according to the nearest principle, thereby further improving the aerial photographing efficiency.

[0067] In a second aspect, the embodiments of the present application provide an automatic mapping device based on a hangar, comprising:

[0068] A reference construction module is configured to construct at least one reference aerial photographing area in a target aerial photographing area to be mapped;

[0069] A first construction module is configured to determine a first aerial photographing area corresponding to each of the reference aerial photographing areas according to a communication state between a fixed hangar and an aerial vehicle, wherein the first aerial photographing area is responsible for aerial photographing operation by the aerial vehicle of the fixed hangar;

[0070] A region determination module is configured to determine a to-be-planned area in the target aerial photographing area excluding each of the first aerial photographing areas;

[0071] A second construction module is configured to construct at least one second aerial photographing area based on the to-be-planned area, wherein the second aerial photographing area is responsible for aerial photographing operation by an aerial vehicle of a mobile hangar;

[0072] An automatic mapping module is configured to generate a corresponding aerial photographing route based on each of the first aerial photographing areas and each of the second aerial photographing areas, respectively control the aerial vehicle to perform aerial photographing operation based on each of the aerial photographing routes, and perform automatic mapping based on data collected by the aerial photographing operation;

[0073] A data updating module is configured to periodically update a data model of the automatic mapping.

[0074] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of the embodiments of the first aspect when executing the program.

[0075] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the method of any of the embodiments of the first aspect.

[0076] In a fifth aspect, a computer program product is provided, which includes a computer program, and the computer program, when executed by a processor, implements the method of any of the embodiments of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0077] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0078] Figure 1 A flowchart of an automatic mapping method based on hangar provided by the embodiments of the present application is shown in the figure.

[0079] Figure 2 A schematic diagram of constructing a reference mapping area provided by the embodiments of the present application is shown in the figure.

[0080] Figure 3 A schematic diagram of constructing a first mapping area provided by the embodiments of the present application is shown in the figure.

[0081] Figure 4 A schematic diagram of constructing a second mapping area provided by the embodiments of the present application is shown in the figure.

[0082] Figure 5 A structural schematic diagram of an automatic mapping device based on hangar provided by the embodiments of the present application is shown in the figure.

[0083] Figure 6 A structural schematic diagram of an electronic device provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0084] The technical solutions of the embodiments of the present application will be described below in combination with the drawings in the embodiments of the present application.

[0085] It should be noted that similar reference numerals and letters refer to like items throughout the accompanying drawings, and once an item is defined in one drawing, it is not necessary to further define and explain it in the subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0086] It should be noted that in the field of traditional surveying and mapping, the collection of image control points (ground control points) is a key link to ensure the spatial accuracy and geometric correction of the model. However, the layout and collection of image control points are highly dependent on manual operation: the operator needs to carry professional equipment (such as GNSS receiver, marker cloth, etc.) to conduct field reconnaissance, manually record coordinate information and lay out markers, and then shoot images of the area containing image control points by using unmanned aerial vehicles or aerial equipment. As can be seen, the image collection method through image control points requires a large number of manual operations such as point-by-point positioning, marking and data entry, which is tedious and time-consuming.

[0087] In a large-scale or complex terrain scene, if the above-mentioned image collection method based on image control points is used, the positions of the image control points need to be carefully selected and laid out, and the data of the image control points to be laid out are huge. In addition, due to the terrain conditions of some areas, it is not allowed to lay out image control points. In order to comprehensively cover the target image collection area, redundant image control points need to be laid out, resulting in a large number of overlapping image collection areas, which will greatly affect the overall mapping efficiency. In addition, in some scenes, due to the lack of road network, the image collection method through mobile hangars cannot conveniently cover the target image collection area, and the mobile hangar needs to be manually controlled to move the vehicle and dynamically switch the hangar stopping position. Therefore, in a large-scale or complex terrain scene, the image collection method relying solely on mobile hangars cannot meet the demand of efficient mapping.

[0088] In view of the problems existing in the prior art, the embodiment of the present application provides an automatic mapping method based on hangar, which first plans a first image collection area responsible by a fixed hangar in a target image collection area, and then plans a second image collection area of a mobile hangar for the remaining uncovered area. Through the cooperation of the fixed hangar and the mobile hangar, the overall efficiency of mapping can be maximized, and the effect of intelligent and automatic mapping can be realized.

[0089] As shown in Figure 1 The embodiment of the present application provides an automatic mapping method based on hangar, which can include the following steps:

[0090] S1, constructing at least one reference image collection area in a target image collection area to be modeled.

[0091] Exemplarily, the target image collection area to be modeled is an area that needs to be mapped at present.

[0092] Exemplarily, one or more reference mapping areas can be constructed according to the UAV operation radius of the fixed hangar.

[0093] S2, determine a first mapping area corresponding to each reference mapping area according to the communication state of the fixed hangar and the aircraft; wherein the first mapping area is responsible for mapping operation by the aircraft of the fixed hangar.

[0094] Exemplarily, when it is judged that the area range (area) of the target mapping area is less than a preset threshold, or it is judged that the terrain of the target mapping area is relatively simple, the mapping and modeling can be performed only by the fixed hangar (or only by the mobile hangar); in contrast, when it is judged that the area range (area) of the target mapping area is not less than the preset threshold, or it is judged that the terrain of the target mapping area is relatively complex, the mapping and modeling can be performed by the fixed hangar and the mobile hangar in cooperation.

[0095] Exemplarily, step S2 is to further determine the corresponding first mapping area on the basis of each reference mapping area according to the communication state of the fixed hangar and the aircraft. It can be understood that the reference mapping area is a mapping area preliminarily constructed based on the theoretical UAV operation radius of the fixed hangar, and according to the communication state of the fixed hangar and the aircraft (referring to the communication performance of the hangar and the aircraft evaluated according to the signal distribution of the actual scene), the size of each reference mapping area can be adjusted to obtain the corresponding first mapping area, wherein one reference mapping area corresponds to one first mapping area. For each first mapping area, the corresponding aircraft of the fixed hangar arranged will be responsible for the mapping operation in the mapping process. Exemplarily, one or more aircrafts can be deployed for the same fixed hangar.

[0096] Exemplarily, the aircraft of the embodiments of the present application can be a UAV or the like.

[0097] Exemplarily, the fixed hangar refers to a hangar whose deployment position remains relatively fixed during the mapping process, and does not refer to a hangar that cannot be moved, for example, the fixed hangar can also be moved before the mapping starts, after the mapping is completed, or when the mapping is paused.

[0098] S3, determine a to-be-planned area in the target mapping area excluding all the first mapping areas.

[0099] Specifically, after one or more first mapping areas are determined, the area in the target mapping area excluding all the first mapping areas can be determined as a to-be-planned area.

[0100] S4, construct at least one second mapping area based on the to-be-planned area; wherein the second mapping area is responsible for mapping operation by the aircraft of the mobile hangar.

[0101] Specifically, for the region to be planned, one or more second mapping areas can be constructed, which can better cover the region to be planned. Through a specific movement path, the mobile hangar can move, or the mobile hangar can move with the aid of a vehicle or other carrier.

[0102] By way of example, in contrast to the fixed hangar, the mobile hangar refers to a hangar that can also move during the mapping process, such as a vehicle-mounted hangar, a portable hangar, and the like. It should be noted that the fixed hangar and the mobile hangar can use the same hangar, or different hangars.

[0103] For each second mapping area, the aircraft of the mobile hangar will be responsible for the mapping operation during the mapping process. It can be understood that the same mobile hangar can also deploy one or more aircraft.

[0104] By way of example, for each second mapping area, a corresponding temporary waypoint (trajectory point) can be determined, and during the mapping operation of the second mapping area, the mobile hangar can temporarily stop at the corresponding trajectory point, and after the mapping operation of the second mapping area is completed, the mobile hangar can be moved to the next trajectory point on the movement path.

[0105] As shown in Figure 4 By way of example, the second mapping area can be rectangular, circular, or the like. If the second mapping area is a circular area, it can be a circular area drawn with the drone operation radius of the mobile hangar as the radius; if the second mapping area is a rectangular area, it can be a rectangular area drawn with the aircraft operation diameter of the mobile hangar as the diagonal.

[0106] It can be understood that the drone operation radius of the mobile hangar can be the same as the drone operation radius of the fixed hangar, or different.

[0107] By way of example, when the second mapping areas are constructed in sequence, if they are circular, the next circle can be tangent to the previous circle, and if they are rectangular, the next rectangle can be attached to the previous rectangle.

[0108] S5, based on each first mapping area and each second mapping area, a corresponding mapping flight path is generated, based on each mapping flight path, the aircraft is controlled to perform mapping operation, and based on the data collected by the mapping operation, automatic mapping is performed.

[0109] After the first mapping area and the second mapping area are constructed, a corresponding mapping flight path can be generated for each mapping area (first mapping area or second mapping area).

[0110] Exemplarily, one photographing area can correspond to one photographing route, and when the number of aircrafts in a single hangar is multiple, one photographing area can correspond to multiple photographing routes, and multiple aircrafts can be responsible for one photographing route respectively.

[0111] Based on the photographing routes corresponding to the photographing areas, the aircrafts can be controlled to fly according to the photographing routes and perform photographing operations.

[0112] Exemplarily, the photographing operations can be performed according to the photographing routes automatically based on preset user instructions. During the photographing operations, the aircrafts can be controlled to perform five-direction panning, and the photographing directions of the five-direction panning include forward, downward, backward, leftward and rightward.

[0113] After the aircrafts perform photographing operations and collect data, the modeling system can construct a map of the target photographing area based on the collected data.

[0114] Exemplarily, the aerial photographing data collected by the aircrafts during the photographing operations can be temporarily stored in the storage device of the aircraft pod and transmitted to the modeling system when the aircrafts return to the hangar. Exemplarily, the aircrafts can also transmit the aerial photographing data collected during the photographing operations to the modeling system directly through the Internet of Things, wireless communication and the like.

[0115] S6, periodically updating the data model of the automatic mapping.

[0116] After the aerial photographing data is collected by the aircrafts during the photographing operations, the modeling system can perform automatic mapping based on the data. The data model of the automatic mapping includes but is not limited to a two-dimensional base map and a three-dimensional map. During the construction of the two-dimensional base map or the rendering modeling of the three-dimensional map, the data model can be periodically updated according to preset data update rules based on a preset update period or condition.

[0117] Based on this, the embodiments of the present application plan a photographing strategy for the target photographing area by combining the fixed hangar and the mobile hangar. First, the fixed hangar is planned to perform photographing operations in the area with suitable terrain to increase the convenience of photographing control, and then the mobile hangar is planned to perform photographing operations in the remaining area. This not only avoids the problem of inconvenient arrangement of fixed image control points in complex terrain, but also can well cover the photographing task of the target photographing area, and comprehensively plays the advantages of the fixed hangar and the mobile hangar, thereby effectively improving the mapping efficiency in a large range or complex terrain scene.

[0118] In some embodiments, step S1, constructing at least one reference photographing area in the target photographing area to be modeled, can include:

[0119] S101, acquire a target mapping area to be modeled, and determine at least one layout position of the fixed hangar based on the target mapping area;

[0120] S102, construct at least one reference mapping area corresponding to the at least one layout position and the UAV operation radius of the fixed hangar.

[0121] It can be understood that, since the fixed hangar does not need to move during the mapping process, the workload of moving the hangar is saved, so when the mapping planning is performed for the target mapping area, the reference mapping area can be constructed based on the characteristics of the fixed hangar in priority, and then the corresponding first mapping area is determined; for large-scale mapping requirements, it is inconvenient to lay a large number of fixed hangars, and some areas do not have the conditions to lay fixed hangars due to complex terrain, so for the remaining areas in the target mapping area excluding the first mapping area, the second mapping area of the mobile hangar needs to be constructed.

[0122] Exemplarily, the layout position of the fixed hangar can be determined according to the area range, the terrain complexity, and the terrain type distribution, etc., and the layout position can be one or more.

[0123] Then, the corresponding reference mapping area is constructed according to the UAV operation radius of the fixed hangar. As shown in Figure 2 .

[0124] It can be understood that one layout position usually corresponds to one reference mapping area. Exemplarily, a circular area can be drawn with the layout position of the fixed hangar as the center and the UAV operation radius as the radius, as the corresponding first mapping area. Exemplarily, a square area can also be drawn with the layout position of the fixed hangar as the center and the UAV operation diameter as the diagonal, as the corresponding reference mapping area. It should be noted that the shape and drawing method of the reference mapping area can also be other situations determined according to requirements, such as rectangle, ellipse, etc., and the embodiments of the present application are not limited thereto.

[0125] Exemplarily, the UAV operation radius refers to the safe communication distance at which the aircraft and the hangar can stably transmit and receive signals in theory, or the UAV operation radius refers to the safe endurance distance determined based on the endurance performance of the aircraft and the single mapping operation time.

[0126] Based on this, by constructing the reference mapping area based on the fixed hangar layout position and the UAV operation radius and then determining the first mapping area, the position rationality of the first mapping area is ensured, and the communication reliability of the aircraft operation in each first mapping area is ensured, thereby improving the applicability of the constructed first mapping area in terms of position and range, and further improving the mapping efficiency.

[0127] In some embodiments, step S2, determining the first image acquisition area corresponding to each reference image acquisition area based on the communication status between the fixed hangar and the aircraft, may include:

[0128] S2-1. Obtain the signal strength grid information of the reference image acquisition area. Based on the signal strength grid information, determine the target grid area in the reference image acquisition area where the signal strength exceeds the preset signal strength threshold, and determine the actual image acquisition area based on the target grid area.

[0129] S2-2. Determine the corresponding first mapping area based on the actual mapping area.

[0130] like Figure 3 As shown, for example, in the process of constructing each first mapping area, firstly, based on the deployment location and the drone's operating radius of the fixed hangar, a circular area or a square area is drawn as the corresponding reference mapping area;

[0131] Then, within the reference mapping area, the signal strength of each grid is acquired based on the signal strength grid information, and grids with signal strength exceeding a preset signal strength threshold are identified as target grids. The area covered by the target grid is the target grid region. Then, based on the enclosed area formed by the outermost boundary of the target grid region, the actual mapping area (usually an irregular shape) is determined. The actual mapping area can be understood as the area where the fixed hangar and the aircraft have good communication.

[0132] Finally, the corresponding first image acquisition area is determined based on the actual image acquisition area. For example, the first image acquisition area needs to be completely surrounded by the actual image acquisition area; that is, the largest preset shape (which can be a square, rectangle, or circle, etc.) is generated within the actual image acquisition area and used as the first image acquisition area. Alternatively, the first image acquisition area can simply be an area that is mostly surrounded by the actual image acquisition area.

[0133] Based on this, by further considering the signal strength of the initially constructed reference mapping area and adjusting the mapping area, the aircraft can maintain a good signal strength during the mapping process, thereby further improving the reliability of the mapping process and thus improving the overall mapping efficiency.

[0134] In some embodiments, step S4, constructing at least one second mapping area based on the area to be planned, may include:

[0135] S401. Obtain the original road network corresponding to the area to be planned; wherein, the original road network includes roads of different levels;

[0136] S402. Incorporate the highest-level roads in the original road network into the candidate road network;

[0137] S403, at least one candidate sampling area is constructed based on the candidate road network, and the coverage state of all candidate sampling areas relative to the region to be planned is determined;

[0138] S404, if the coverage state meets the preset coverage condition, at least one candidate sampling area is determined as at least one second sampling area;

[0139] S405, if the coverage state does not meet the coverage condition, the highest level road in the remaining road of the original road network is incorporated into the candidate road network, and the step of constructing the candidate sampling area (step S403) is returned to execute until the coverage state meets the coverage condition;

[0140] Wherein, the remaining road is the road in the original road network which is not incorporated into the candidate road network.

[0141] Exemplarily, in the process of constructing the second sampling area, the region to be planned can be planned based on the corresponding road network.

[0142] Therefore, first, based on the three-dimensional model or the base map containing the target sampling area, the original road network corresponding to the region to be planned is obtained, which refers to the road network that can cover the region to be planned. Exemplarily, the original road network can contain roads of different levels, for example, the highest level road is the highway, the next level road is the first-class highway, and the next lower level road is the second-class highway, and so on. Exemplarily, the levels of the roads in the original road network can also be classified according to the needs, and the embodiment is not limited thereto.

[0143] After obtaining the original road network corresponding to the region to be planned, first, the highest level road (such as highway) in the original road network is incorporated into the candidate road network, and the candidate sampling area is constructed based on the candidate road network. If the coverage state of these candidate sampling areas relative to the region to be planned meets the preset coverage condition, the second sampling area construction process is completed, and one or more candidate sampling areas constructed are determined as at least one second sampling area;

[0144] If the coverage state of the currently constructed candidate sampling area relative to the region to be planned does not meet the preset coverage condition, the next level road (such as first-class highway) needs to be incorporated into the candidate road network (at this time, it is highway + first-class highway), and the candidate sampling area is reconstructed according to the current candidate road network, that is, step S403 is returned to execute, and S404 or S405 is executed according to the situation, and so on, until the coverage state meets the coverage condition.

[0145] Exemplarily, determining whether the coverage state satisfies the coverage condition at least includes the following manners: 1, if the area coverage rate of the covered area of all candidate sampling areas with respect to the to-be-planned area exceeds a preset coverage rate threshold, it is determined that the coverage state satisfies the coverage condition, otherwise it is determined that the coverage state does not satisfy the coverage condition; 2, if all single blank areas remaining after excluding the covered area of all candidate sampling areas in the to-be-planned area are smaller than a preset area threshold, it is determined that the coverage state satisfies the coverage condition, otherwise it is determined that the coverage state does not satisfy the coverage condition.

[0146] It should be noted that the specific coverage condition can also be configured as other situations according to requirements, and the embodiments of the present application are not limited thereto.

[0147] Based on this, the second sampling area is constructed by gradually progressing according to the road network of the target sampling area according to the level until the target sampling area is covered, so as to preferentially perform sampling operation based on high-level roads, and further improve the sampling efficiency.

[0148] In some embodiments, after step S4 and before step S5, it further includes:

[0149] S4-001, determining the stay positions of the mobile hangar in each second sampling area, and determining the set of trajectory points corresponding to each stay position;

[0150] S4-002, determining the moving path of the mobile hangar based on the set of trajectory points by using a preset path generation algorithm;

[0151] In step S5, the aircraft is controlled to perform sampling operation based on each sampling flight line, which can include:

[0152] S5-1, controlling the mobile hangar to move based on the moving path, and controlling the aircraft of the mobile hangar to perform sampling operation based on the sampling flight line of each second sampling area.

[0153] Exemplarily, for each constructed second sampling area, a corresponding stay position can be determined, which represents the position where the mobile hangar temporarily stays when the unmanned aerial vehicle performs sampling operation on the second sampling area. In this way, the set of trajectory points corresponding to each stay position can be determined, wherein each stay position corresponds to a trajectory point.

[0154] Then, based on the set of trajectory points, the moving path of the mobile hangar can be determined by using a preset path generation algorithm.

[0155] Finally, during the sampling operation, the mobile hangar can be controlled to move based on the determined moving path, and to stay at each trajectory point, and then the aircraft of the mobile hangar is controlled to perform sampling operation to perform sampling operation on the corresponding second sampling area.

[0156] Therefore, the mobile hangar can move along the reasonable moving path, so as to further improve the sampling efficiency.

[0157] In some embodiments, in step S4-002, the moving path of the mobile hangar is determined based on the set of trajectory points and a preset path generation algorithm, which can include:

[0158] S4-0021, determining a starting trajectory point and a target trajectory point based on the set of trajectory points;

[0159] S4-0022, traversing all reference moving paths starting from the starting trajectory point, passing through all intermediate trajectory points, and reaching the target trajectory point; wherein the intermediate trajectory points are the remaining trajectory points in the set of trajectory points except the starting trajectory point and the target trajectory point;

[0160] S4-0023, respectively acquiring the path length corresponding to each reference moving path;

[0161] S4-0024, selecting the reference moving path with the shortest path length from the reference moving paths, and determining it as the moving path of the mobile hangar.

[0162] For example, based on the set of trajectory points, a starting trajectory point and a target trajectory point can be determined according to the requirements, the starting trajectory point refers to starting sampling from the position of the trajectory point for each second sampling area, and the target trajectory point refers to ending sampling for each second sampling area at the position of the trajectory point.

[0163] Then, all reference moving paths starting from the starting trajectory point, passing through all intermediate trajectory points (which can pass through each intermediate trajectory point only once), and reaching the target trajectory point can be traversed, then the path length of each traversed reference moving path is calculated, and finally the reference moving path with the shortest path length is selected as the final moving path for controlling the movement of the mobile hangar.

[0164] Therefore, by solving the shortest path passing through all trajectory points based on a specific algorithm as the moving path of the mobile hangar, the sampling efficiency is further improved.

[0165] In some embodiments, in step S5, the corresponding sampling flight lines are generated based on each first sampling area and each second sampling area, which can include:

[0166] S501, splitting at least one second sampling area based on the moving path to obtain corresponding second sampling sub-areas;

[0167] S502, generate a corresponding mapping flight route based on each second mapping sub-region;

[0168] Different second mapping sub-regions of the same second mapping region are responsible for mapping operations by different aircrafts.

[0169] It should be noted that when the mobile hangar is configured with multiple aircrafts, each second mapping region can be further divided into multiple second mapping sub-regions corresponding to the number of multiple aircrafts, and then a corresponding mapping flight route is generated for each second mapping sub-region, and multiple aircrafts are responsible for mapping operations of different second mapping sub-regions.

[0170] For example, when the mobile hangar is provided with two aircrafts, each second mapping region can be split into two second mapping sub-regions based on the moving path as a dividing line, so that for the same second mapping region, one aircraft can be responsible for the mapping operation of one second mapping sub-region, and another aircraft can be responsible for the mapping operation of another second mapping sub-region.

[0171] It should be noted that the same second mapping region can also be divided into three, four, etc. second mapping sub-regions according to requirements, and the embodiments of the present application are not limited thereto.

[0172] Based on this, when the mobile hangar has multiple unmanned aerial vehicles, the second mapping region is further divided into multiple sub-regions based on the moving path, and different aircrafts are used to be responsible for the mapping operation of the corresponding sub-region, so as to further improve the overall mapping efficiency.

[0173] In some embodiments, after step S4 and before step S5, the following steps can also be included:

[0174] S4-101, determine at least one mapping region combination with overlapping regions;

[0175] S4-102, in the case where the region type of the single mapping region combination includes the first mapping region and the second mapping region, keep the area of one first mapping region in the mapping region combination unchanged, and delete the overlapping region for the remaining mapping regions in the mapping region combination respectively;

[0176] S4-103, in the case where the region type of the single mapping region combination includes only the first mapping region or only the second mapping region, keep the area of one mapping region in the mapping region combination unchanged, and delete the overlapping region for the remaining mapping regions in the mapping region combination respectively.

[0177] It should be noted that after the first sampling area and the second sampling area are constructed, there can be overlapping between different areas. In order to avoid repeated sampling process, the overlapping areas can be de-duplicated.

[0178] Illustratively, first, the overlapping areas in the constructed sampling area are identified, and the sampling area combination corresponding to each overlapping area is determined. It can be understood that the overlapping area can be an overlapping area between two or more areas, so a single sampling area combination can contain two, three, or the like number of sampling areas.

[0179] It can be understood that the overlapping area can be an overlapping area between a first sampling area and another first sampling area, an overlapping area between a second sampling area and another second sampling area, or an overlapping area between a first sampling area and a second sampling area. Therefore, the type of area included in a single sampling area combination can have three cases: 1. only including first sampling areas; 2. only including second sampling areas; 3. including both first sampling areas and second sampling areas.

[0180] Illustratively, for the case that the type of area of a single sampling area combination includes both first sampling areas and second sampling areas, the overlapping area can be preferentially retained in one of the first sampling areas (i.e., maintaining the area of one of the first sampling areas in the sampling area combination unchanged), and the remaining sampling areas in the sampling area combination can be deleted from the overlapping area, respectively.

[0181] In this way, the aircraft of the fixed hangar is responsible for the sampling operation of the overlapping area, and the sampling operation of the overlapping area by the mobile hangar is saved. Since the fixed hangar does not need to be moved, the overall sampling efficiency is improved.

[0182] Illustratively, for the case that the type of area of a single sampling area combination is only including first sampling areas or only including second sampling areas, one sampling area in the sampling area combination can be randomly selected to retain the overlapping area (i.e., maintaining the area of one of the sampling areas in the sampling area combination unchanged), and the remaining sampling areas in the sampling area combination can be deleted from the overlapping area, respectively.

[0183] Based on this, by de-duplicating the overlapping area, unnecessary repeated sampling process is avoided, thereby further improving the sampling efficiency.

[0184] In some embodiments, after step S4 and before step S5, the following steps can also be included:

[0185] S4-201, determining at least one blank area in the target sampling area, which is excluded from each first sampling area and each second sampling area;

[0186] S4-202, determine at least one adjacent sampling area corresponding to each blank area, and merge the blank area with one of the adjacent sampling areas.

[0187] It should be noted that after the first sampling area and the second sampling area are constructed, there are usually blank areas in the target sampling area that are not covered, so these blank areas need to be merged.

[0188] For example, first, one or more blank areas in the target sampling area are determined, excluding the first sampling area and the second sampling area; then, for each blank area, an adjacent sampling area connected to the blank area is obtained. The adjacent sampling area refers to an area (which can be a first sampling area or a second sampling area) that has a common edge or contact point with the blank area.

[0189] It can be understood that the number of adjacent sampling areas corresponding to each blank area can be one, two, three, etc. For example, the blank area surrounded by the edge and corner of a certain target sampling area (which can be a first sampling area or a second sampling area) has one adjacent sampling area; for the blank area surrounded by three tangent circular areas (which can be a first sampling area or a second sampling area), it has three adjacent sampling areas.

[0190] For example, when the number of adjacent sampling areas corresponding to a certain blank area is two or more, one of the adjacent sampling areas can be randomly selected, and the blank area can be merged into the randomly selected adjacent sampling area.

[0191] It should be noted that if the merged sampling area exceeds the preset maximum working distance of the aircraft, the blank area can be re-merged into one of the remaining adjacent sampling areas. For example, for a certain blank area, its corresponding adjacent sampling areas are one first sampling area and two second sampling areas. After the blank area is initially merged into the first sampling area, it is determined that the merged first sampling area exceeds the maximum working distance of the aircraft in the fixed hangar, and the blank area is re-merged into one of the two second sampling areas. By analogy, if all adjacent sampling areas and blank areas exceed the preset maximum working distance of the aircraft after merging, the excess amount of the merged sampling area exceeding the maximum working distance of the aircraft is obtained, and the blank area and the adjacent sampling area are merged according to the principle of minimum excess amount.

[0192] Therefore, by merging the blank areas in the target sampling area that are not covered after planning the sampling area, the overall coverage of the target sampling area is ensured, and the integrity of the mapping is improved.

[0193] In some embodiments, the step S4-202 of determining at least one adjacent sampling region corresponding to each blank region and merging the blank region with one of the corresponding adjacent sampling regions can include:

[0194] S4-2021, determining at least one adjacent sampling region corresponding to each blank region;

[0195] S4-2022, merging the blank region with one of the corresponding adjacent sampling regions if the blank region is smaller than a preset area threshold;

[0196] S4-2023, splitting the blank region into a plurality of blank sub-regions and merging each blank sub-region with the nearest adjacent sampling region if the blank region is not smaller than the area threshold;

[0197] wherein each blank sub-region is smaller than the area threshold.

[0198] It should be noted that if the area of the blank region is too large, the merged sampling region will also become too large, and at this time the merged sampling region is likely to exceed the maximum working distance of the aircraft. Therefore, the blank region with a large area can be split and merged.

[0199] For example, if the blank region is not smaller than the preset area threshold, the blank region is split into a plurality of blank sub-regions. For example, the splitting can be performed according to the bisection method, that is, the blank region is first split into two blank sub-regions with equal areas, and if the area of the blank sub-region is still not smaller than the preset area threshold, each blank sub-region is further split into two sub-regions with equal areas, and the process is repeated until each blank sub-region is smaller than the preset area threshold.

[0200] Then, each split blank sub-region is merged into the nearest adjacent sampling region. For example, for each blank sub-region, the distances between the geometric center of the blank sub-region and the geometric centers of the plurality of adjacent sampling regions can be obtained, so as to determine the adjacent sampling region with the minimum distance. For example, if there are a plurality of adjacent sampling regions with the same distance in the adjacent sampling region with the minimum distance, one of these adjacent sampling regions can be randomly selected to be merged with the blank sub-region.

[0201] It should be noted that, since the first and second photographing areas are constructed based on the radius of the unmanned aerial vehicle operation, that is, the aircraft can communicate with the hangar, after the blank area is merged to obtain a new first photographing area or second photographing area, if the aircraft cannot communicate with the hangar when photographing operation is performed based on the merged photographing area, other communication modes (such as Internet of Things communication) can be switched to ensure that the aircraft can communicate with the hangar.

[0202] Therefore, by further dividing the large-area blank area into blank sub-areas and merging them into the corresponding adjacent photographing areas according to the nearest principle, the situation of the merged area being too large is avoided, and the overall photographing efficiency is further improved.

[0203] In some embodiments, in step S5, based on the respective photographing routes, the aircraft is controlled to perform photographing operation, and automatic mapping is performed based on the data collected during the photographing operation, which can include:

[0204] S501, in the case where it is determined that an abnormal event occurs to the aircraft during the photographing operation, a first distance between the aircraft and a fixed hangar is obtained, and a second distance between the aircraft and a mobile hangar is obtained;

[0205] S502, in the case where the first distance is less than the second distance, the aircraft is controlled to fly to the fixed hangar to handle the abnormal event;

[0206] S503, in the case where the first distance is not less than the second distance, the aircraft is controlled to fly to the mobile hangar to handle the abnormal event;

[0207] The type of abnormal event includes at least one of the following: the power of the aircraft is lower than a preset power threshold, and the available storage space of the aircraft pod is less than a preset storage threshold.

[0208] It should be noted that, during the photographing operation of the aircraft, if the aircraft needs to land due to an abnormal situation, the aircraft can be controlled to fly to the corresponding hangar for abnormal processing according to the nearest principle.

[0209] For example, in the case where it is determined that an abnormal event occurs to the aircraft during the photographing operation, the current working position of the aircraft can be obtained, and the positions of the mobile hangar and the fixed hangar at this time can be obtained, the first distance between the aircraft and the fixed hangar and the second distance between the aircraft and the mobile hangar are calculated respectively; if it is judged that the first distance is less than the second distance, the aircraft is controlled to fly to the fixed hangar for abnormal processing, otherwise, if it is judged that the first distance is not less than the second distance, the aircraft is controlled to fly to the mobile hangar for abnormal processing.

[0210] Exemplarily, the types of the abnormal events of the aerial vehicle can include: 1, the power of the aerial vehicle is lower than a preset power threshold; 2, the available storage space of the aerial vehicle pod is less than a preset storage threshold; 3, other software or hardware failure events of the aerial vehicle.

[0211] It can be understood that when the power of the aerial vehicle is too low, the corresponding abnormal event processing measure is to charge the aerial vehicle; when the available storage space of the aerial vehicle pod is insufficient, the corresponding abnormal event processing measure is to copy the data stored in the aerial vehicle pod and clean up the storage space.

[0212] Exemplarily, the aerial vehicle needs to pause the mapping operation when the above abnormal events occur during the mapping operation; by recording the pause operation position of the aerial vehicle when the abnormal event occurs, when the abnormal event is processed, the aerial vehicle can be controlled to fly to the pause operation position to continue the mapping operation which is paused before.

[0213] Based on this, when the abnormal event occurs during the aerial vehicle mapping, the aerial vehicle is controlled to fly to the corresponding hangar for abnormal processing according to the nearest principle, so as to further improve the mapping efficiency.

[0214] Please refer to Figure 5 , Figure 5 The composition block diagram of the hangar-based automatic mapping device provided by some embodiments of the present application is shown. It should be understood that the hangar-based automatic mapping device corresponds to the above-mentioned Figure 1 method embodiments, and can perform each step involved in the above-mentioned method embodiments. The specific functions of the hangar-based automatic mapping device can be referred to the description in the above, and the detailed description is appropriately omitted here to avoid repetition.

[0215] Figure 5 The hangar-based automatic mapping device includes at least one software function module which can be stored in the memory in the form of software or firmware or solidified in the hangar-based automatic mapping device, and the hangar-based automatic mapping device includes:

[0216] Referring to the construction module 510, at least one reference mapping area is constructed in the target mapping area to be modeled;

[0217] The first construction module 520 is configured to determine a first mapping area corresponding to each reference mapping area according to the communication state between the fixed hangar and the aerial vehicle; wherein the first mapping area is responsible for the mapping operation by the aerial vehicle of the fixed hangar;

[0218] The area determination module 530 is configured to determine a to-be-planned area in the target mapping area excluding each first mapping area;

[0219] The second construction module 540 is used to construct at least one second mapping area based on the area to be planned; wherein, the mapping operation of the second mapping area is carried out by an aircraft in a mobile hangar;

[0220] The automatic mapping module 550 is used to generate corresponding mapping routes based on each first mapping area and each second mapping area, control the aircraft to perform mapping operations based on each mapping route, and automatically create maps based on the data collected during the mapping operations.

[0221] The data update module 560 is used to periodically update the data model of the automatically generated map.

[0222] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention. The automatic mapping device based on a hangar provided by the embodiments of the present invention can implement the automatic mapping method based on a hangar provided by any one of the method embodiments of the present invention.

[0223] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0224] like Figure 6 As shown, some embodiments of this application provide an electronic device 600, which includes a memory 610, a processor 620, and a computer program stored in the memory 610 and executable on the processor 620. When the processor 620 reads the program from the memory 610 via a bus 630 and executes the program, it can implement any of the methods included in the above-described automatic mapping method based on a silo.

[0225] Processor 620 can process digital signals and can include various computing architectures. For example, it can be a complex instruction set computer architecture, a reduced instruction set computer architecture, or an architecture that implements multiple instruction set combinations. In some examples, processor 620 can be a microprocessor.

[0226] The memory 610 can be used to store instructions executed by the processor 620 or data related to the execution of instructions. These instructions and / or data may include code for implementing some or all of the functions of one or more modules described in the embodiments of this application. The processor 620 of this disclosure embodiment can be used to execute the instructions in the memory 610 to implement the methods shown above. The memory 610 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memories well known to those skilled in the art.

[0227] Some embodiments of the present application further provide a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, performs the method of the method embodiments.

[0228] Some embodiments of the present application further provide a computer program product, which, when executed on a computer, causes the computer to perform the method of the method embodiments.

[0229] It should be noted that each of the above-mentioned embodiments of the present application is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be understood by referring to each other.

[0230] In several embodiments of the present application, it should be understood that the disclosed apparatus and method can also be implemented in other ways. The apparatus embodiments described above are only schematic, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0231] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0232] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0233] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0234] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0235] It should be noted that, in the present document, the relationship terms such as first and second are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. A hangar-based automatic mapping method, characterized by, The method comprises the following steps: constructing at least one reference mapping area in a target mapping area to be modeled; determining a first mapping area corresponding to each of the reference mapping areas according to the communication state between the fixed hangar and the aircraft; wherein the first mapping area is responsible for the mapping operation by the aircraft of the fixed hangar; determining a to-be-planned area in the target mapping area excluding each of the first mapping areas; constructing at least one second mapping area based on the to-be-planned area; wherein the second mapping area is responsible for the mapping operation by the aircraft of the mobile hangar; for each second mapping area, a corresponding trajectory point is determined, and the mobile hangar temporarily stays at the corresponding trajectory point during the mapping operation of the second mapping area, and then moves to the next trajectory point on the moving path after the mapping operation of the second mapping area is completed; determining the staying position of the mobile hangar in each second mapping area, and determining a set of trajectory points corresponding to each staying position; determining the moving path of the mobile hangar based on the set of trajectory points by using a preset path generation algorithm; generating a corresponding mapping flight line based on each of the first mapping areas and each of the second mapping areas, respectively, controlling the aircraft to perform the mapping operation based on each of the mapping flight lines, and automatically modeling based on the data collected by the mapping operation; periodically updating the data model of the automatic modeling.

2. The hangar-based automatic mapping method according to claim 1, characterized in that, The method comprises the following steps: acquiring the target mapping area to be modeled, and determining at least one layout position of the fixed hangar based on the target mapping area; constructing a corresponding reference mapping area based on the at least one layout position and the UAV operation radius of the fixed hangar.

3. The hangar-based automatic mapping method of claim 1, wherein, The method comprises the following steps: acquiring the signal strength grid information of the reference mapping area, determining a target grid area in the reference mapping area where the signal strength exceeds a preset signal strength threshold based on the signal strength grid information, and determining an actual mapping area based on the target grid area; determining a corresponding first mapping area based on the actual mapping area.

4. The hangar-based automatic mapping method of claim 1, wherein, The method comprises the following steps: acquiring the original road network corresponding to the to-be-planned area; wherein the original road network comprises roads of different levels; integrating the highest-level road in the original road network into a candidate road network; constructing at least one candidate mapping area based on the candidate road network, and determining the coverage state of the area covered by all candidate mapping areas with respect to the to-be-planned area; in the case that the coverage state meets the preset coverage condition, determining the at least one candidate mapping area as the at least one second mapping area; in the case that the coverage state does not meet the coverage condition, integrating the highest-level road in the remaining roads of the original road network into the candidate road network, and returning to execute the step of constructing the candidate mapping area until the coverage state meets the coverage condition; The remaining roads are roads in the original road network that are not incorporated into the candidate road network.

5. The hangar-based automatic mapping method according to claim 1, wherein, The mobile path of the mobile hangar is determined based on the set of trajectory points by using a preset path generation algorithm, including: A starting trajectory point and a target trajectory point are determined based on the set of trajectory points; All reference mobile paths starting from the starting trajectory point, passing through all intermediate trajectory points, and reaching the target trajectory point are traversed; the intermediate trajectory points are the remaining trajectory points in the set of trajectory points except the starting trajectory point and the target trajectory point; The path lengths corresponding to each reference mobile path are respectively obtained; The reference mobile path with the shortest path length is selected from each reference mobile path, and is determined as the mobile path of the mobile hangar.

6. The hangar-based automatic mapping method of claim 1, wherein, After constructing at least one second sampling area based on the region to be planned, before generating corresponding sampling flight routes based on each first sampling area and each second sampling area, it further includes: At least one sampling area combination with an overlapping region is determined; In the case where the region type of a single sampling area combination includes a first sampling area and a second sampling area, the area of one first sampling area in the sampling area combination is kept unchanged, and the remaining sampling areas in the sampling area combination are respectively deleted from the overlapping region; In the case where the region type of a single sampling area combination includes only a first sampling area or only a second sampling area, the area of one sampling area in the sampling area combination is kept unchanged, and the remaining sampling areas in the sampling area combination are respectively deleted from the overlapping region.

7. The hangar-based automatic mapping method of claim 1, wherein, After constructing at least one second sampling area based on the region to be planned, before generating corresponding sampling flight routes based on each first sampling area and each second sampling area, it further includes: At least one blank area in the target sampling area, excluding each first sampling area and each second sampling area, is determined; At least one adjacent sampling area corresponding to each blank area is determined, and the blank area and the corresponding one of the adjacent sampling areas are merged.

8. The hangar-based automatic mapping method according to claim 7, characterized in that, The determination of at least one adjacent sampling area corresponding to each blank area and the merging of the blank area and the corresponding one of the adjacent sampling areas include: At least one adjacent sampling area corresponding to each blank area is determined; In the case where the blank area is smaller than a preset area threshold, the blank area and the corresponding one of the adjacent sampling areas are merged; In the case where the blank area is not smaller than the area threshold, the blank area is split into a plurality of blank sub-areas, and each blank sub-area and the nearest adjacent sampling area are merged; Each blank sub-area is smaller than the area threshold.

9. The hangar-based automatic mapping method according to any one of claims 1 to 8, characterized in that, The flight of the aircraft for sampling work is controlled based on each sampling flight route, and automatic mapping is performed based on the data collected by the sampling work, including: In a case where it is determined that an abnormal event occurs to an aerial vehicle during a mapping operation, a first distance between the aerial vehicle and a fixed hangar is obtained, and a second distance between the aerial vehicle and a mobile hangar is obtained; In a case where the first distance is less than the second distance, the aerial vehicle is controlled to fly to the fixed hangar to handle the abnormal event; In a case where the first distance is not less than the second distance, the aerial vehicle is controlled to fly to the mobile hangar to handle the abnormal event; The type of the abnormal event includes at least one of the following: the power of the aerial vehicle is lower than a preset power threshold, and the available storage space of a pod of the aerial vehicle is less than a preset storage threshold.

10. An electronic device, comprising: The computer readable storage medium stores a computer program, and the computer program is run on the processor to implement the hangar-based automatic mapping method according to any one of claims 1-9.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is run on the processor to implement the hangar-based automatic mapping method according to any one of claims 1-9.

Images