Camping site selection method and device, unmanned aerial vehicle, system and storage medium
By using drones to capture ground images and identify campsite environmental elements, an interactive interface is provided to select target campsites, solving the problem of difficulty in choosing outdoor campsites and achieving automatic site selection and improved user experience.
Patent Information
- Application Number
- CN202511708300.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-20
- Publication Date
- 2026-02-10
AI Technical Summary
When choosing a suitable campsite in an outdoor environment, users often find it difficult to make a reasonable choice due to the influence of weather conditions and terrain complexity.
By capturing ground images with drones, the system identifies the necessary environmental and disturbance elements for a campsite, provides an interactive interface to mark alternative campsites, and determines the target campsite based on user instructions and sends its geographical location.
It enables automatic selection of campsites, meeting the camping needs of different outdoor environments and improving the user experience.
Smart Images
Figure CN121505482A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a method, apparatus, UAV, system, and storage medium for selecting a campsite. Background Technology
[0002] As people become increasingly interested in outdoor activities such as hiking, cycling, and road trips, camping is also becoming more and more popular. However, due to the complexity of the outdoor environment and the influence of factors such as weather conditions and terrain, choosing a campsite has become a problem for many users. Summary of the Invention
[0003] In view of this, the purpose of this application is to provide a method, apparatus, drone, system and storage medium for selecting campsites, so as to realize the automatic selection of campsites.
[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, this application provides a campsite selection method applied to a drone, the method comprising: in response to a first instruction, capturing a ground image at a collection point; detecting campsites in the ground image; and, if a target area exists in the ground image, providing a first interactive interface; wherein the positional relationship between the target area and preset environmental elements satisfies a preset positional relationship; in the first interactive interface, the target area is marked as a candidate campsite; acquiring a second instruction; the second instruction instructing: based on the operation of the first interactive interface, determining a target campsite from one or more of the candidate campsites; and sending the geographical location of the target campsite.
[0005] In an optional implementation, the preset environmental element includes: a first environmental element required for setting up a campsite in the environment; the campsite detection of the ground image includes: identifying the first environmental element in the ground image; if the ground image contains the first environmental element, then performing campsite detection on a first area in the ground image containing the first environmental element.
[0006] In an optional implementation, the preset environmental elements include: a first environmental element required for setting up a campsite in the environment, and a second environmental element that interferes with setting up a campsite in the environment; the campsite detection of the ground image includes: identifying the first environmental element and the second environmental element in the ground image; if the ground image has the first environmental element but does not have the second environmental element, then campsite detection is performed on a first region of the ground image containing the first environmental element; if the ground image has both the first environmental element and the second environmental element, then campsite detection is performed on a second region of the ground image containing the first environmental element but not the second environmental element.
[0007] In an optional implementation, the step of detecting a campsite in a first region containing the first environmental element in the ground image includes: obtaining the location and type of the first environmental element in the first region; if there are at least two types of the first environmental element, detecting a campsite in the first region based on the location and a preset distance of the first environmental element; if there is a first sub-region in the first region, then using the first sub-region as the target region; wherein the distance between the first sub-region and at least two types of first environmental elements is less than or equal to the preset distance.
[0008] In an optional implementation, the campsite detection in the second region of the ground image that contains the first environmental element but not the second environmental element includes: obtaining the position and type of the first environmental element and the position of the second environmental element in the second region; if there are at least two types of the first environmental element, in the second region, performing campsite detection based on the position of the first environmental element, the position of the second environmental element, a first distance, and a second distance; if there is a second sub-region in the second region, then the second sub-region is taken as the target region; wherein the distance between the second sub-region and at least two types of the first environmental element is less than or equal to the first distance and the distance between the second sub-region and the second environmental element exceeds the second distance, and the second distance is greater than the first distance.
[0009] In an optional implementation, before sending the geographic location of the target campsite, the method further includes: determining the scale of the ground image based on the height of the acquisition point; and determining the geographic location of the target campsite based on the scale and the image position of the target campsite in the ground image.
[0010] Secondly, this application provides a campsite selection device for use with a drone. The device includes: a shooting module for capturing ground images at a collection point in response to a first instruction; a detection module for detecting campsites in the ground images and providing a first interactive interface if a target area exists in the ground images; wherein the positional relationship between the target area and preset environmental elements satisfies a preset positional relationship; in the first interactive interface, the target area is marked as a candidate campsite; and a sending module for acquiring a second instruction; the second instruction instructs: based on the operation of the first interactive interface, a target campsite determined from one or more candidate campsites is selected; and the geographical location of the target campsite is sent.
[0011] Thirdly, this application provides a drone, including a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the campsite selection method described in any of the foregoing embodiments.
[0012] Fourthly, this application provides a system comprising a drone and a control terminal; the control terminal is a mobile terminal or a vehicle; the control terminal is used to send a first instruction to the drone; the drone is used to respond to the first instruction by taking ground images at a collection point; detecting campsites in the ground images; and, if a target area exists in the ground images, providing a first interactive interface to the control terminal; wherein the positional relationship between the target area and preset environmental elements satisfies a preset positional relationship; in the first interactive interface, the target area is marked as a candidate campsite; the control terminal is also used to send a second instruction to the drone; the second instruction is used to indicate: based on the operation of the first interactive interface, a target campsite determined from one or more of the candidate campsites; the drone is used to acquire the second instruction and send the geographical location of the target campsite to the control terminal.
[0013] Fifthly, this application provides a storage medium storing a computer program that, when executed by a processor, implements the campsite selection method described in any of the foregoing embodiments.
[0014] The campsite selection method, apparatus, drone, system, and storage medium provided in this application embodiment are applied to a drone and include: in response to a first instruction, capturing a ground image at a collection point; detecting campsites in the ground image; and providing a first interactive interface if a target area exists in the ground image; wherein the positional relationship between the target area and preset environmental elements satisfies a preset positional relationship; in the first interactive interface, the target area is marked as a candidate campsite; acquiring a second instruction; the second instruction instructs: based on the operation of the first interactive interface, determining a target campsite from one or more candidate campsites; and sending the geographical location of the target campsite. This achieves automatic campsite selection, meeting users' camping needs in different outdoor environments and improving the user experience.
[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 A schematic diagram of the system provided in an embodiment of this application is shown; Figure 2 A block diagram of an electronic device provided in an embodiment of this application is shown; Figure 3 One of the flowcharts of the campsite selection method provided in this application is shown; Figure 4 The second schematic flowchart of the campsite selection method provided in this application embodiment is shown; Figure 5 The third schematic flowchart of the campsite selection method provided in this application embodiment is shown; Figure 6 The fourth schematic flowchart of the campsite selection method provided in this application embodiment is shown; Figure 7 The fifth illustration shows a flowchart of the campsite selection method provided in this application embodiment; Figure 8 The sixth illustration shows a flowchart of the campsite selection method provided in this application embodiment; Figure 9 A functional block diagram of the campsite selection device provided in an embodiment of this application is shown. Detailed Implementation
[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations.
[0019] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0020] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0021] Please see Figure 1 This is a schematic diagram of a system provided in an embodiment of this application. The system includes a drone 110 and a control terminal 120 connected by communication. The control terminal 120 can be a vehicle or a mobile terminal, and the mobile terminal can be a smartphone, personal computer, tablet computer, netbook, personal digital assistant, etc., which is not limited in this embodiment of the application. When the control terminal 120 is a vehicle, the drone 110 can be a vehicle-mounted drone.
[0022] Please see Figure 2 This is a block diagram of an electronic device provided in an embodiment of this application. The structure of the electronic device 200 can be applied to the above-described... Figure 1 The device is either a drone or a control terminal. The electronic device 200 includes a processor 210, a memory 220, and a communication module 230. These components are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.
[0023] The processor 210 is used to read / write data or programs stored in the memory 220 and perform corresponding functions. It can be a general-purpose processor, including CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.
[0024] The memory 220 is used to store programs or data. The memory 220 can be RAM (Random Access Memory), ROM (Read Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electric Erasable Programmable Read-Only Memory), etc.
[0025] The communication module 230 is used to communicate with other devices.
[0026] Understandable, Figure 2 The structure shown is only a schematic diagram of the electronic device 200. The electronic device 200 may also include components that are larger than those shown. Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown. Figure 2 The components shown can be implemented using hardware, software, or a combination thereof. For example, to realize the corresponding functions of a drone, the electronic device 200 may also include a navigation module, a shooting module, a lidar module, etc.; to realize the corresponding functions of the control terminal, the electronic device 200 may also include an RF circuit touch screen, a microphone / speaker, a shooting module, etc.
[0027] The following will be based on Figure 1 The drone shown is used as the execution subject to illustrate the various steps in the methods provided in the embodiments of this application, as well as the corresponding technical effects. Please refer to... Figure 3This is a flowchart illustrating a campsite selection method provided in an embodiment of this application, including steps 310 to 350.
[0028] Step 310: In response to the first instruction, take a ground image at the acquisition point.
[0029] The first instruction is the command sent from the control terminal to the drone. For example, the control terminal generates the first instruction based on the interactive operation performed by the user in the interactive interface and sends it to the drone. Moreover, the interactive operation can be realized through voice, interactive buttons, physical buttons, etc.
[0030] In this embodiment, the UAV flies to an initial point according to the received first instruction, and then flies to a data collection point according to preset flight parameters such as flight altitude, flight speed, flight distance, hovering radius, and flight direction, and takes a picture of the ground corresponding to the data collection point. The flight altitude can range from 50m to 100m; the flight speed can range from 10m / s to 20m / s; the flight distance can range from 400m to 1000m; the hovering radius can range from 50m to 150m; and the flight direction can include forward, backward, left, right, left-front, left-rear, right-front, and right-rear. It should be understood that the specific range of flight parameters can be set according to actual conditions, and this embodiment does not limit this.
[0031] Step 320: Detect campsites on the ground image.
[0032] Step 330: If a target area exists in the ground image, a first interactive interface is provided; wherein the positional relationship between the target area and preset environmental elements satisfies a preset positional relationship; in the first interactive interface, the target area is marked as a candidate campsite.
[0033] Campsite detection can be understood as detecting whether there are areas in an image that meet camping conditions. These camping conditions refer to the positional relationship between the campsite and preset environmental elements. Preset environmental elements can be elements set based on camping preference surveys, or elements selected by users based on their own needs. For example, environmental elements can include trees, rivers, rocks, lawns, waterfalls, riverbanks, roads, etc.
[0034] In this embodiment, the drone can detect campsites in ground images using a preset image processing algorithm or a pre-trained network model. If no area matching the camping criteria is detected, the drone will fly to the next data collection point to collect new ground images and perform campsite detection. If an area matching the camping criteria is detected, that area will be designated as the target area, and a first interactive interface will be sent to the control terminal.
[0035] In one alternative implementation, the drone can send an interactive interface marking the target area as a candidate campsite to the control unit, allowing the control unit to display the location of the candidate campsite to the user. In yet another alternative implementation, the drone can send ground imagery and the location of the target area to the control unit, enabling the control unit to mark the target area as a candidate campsite and display its location to the user through an interactive interface.
[0036] In some alternative approaches, the drone can provide the first interactive interface based on a single ground image, or it can stitch together multiple ground images taken at multiple collection points into a panoramic image and provide the first interactive interface based on the panoramic image. Understandably, to avoid excessive overlap between adjacent ground images that could affect detection efficiency, a minimum distance between adjacent collection points can be set to reduce the overlap.
[0037] Step 340, obtain the second instruction; the second instruction is used to indicate: the target campsite determined from one or more alternative campsites based on the operation of the first interactive interface.
[0038] Step 350: Send the geographic location of the target campsite.
[0039] The second instruction is a command sent by the control unit to the drone based on the user's interaction with the first interactive interface. This second instruction instructs the user to select a target campsite from the alternative campsites. It is understood that there can be one or more alternative campsites. If there are multiple alternative campsites, the drone or control unit can score each campsite to obtain a recommendation value and display the recommendation value of each campsite on the first interactive interface for the user's reference. For example, the recommendation value of each alternative campsite can be determined based on its specific distance from preset environmental elements in the ground image.
[0040] In this embodiment, the drone obtains the target campsite selected by the user based on the received second instruction, and sends the geographical location of the target campsite to the control terminal. The control terminal then generates a target route and performs navigation based on the geographical location of the target campsite and a preset starting point. For example, if the control terminal is a vehicle, the user can use vehicle navigation to drive to the target campsite. If the control terminal is a mobile terminal, the user can follow the guidance of the mobile terminal to walk or cycle to the target campsite.
[0041] This application embodiment can be understood as follows: it collects outdoor environmental information by capturing images with a drone, detects campsites in the images to provide alternative campsites, and sends the address of the target campsite selected by the user for navigation. This achieves automatic campsite selection, meeting users' camping needs in different outdoor environments and improving the user experience.
[0042] Optionally, for the campsite detection process in step 320, this application embodiment provides a possible implementation. Please refer to... Figure 4 This is another flowchart illustrating the campsite selection method provided in this application embodiment, including steps 321 to 322.
[0043] Step 321: Identify the first environmental element in the ground image.
[0044] The primary environmental element refers to the environmental elements required to set up a campsite, such as trees, rivers, rocks, and lawns. It can be understood as environmental elements that contribute to the comfort or safety of camping activities.
[0045] Step 322: If the ground image contains a first environmental element, then perform campsite detection on the first region in the ground image that contains the first environmental element.
[0046] In this embodiment, a recognition model capable of identifying the first environmental element can be obtained through pre-training. For example, an image set including the first environmental element can be used as a sample set, and regression loss, classification loss, and contrastive loss can be used as loss functions to train a neural network model such as YOLO (You Only Look Once, object detection) to obtain the recognition model. This recognition model is then used to identify ground images to determine whether the first environmental element exists in the ground images.
[0047] If the first environmental element is not present in the ground image, it indicates that the geographical area indicated by the ground image is not suitable for camping. In this case, the drone will fly to the next acquisition point to collect new ground images and detect campsites. If the first environmental element is present in the ground image, the detection range will be focused on the first area in the ground image that contains the first environmental element.
[0048] It can be understood that the embodiments of this application start from the perspective of environmental elements required for camping activities to detect campsites in the images, thereby ensuring that the subsequent site selection process is carried out only when basic camping conditions are met, thereby improving site selection efficiency.
[0049] Optionally, for the campsite detection process in step 320, this application embodiment provides another possible implementation. Please refer to... Figure 5 This is another flowchart illustrating the campsite selection method provided in the embodiments of this application, including steps 323 to 325.
[0050] Step 323: Identify the first and second environmental elements in the ground image.
[0051] The first environmental element refers to the environmental elements necessary for setting up a campsite, while the second environmental element refers to environmental elements that interfere with setting up a campsite. For example, the first environmental element can be trees, rivers, rocks, and lawns, while the second environmental element can be noisy roads, waterfalls that pose safety hazards, and riverbanks. The first environmental element can be understood as an environmental element that is beneficial to the comfort or safety of camping activities, while the second environmental element can be understood as an environmental element that is detrimental to the comfort or safety of camping activities.
[0052] In this embodiment, a recognition model capable of identifying the first and second environmental elements can be obtained through pre-training. For example, a first image set including the first environmental element and a second image set including the second environmental element can both be used as sample sets, and regression loss, classification loss, and contrastive loss can be used as loss functions to train a neural network model such as the YOLO model to obtain the recognition model. This recognition model is then used to identify ground images to determine whether the first and second environmental elements exist in the ground images.
[0053] Step 324: If the ground image has a first environmental element but no second environmental element, then perform campsite detection on the first region in the ground image that contains the first environmental element. Step 325: If the ground image has a first environmental element and a second environmental element, then perform campsite detection on the second region of the ground image that contains the first environmental element but does not contain the second environmental element.
[0054] If the ground image contains a first environmental element but no second environmental element, it indicates that the geographical area indicated by the ground image has basic camping conditions and is free from interference. In this case, the detection range will be focused on the first area in the ground image that contains the first environmental element. If the ground image contains both the first and second environmental elements, it indicates that the geographical area indicated by the ground image has basic camping conditions but also has potential risks. In this case, a more refined detection method will be used, namely, campsite detection will be performed on the second area in the ground image that contains the first environmental element but not the second environmental element.
[0055] It is understandable that, in order to improve the comfort and safety of camping activities, if a second environmental element is present in the ground image, it can be assumed that the geographical area indicated by the ground image does not meet the conditions for camping, and thus it can be determined that there is no target area in the ground image.
[0056] It can be understood that the embodiments of this application detect campsites by simultaneously considering both the environmental elements required for camping activities and the environmental elements that affect camping activities, thereby providing more comprehensive environmental information for the subsequent site selection process and improving the safety of campsites.
[0057] Optionally, for the campsite detection process based on the first area in steps 322 and 324, this application embodiment provides a possible implementation. Please refer to... Figure 6 This is another flowchart illustrating the campsite selection method provided in this application embodiment, including steps 3201 to 3203.
[0058] Step 3201: Obtain the position and type of the first environmental element in the first region; Step 3202: If there are at least two types of the first environmental element, in the first area, campsite detection is performed based on the location and preset distance of the first environmental element; Step 3203: If a first sub-region exists within the first region, then the first sub-region is taken as the target region; wherein the distance between the first sub-region and at least two first environmental elements is less than or equal to a preset distance.
[0059] In this embodiment, the location and type of the first environmental element within the first region are first obtained. For example, when the recognition model identifies the presence of the first environmental element in the ground image, it will also output the location and type of the first environmental element.
[0060] Then, the total number of types of the first environmental elements is counted. If there are fewer than two types of the first environmental elements, it is considered that the conditions for camping are not met, and the target area is determined not to exist in the ground image. If there are at least two types of the first environmental elements, then within the first area, based on the position of the first environmental elements and a preset distance, it is detected whether a first sub-region exists. If it exists, the first sub-region is taken as the target area, i.e., as a candidate campsite. Here, the preset distance can be understood as the upper limit of the travel distance from the campsite to any first environmental element.
[0061] Furthermore, the position of the first environmental element can be represented by the position of the pixel at its center point in the ground image. Therefore, the process of detecting the first sub-region can be implemented in the following two ways: The first implementation method is to use the distance between any two first environment elements as the diameter to obtain a circular region. If this diameter is less than or equal to a preset distance, it means that the distance from any pixel within the circular region to either of the two first environment elements is less than or equal to the preset distance, and therefore the circular region is designated as the first sub-region. Alternatively, the distance between any two first environment elements is used as the diagonal to obtain a square region. If this diagonal is less than or equal to a preset distance, it means that the distance from any pixel within the square region to either of the two first environment elements is less than or equal to the preset distance, and therefore the square region is designated as the first sub-region.
[0062] The second implementation method is as follows: For each pixel in the ground image, calculate the distance from that pixel to each type of first environment element; then select first pixels whose distance to at least two types of first environment elements does not exceed a preset distance; and then determine whether a first sub-region exists based on all first pixels and a preset size. The size of the first sub-region is a preset size, and all pixels contained within the first sub-region are first pixels.
[0063] It can be understood that the embodiments of this application constrain the distance from the campsite to various first environmental elements, thereby realizing the automatic evaluation of the convenience of the campsite, which is conducive to screening high-quality alternative locations.
[0064] Optionally, for the campsite detection process based on the second area in step S325, this application embodiment provides a possible implementation. Please refer to... Figure 7 This is another flowchart illustrating the campsite selection method provided in this application embodiment, including steps 3251 to 3253.
[0065] Step 3251: Obtain the position and type of the first environmental element and the position of the second environmental element in the second region.
[0066] Step 3252: In the case that there are at least two types of the first environmental element, campsite detection is performed in the second area based on the location of the first environmental element, the location of the second environmental element, the first distance, and the second distance.
[0067] Step 3253: If a second sub-region exists within the second region, then the second sub-region is taken as the target region; wherein, the distance between the second sub-region and at least two first environmental elements is less than or equal to the first distance and the distance between the second sub-region and the second environmental elements exceeds the second distance, and the second distance is greater than the first distance.
[0068] In this embodiment, the location and type of the first environmental element within the second region, as well as the location of the second environmental element, are first obtained. For example, when the recognition model identifies the presence of the first and second environmental elements in the ground image, it will also output the location and type of the first environmental element, and the location of the second environmental element.
[0069] Then, the total number of types of the first environmental elements is counted. If there are fewer than two types of first environmental elements, the area is considered unsuitable for camping, and the target area is determined not to exist in the ground image. If there are at least two types of first environmental elements, then within the second area, based on the positions of the first and second environmental elements, the first distance, and the second distance, a second sub-region is detected. If it exists, the second sub-region is used as the target area, i.e., as a candidate campsite. The first distance can be understood as the upper limit of the travel distance from the campsite to any first environmental element, and the second distance can be understood as the lower limit of the safe distance from the campsite to any second environmental element. That is, to improve the convenience and safety of the campsite, the second distance is greater than the first distance.
[0070] Furthermore, the positions of the first and second environment elements can be represented by the positions of the pixels at their center points in the ground image. Therefore, the process of detecting the second sub-region can be implemented in the following two ways: The first implementation method is to use the distance between any two first environment elements as the diameter to obtain a circular region. If the diameter is less than or equal to the first distance, the distance from each pixel within the circular region to each second environment element is calculated, and second pixels whose distance to each second environment element exceeds the second distance are selected. The region consisting of all second pixels is then used as the second sub-region. Alternatively, the distance between any two first environment elements is used as the diagonal to obtain a square region. If the diagonal is less than or equal to the first distance, the distance from each pixel within the square region to each second environment element is calculated, and second pixels whose distance to each second environment element exceeds the second distance are selected. The region consisting of all second pixels is then used as the second sub-region.
[0071] The second implementation method is as follows: For each pixel in the ground image, calculate the distance from that pixel to each first target of each first environment element, and the distance from that pixel to each second target of each second environment element; then select at least two second pixels whose distances to the first targets do not exceed the first distance, and whose distances to each second target exceed the second distance; then, based on all the second pixels and a preset size, determine whether a second sub-region exists. The size of the second sub-region is the preset size, and all pixels contained in the second sub-region are second pixels.
[0072] It can be understood that the embodiments of this application constrain the distances from the campsite to various first and second environmental elements, thereby enabling automatic assessment of the convenience and safety of the campsite, which is beneficial for selecting high-quality alternative locations.
[0073] Optionally, regarding the geographical location of the target campsite in step 350, this embodiment of the application also provides a method for determining the geographical location of the target campsite. Please refer to [link to relevant documentation]. Figure 8 This is another flowchart illustrating the campsite selection method provided in this application embodiment, including steps 351 to 352.
[0074] Step 351: Determine the scale of the ground image based on the height of the acquisition point; Step 352: Determine the geographical location of the target campsite based on the scale and the image location of the target campsite in the ground image.
[0075] In this embodiment, before sending the geographical location of the target campsite, the flight altitude of the drone when taking pictures at the collection point can be obtained to determine the height of the collection point. Then, based on the height of the collection point and the focal length of the shooting module, the actual ground distance corresponding to each pixel in the ground image is calculated to obtain the scale of the ground image. Next, based on the scale, the first coordinates of the target campsite in the image coordinate system are converted into its second coordinates in the world coordinate system. These second coordinates are the geographical location of the target campsite, which can be represented by latitude and longitude, for example. It is understood that, to improve the accuracy of the location, the drone's attitude data and its coordinates in the world coordinate system can also be combined to calculate the geographical location of the target campsite.
[0076] This application can be understood as follows: by converting the location of the target campsite in the image into a geographic location, the accuracy of campsite selection is improved, so as to facilitate the location and navigation of the target campsite.
[0077] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of a campsite selection device is given below. Please refer to... Figure 9This is a functional block diagram of the campsite selection device provided in this embodiment. It should be noted that the basic principle and technical effects of the campsite selection device provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The campsite selection device includes: The imaging module 410 is used to capture ground images at the acquisition point in response to the first command.
[0078] The detection module 430 is used to detect campsites in ground images. When a target area exists in the ground image, it provides a first interactive interface. The positional relationship between the target area and preset environmental elements satisfies a preset positional relationship. In the first interactive interface, the target area is marked as a candidate campsite.
[0079] The sending module 450 is used to acquire a second instruction; the second instruction is used to indicate: based on the operation of the first interactive interface, a target campsite determined from one or more alternative campsites; and to send the geographical location of the target campsite.
[0080] Optionally, the detection module 430 is specifically used to: identify a first environmental element in the ground image; if the ground image contains a first environmental element, then perform campsite detection on a first area in the ground image containing the first environmental element.
[0081] Optionally, the detection module 430 is specifically used to: identify a first environmental element and a second environmental element in the ground image; if the ground image has a first environmental element but does not have a second environmental element, then perform campsite detection on a first region in the ground image that contains the first environmental element; if the ground image has both a first environmental element and a second environmental element, then perform campsite detection on a second region in the ground image that contains the first environmental element but does not contain the second environmental element.
[0082] Optionally, the detection module 430 is specifically used to: obtain the position and type of a first environmental element in a first region; if there are at least two types of the first environmental element, perform campsite detection in the first region based on the position and preset distance of the first environmental element; if there is a first sub-region in the first region, then take the first sub-region as the target region; wherein the distance between the first sub-region and at least two types of first environmental elements is less than or equal to the preset distance.
[0083] Optionally, the detection module 430 is specifically used to: obtain the position and type of the first environmental element and the position of the second environmental element in the second region; when there are at least two types of the first environmental element, in the second region, perform campsite detection based on the position of the first environmental element, the position of the second environmental element, the first distance, and the second distance; if there is a second sub-region in the second region, then the second sub-region is taken as the target region; wherein, the distance between the second sub-region and at least two types of the first environmental element is less than or equal to the first distance and the distance between the second sub-region and the second environmental element exceeds the second distance, and the second distance is greater than the first distance.
[0084] Optionally, the sending module 450 is also used to: determine the scale of the ground image based on the height of the acquisition point; and determine the geographical location of the target campsite based on the scale and the image position of the target campsite in the ground image.
[0085] This application also provides a drone, including a processor and a memory. The memory stores a computer program, and when the processor executes the computer program, it implements the campsite selection method disclosed in this application.
[0086] This application embodiment also provides a system, including a drone and a control terminal provided in this application embodiment; wherein, the control terminal is used to send a first instruction to the drone; the drone is used to respond to the first instruction to capture ground images at a collection point; to detect campsites in the ground images, and to provide a first interactive interface to the control terminal when a target area exists in the ground images; wherein, the positional relationship between the target area and preset environmental elements satisfies a preset positional relationship; in the first interactive interface, the target area is marked as a candidate campsite; the control terminal is also used to send a second instruction to the drone; the second instruction is used to indicate: based on the operation of the first interactive interface, a target campsite determined from one or more candidate campsites; the drone is used to acquire the second instruction and send the geographical location of the target campsite to the control terminal.
[0087] This application also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the campsite selection method disclosed in this application.
[0088] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.
[0089] In addition, the functional modules in the various embodiments of this 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.
[0090] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0091] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A method for selecting a campsite location, characterized in that, Applied to drones, the method includes: In response to the first command, ground images are captured at the acquisition point; Campsite detection is performed on the ground image, and if a target area exists in the ground image, a first interactive interface is provided; The target area and the preset environmental elements satisfy a preset positional relationship; in the first interactive interface, the target area is marked as a candidate campsite. Obtain a second instruction; the second instruction is used to instruct: based on the operation of the first interactive interface, to select a target campsite from one or more of the candidate campsites; Send the geographic location of the target campsite.
2. The campsite selection method according to claim 1, characterized in that, The preset environmental elements include: setting the first environmental elements required for the campsite in the environment; the campsite detection on the ground image includes: Identify the first environmental element in the ground image; If the ground image contains the first environmental element, then campsite detection is performed on the first area in the ground image that contains the first environmental element.
3. The campsite selection method according to claim 1, characterized in that, The preset environmental elements include: a first environmental element required to set up a campsite in the environment, and a second environmental element that interferes with setting up a campsite in the environment; the campsite detection on the ground image includes: Identify the first environmental element and the second environmental element in the ground image; If the ground image has the first environmental element but does not have the second environmental element, then campsite detection is performed on the first area in the ground image that contains the first environmental element; If the ground image has the first environmental element and the second environmental element, then campsite detection is performed on the second area in the ground image that contains the first environmental element but does not contain the second environmental element.
4. The campsite selection method according to claim 2 or 3, characterized in that, The step of detecting campsites in the first region of the ground image containing the first environmental element includes: Obtain the position and type of the first environmental element in the first region; When there are at least two types of the first environmental element, campsite detection is performed in the first area based on the location and preset distance of the first environmental element; If a first sub-region exists within the first region, then the first sub-region is taken as the target region; wherein the distance between the first sub-region and at least two first environmental elements is less than or equal to the preset distance.
5. The campsite selection method according to claim 3, characterized in that, The step of detecting campsites in a second region of the ground image that contains the first environmental element but not the second environmental element includes: Obtain the position and type of the first environmental element and the position of the second environmental element in the second region; In cases where there are at least two types of the first environmental element, campsite detection is performed in the second area based on the location of the first environmental element, the location of the second environmental element, the first distance, and the second distance. If a second sub-region exists within the second region, then the second sub-region is taken as the target region; wherein the distance between the second sub-region and at least two first environmental elements is less than or equal to the first distance and the distance between the second sub-region and the second environmental element exceeds the second distance, and the second distance is greater than the first distance.
6. The campsite selection method according to claim 1, characterized in that, Before sending the geographic location of the target campsite, the method further includes: The scale of the ground image is determined based on the height of the acquisition point; The geographical location of the target campsite is determined based on the scale and the image location of the target campsite in the ground image.
7. A campsite selection device, characterized in that, The device, applied to drones, includes: The imaging module is used to capture ground images at the acquisition point in response to the first command; The detection module is used to detect campsites in the ground image. If a target area exists in the ground image, a first interactive interface is provided. The positional relationship between the target area and preset environmental elements satisfies a preset positional relationship. In the first interactive interface, the target area is marked as a candidate campsite. A sending module is used to acquire a second instruction; the second instruction is used to instruct: based on the operation of the first interactive interface, to select a target campsite from one or more of the alternative campsites; and to send the geographical location of the target campsite.
8. A drone, characterized in that, It includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the campsite selection method according to any one of claims 1-6.
9. A system, characterized in that, The system includes a drone and a control terminal; the control terminal can be a mobile terminal or a vehicle. The control terminal is used to send a first command to the drone; The drone is used to respond to a first command to capture ground images at a collection point; to detect campsites in the ground images; and to provide a first interactive interface to the control terminal if a target area exists in the ground images; wherein the positional relationship between the target area and preset environmental elements satisfies a preset positional relationship; and in the first interactive interface, the target area is marked as a candidate campsite. The control terminal is also used to send a second instruction to the drone; the second instruction is used to instruct: based on the operation of the first interactive interface, to select a target campsite from one or more of the alternative campsites. The drone is used to acquire a second instruction and send the geographical location of the target campsite to the control terminal.
10. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the campsite selection method according to any one of claims 1-6.