阅读说明：本技术 无人机航测方法、植保方法、装置、系统及可读存储介质 (Unmanned aerial vehicle aerial survey method, plant protection method, device and system and readable storage medium ) 是由 朱秋阳 索高宇 阙仁文 于 2019-05-05 设计创作，主要内容包括：本发明公开了一种无人机航测方法、植保方法、装置、系统及可读存储介质,该无人机航测方法包括：接收无人机发送的针对目标地块的航测影像、实时动态RTK定位基站发送的与所述航测影像对应的所述无人机的RTK数据；根据所述RTK数据,计算得到所述无人机的实时定位信息；根据所述航测影像及所述实时定位信息,输出与所述目标地块对应的航测结果。本发明提升了无人机航测精度,提升了植保作业喷施效果。(The invention discloses an unmanned aerial vehicle aerial survey method, a plant protection method, a device, a system and a readable storage medium, wherein the unmanned aerial vehicle aerial survey method comprises the following steps: receiving an aerial survey image aiming at a target plot sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by a real-time dynamic RTK positioning base station and corresponds to the aerial survey image; calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data; and outputting an aerial measurement result corresponding to the target land parcel according to the aerial measurement image and the real-time positioning information. The invention improves the aerial survey precision of the unmanned aerial vehicle and the spraying effect of plant protection operation.)

1. The unmanned aerial vehicle aerial survey method is characterized by being applied to a ground station, wherein the ground station is in communication connection with a real-time dynamic RTK positioning base station, and the unmanned aerial vehicle aerial survey method comprises the following steps:

receiving an aerial survey image aiming at a target plot sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by an RTK positioning base station and corresponds to the aerial survey image;

calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data;

and outputting an aerial measurement result corresponding to the target land parcel according to the aerial measurement image and the real-time positioning information.

2. The unmanned aerial vehicle aerial survey method of claim 1, wherein the RTK positioning base station comprises an RTK reference station and an RTK mobile station, the RTK mobile station is disposed on the unmanned aerial vehicle, and the step of receiving the aerial survey image for the target parcel sent by the unmanned aerial vehicle and the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by the RTK positioning base station comprises:

receiving aerial survey images which are sent by an unmanned aerial vehicle and aim at a target land parcel;

receiving carrier phase difference fraction data corresponding to the unmanned aerial vehicle and transmitted by an RTK base station and a carrier phase observation value corresponding to the unmanned aerial vehicle and transmitted by an RTK mobile station;

the step of calculating real-time positioning information of the unmanned aerial vehicle according to the RTK data comprises the following steps:

and correcting the carrier phase observation value according to the carrier phase difference fraction data, and taking the corrected result as RTK data of the unmanned aerial vehicle corresponding to the aerial survey image.

3. The unmanned aerial vehicle aerial survey method of claim 2, wherein the step of receiving the aerial survey image for the target parcel sent by the unmanned aerial vehicle, the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by the RTK positioning base station further comprises:

sending a mapping route for the target parcel to a flight control assembly of the unmanned aerial vehicle, so that the flight control assembly controls the unmanned aerial vehicle to carry out aerial survey along the mapping route for obtaining an aerial survey image of the target parcel.

4. The unmanned aerial vehicle aerial survey method of claim 2, wherein the step of receiving the aerial survey image for the target parcel sent by the unmanned aerial vehicle and the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by the RTK positioning base station further comprises, before the step of:

sending an RTK positioning request for the unmanned aerial vehicle to the RTK positioning base station so that the RTK positioning base station responds to the positioning request and returns RTK data of the unmanned aerial vehicle corresponding to the aerial survey image.

5. The unmanned aerial vehicle aerial survey method of claim 2, wherein the step of outputting the aerial survey result corresponding to the target parcel based on the aerial survey image and the real-time positioning information comprises:

obtaining space image data corresponding to the target land parcel according to the aerial survey image and the real-time positioning information;

and correcting the space image data, taking a corrected result as an aerial survey result corresponding to the target land parcel, and outputting the aerial survey result.

6. The unmanned aerial vehicle aerial survey method of any one of claims 1-5, wherein the step of receiving aerial survey images for a target parcel sent by a unmanned aerial vehicle, RTK data for the unmanned aerial vehicle corresponding to the aerial survey images sent by an RTK positioning base station further comprises, before the step of:

judging whether the aerial survey mode of the unmanned aerial vehicle is a common mode or a high-precision mode;

if the aerial survey mode of the unmanned aerial vehicle is a high-precision mode, the method comprises the following steps: receiving an aerial survey image aiming at a target plot sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by an RTK positioning base station and corresponds to the aerial survey image.

7. A plant protection method, comprising:

aerial surveying the target plot by using the unmanned aerial vehicle aerial surveying method according to any one of claims 1 to 6 to obtain aerial surveying results;

setting a plant protection operation route according to the aerial survey result;

and controlling a plant protection unmanned aerial vehicle to perform plant protection operation on the target land block according to the plant protection operation route.

8. An unmanned aerial vehicle aerial survey device, its characterized in that, the device includes:

the receiving module is used for receiving an aerial survey image aiming at a target plot sent by the unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by the RTK positioning base station and corresponds to the aerial survey image;

the positioning module is used for calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data;

and the processing module is used for outputting an aerial survey result corresponding to the target land parcel according to the aerial survey image and the real-time positioning information.

9. An unmanned aerial vehicle aerial survey system is characterized by comprising a ground station, an unmanned aerial vehicle and an RTK positioning base station, wherein the unmanned aerial vehicle is in communication connection with the ground station;

the unmanned aerial vehicle is used for sending aerial survey images aiming at the target land parcel to the ground station;

the RTK positioning base station is used for sending the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image to the ground station;

and the ground station is used for calculating to obtain the real-time positioning information of the unmanned aerial vehicle according to the RTK data and outputting the aerial survey result corresponding to the target plot according to the aerial survey image and the real-time positioning information.

10. A readable storage medium, applied to a computer, having a drone aerial program stored thereon, which, when executed by a processor, implements the steps of the drone aerial method according to any one of claims 1 to 6.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle aerial surveying method, a plant protection method, a device, a system and a readable storage medium.

Background

With the rapid development of unmanned aerial vehicle technology, the application field of the unmanned aerial vehicle is wider and wider, in agricultural application, a aerial survey unmanned aerial vehicle is used for surveying and mapping a land parcel to obtain aerial survey data, an operation route of a plant protection unmanned aerial vehicle is planned according to the aerial survey data, and compared with common manual spraying operation, the plant protection operation efficiency is much higher; however, in the existing aerial survey method for manually controlling the positioning of the unmanned aerial vehicle, due to the complexity and changeability of the field terrain, the aerial survey data acquired by the unmanned aerial vehicle has a large difference from the actual terrain, and the aerial survey precision is low, so that the operation precision of plant protection operation is influenced.

Disclosure of Invention

The invention mainly aims to provide an unmanned aerial vehicle aerial survey method, a plant protection method, a device, a system and a readable storage medium, and aims to improve the aerial survey precision of the unmanned aerial vehicle during the aerial survey.

In order to achieve the above object, the present invention provides an unmanned aerial vehicle aerial survey method, which is applied to a ground station, wherein the ground station is in communication connection with a real-time dynamic RTK positioning base station, and the unmanned aerial vehicle aerial survey method comprises the following steps:

receiving an aerial survey image aiming at a target plot sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by an RTK positioning base station and corresponds to the aerial survey image;

calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data;

and outputting an aerial measurement result corresponding to the target land parcel according to the aerial measurement image and the real-time positioning information.

Optionally, the RTK positioning base station includes an RTK reference station and an RTK mobile station, the RTK mobile station is disposed in the unmanned aerial vehicle, and the step of receiving the aerial survey image of the target parcel sent by the unmanned aerial vehicle and the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by the RTK positioning base station includes:

receiving aerial survey images which are sent by an unmanned aerial vehicle and aim at a target land parcel;

receiving carrier phase difference fraction data corresponding to the unmanned aerial vehicle and transmitted by an RTK base station and a carrier phase observation value corresponding to the unmanned aerial vehicle and transmitted by an RTK mobile station;

the step of calculating real-time positioning information of the unmanned aerial vehicle according to the RTK data comprises the following steps:

and correcting the carrier phase observation value according to the carrier phase difference fraction data, and taking the corrected result as RTK data of the unmanned aerial vehicle corresponding to the aerial survey image.

Optionally, the step of receiving an aerial survey image of a target parcel sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by an RTK positioning base station further includes:

sending a mapping route for the target parcel to a flight control assembly of the unmanned aerial vehicle, so that the flight control assembly controls the unmanned aerial vehicle to carry out aerial survey along the mapping route for obtaining an aerial survey image of the target parcel.

Optionally, the step of receiving an aerial survey image of a target parcel sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by an RTK positioning base station further includes:

sending an RTK positioning request for the unmanned aerial vehicle to the RTK positioning base station so that the RTK positioning base station responds to the positioning request and returns RTK data of the unmanned aerial vehicle corresponding to the aerial survey image.

Optionally, the step of outputting the aerial survey result corresponding to the target parcel according to the aerial survey image and the real-time positioning information includes:

obtaining space image data corresponding to the target land parcel according to the aerial survey image and the real-time positioning information;

and correcting the space image data, taking a corrected result as an aerial survey result corresponding to the target land parcel, and outputting the aerial survey result.

Optionally, the step of receiving an aerial survey image of a target parcel sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by an RTK positioning base station further includes:

judging whether the aerial survey mode of the unmanned aerial vehicle is a common mode or a high-precision mode;

if the aerial survey mode of the unmanned aerial vehicle is a high-precision mode, the method comprises the following steps: receiving an aerial survey image aiming at a target plot sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by an RTK positioning base station and corresponds to the aerial survey image.

In addition, the invention also provides a plant protection method, which comprises the following steps:

aerial surveying is carried out on the target land block by adopting the unmanned aerial vehicle aerial surveying method to obtain an aerial surveying result;

setting a plant protection operation route according to the aerial survey result;

and controlling a plant protection unmanned aerial vehicle to perform plant protection operation on the target land block according to the plant protection operation route.

In addition, the invention also provides an unmanned aerial vehicle aerial survey device, which comprises:

the receiving module is used for receiving an aerial survey image aiming at a target plot sent by the unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by the RTK positioning base station and corresponds to the aerial survey image;

the positioning module is used for calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data;

and the processing module is used for outputting an aerial survey result corresponding to the target land parcel according to the aerial survey image and the real-time positioning information.

In addition, the invention also provides an unmanned aerial vehicle aerial survey system, which comprises a ground station, an unmanned aerial vehicle in communication connection with the ground station and an RTK positioning base station;

the unmanned aerial vehicle is used for sending aerial survey images aiming at the target land parcel to the ground station;

the RTK positioning base station is used for sending the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image to the ground station;

and the ground station is used for calculating to obtain the real-time positioning information of the unmanned aerial vehicle according to the RTK data and outputting the aerial survey result corresponding to the target plot according to the aerial survey image and the real-time positioning information.

In addition, the invention also provides a readable storage medium applied to a computer, wherein the readable storage medium stores the unmanned aerial vehicle aerial survey program, and the unmanned aerial vehicle aerial survey program realizes the steps of the unmanned aerial vehicle aerial survey method when being executed by a processor.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

the ground station is in communication connection with the RTK positioning base station, and aerial survey images aiming at a target plot and RTK data of the unmanned aerial vehicle corresponding to the aerial survey images, which are sent by the unmanned aerial vehicle, are received; calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data; outputting an aerial measurement result corresponding to the target land parcel according to the aerial measurement image and the real-time positioning information; therefore, accurate differential positioning is carried out on the aerial survey unmanned aerial vehicle through the RTK positioning base station, a high-precision aerial survey result is output according to accurate positioning information of the unmanned aerial vehicle and an aerial survey image of the unmanned aerial vehicle, and the problems that aerial survey data and actual terrain have large difference and the aerial survey precision is low due to the fact that the unmanned aerial vehicle is manually controlled to carry out aerial survey in a positioning mode are solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic flow chart of a first embodiment of an unmanned aerial vehicle aerial survey method of the present invention;

fig. 2 is a schematic flow chart of a second embodiment of the unmanned aerial vehicle aerial survey method of the present invention;

fig. 3 is a schematic flow chart of a third embodiment of the unmanned aerial vehicle aerial survey method of the present invention;

fig. 4 is a schematic flow chart of a fourth embodiment of the unmanned aerial vehicle aerial survey method of the present invention;

fig. 5 is a schematic flow chart of a fifth embodiment of the unmanned aerial vehicle aerial survey method of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The terms "first," "second," "third," "fourth," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "parallel," "perpendicular," and the like do not require that the components be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel relative to "perpendicular," and does not mean that the structures are necessarily perfectly parallel, but may be slightly tilted.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The invention provides an unmanned aerial vehicle aerial surveying method.

Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of an unmanned aerial vehicle aerial survey method of the present invention.

Embodiments of the present invention provide an embodiment of a method for unmanned aerial vehicle aerial surveying, and it should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that here.

The unmanned aerial vehicle aerial surveying method is applied to a ground station which is in communication connection with a real-time dynamic RTK positioning base station, and the ground station can be a PC, a portable computer and other terminal equipment, and is not limited specifically herein.

The unmanned aerial vehicle aerial survey method comprises the following steps:

step S100, receiving an aerial survey image aiming at a target plot sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by an RTK positioning base station and corresponds to the aerial survey image;

in agricultural application, aerial survey data are obtained by mapping a land parcel by using an aerial survey unmanned aerial vehicle, and an operation route of a plant protection unmanned aerial vehicle is planned according to the aerial survey data, so that compared with common manual spraying operation, the plant protection operation efficiency is much higher; however, in the existing aerial survey method for manually controlling the positioning of the unmanned aerial vehicle, due to the complexity and changeability of the field terrain, the aerial survey data acquired by the unmanned aerial vehicle has a large difference from the actual terrain, and the aerial survey precision is low, so that the operation precision of plant protection operation is influenced.

This embodiment ground station and unmanned aerial vehicle communication connection, ground station are used for controlling actions such as unmanned aerial vehicle's flight, take off and land, and the height that specifically can set up unmanned aerial vehicle aerial survey during the operation, course overlap rate, side direction overlap rate, airspeed isoparametric, and in this embodiment, as an implementation, ground station specifically is visual setting flat board.

As an implementation, this embodiment unmanned aerial vehicle carries on visible light camera, multispectral camera, airborne laser radar and carries out the acquireing of corresponding aerial survey image data, and specifically, unmanned aerial vehicle installs the camera cloud platform, and visible light camera, multispectral camera and airborne laser radar all are fixed in unmanned aerial vehicle through the camera cloud platform.

Further, in this embodiment, the ground station receives the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by the RTK positioning base station, that is, when the unmanned aerial vehicle navigates the target parcel, for each navigation measurement point, the unmanned aerial vehicle acquires the aerial survey image of the corresponding target parcel at the point, and the RTK positioning base station also acquires the RTK data of the unmanned aerial vehicle at the point and sends the RTK data to the ground station.

Step S200, calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data;

according to RTK data in the aerial survey process of the unmanned aerial vehicle, obtaining accurate positioning information of the unmanned aerial vehicle at each aerial survey point, wherein the RTK carrier phase difference technology can obtain centimeter-level positioning accuracy; in this embodiment, as an implementation manner, the RTK positioning base station includes an RTK base station and an RTK mobile station, the RTK mobile station is fixed to the unmanned aerial vehicle, at a positioning point, the RTK base station acquires a carrier phase observation value and a base station coordinate of the RTK base station and sends the carrier phase observation value to the ground station, the RTK mobile station acquires a carrier phase observation value of the RTK base station and sends the carrier phase observation value to the ground station, the ground station acquires carrier phase difference data of the RTK base station, and the ground station subtracts the carrier phase observation value of the RTK mobile station from the carrier phase difference data to obtain a coordinate.

Step S300, outputting an aerial survey result corresponding to the target land parcel according to the aerial survey image and the real-time positioning information;

as an embodiment, step S300 includes the following refinement steps:

step a, obtaining space image data corresponding to the target land parcel according to the aerial survey image and the real-time positioning information;

and b, correcting the space image data, taking a corrected result as an aerial survey result corresponding to the target land block, and outputting the aerial survey result.

Specifically, according to the aerial survey image and the real-time positioning information of the unmanned aerial vehicle, a digital ortho-image, a digital elevation model and a digital surface model of the target land are obtained, further, the obtained digital ortho-image is subjected to collective correction, radiation correction and atmospheric correction, and an aerial survey result corresponding to the target land is obtained.

The ground station is in communication connection with the RTK positioning base station, and aerial survey images aiming at a target plot and RTK data of the unmanned aerial vehicle corresponding to the aerial survey images, which are sent by the unmanned aerial vehicle, are received; calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data; outputting an aerial measurement result corresponding to the target land parcel according to the aerial measurement image and the real-time positioning information; from this, carry out accurate differential positioning to aerial survey unmanned aerial vehicle through RTK location basic station, according to unmanned aerial vehicle's accurate positioning information and unmanned aerial vehicle's aerial survey image output high accuracy aerial survey result, avoided manual control unmanned aerial vehicle location to carry out aerial survey data that leads to and there is great difference with actual topography, the problem that aerial survey precision is low, this embodiment has promoted the aerial survey precision that unmanned aerial vehicle navigated time measuring, further improved operation precision and plant protection effect based on this aerial survey result carries out plant protection operation.

Further, a second embodiment of the unmanned aerial vehicle aerial survey method is provided.

Referring to fig. 2, fig. 2 is a schematic flowchart of a second embodiment of the unmanned aerial vehicle aerial survey method of the present invention, based on the embodiment shown in fig. 1, in this embodiment, the RTK positioning base station includes an RTK reference station and an RTK mobile station, the RTK mobile station is disposed in the unmanned aerial vehicle, and the step S100 of receiving an aerial survey image for a target parcel sent by the unmanned aerial vehicle and RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by the RTK positioning base station includes:

step S110, receiving aerial survey images aiming at a target plot sent by an unmanned aerial vehicle;

step S120, receiving carrier phase difference fraction data corresponding to the unmanned aerial vehicle and transmitted by an RTK base station and a carrier phase observation value corresponding to the unmanned aerial vehicle and transmitted by an RTK mobile station;

specifically, in this embodiment, the RTK positioning base includes an RTK reference station and an RTK mobile station, where the RTK mobile station is disposed in the unmanned aerial vehicle, when the unmanned aerial vehicle navigates the target parcel, the ground station receives an aerial survey image for the target parcel sent by the unmanned aerial vehicle, for each navigation measurement point of the unmanned aerial vehicle, the RTK reference station obtains a carrier phase observation value and a reference station coordinate of a current time corresponding to the current navigation measurement point and sends the carrier phase observation value to the ground station, the ground station obtains a carrier phase difference data of the RTK reference station, the difference data is a difference between the carrier phase observation value of the RTK reference station and the reference station coordinate, and the carrier phase observation value of the RTK mobile station is subtracted from the carrier phase difference data, so that the obtained coordinate is the accurate positioning information of the unmanned aerial vehicle.

Further, in step S200, the step of calculating to obtain the real-time positioning information of the drone according to the RTK data includes:

step S210, correcting the carrier phase observation value according to the carrier phase difference fraction data, and using a corrected result as RTK data of the unmanned aerial vehicle corresponding to the aerial survey image.

In this embodiment, the carrier phase observation value of the RTK mobile station is corrected according to the difference between the RTK base station carrier phase observation value and the base station coordinate, specifically, the carrier phase observation value of the RTK mobile station is subtracted from the difference, and the obtained result is the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image.

In the embodiment, aerial survey images aiming at a target plot and sent by an unmanned aerial vehicle are received; receiving carrier phase difference fraction data corresponding to the unmanned aerial vehicle and transmitted by an RTK base station and a carrier phase observation value corresponding to the unmanned aerial vehicle and transmitted by an RTK mobile station; correcting the carrier phase observation value according to the carrier phase difference fraction data, and taking a corrected result as RTK data of the unmanned aerial vehicle corresponding to the aerial survey image; outputting an aerial measurement result corresponding to the target land parcel according to the aerial measurement image and the real-time positioning information; from this, carry out accurate differential positioning to aerial survey unmanned aerial vehicle through RTK location basic station, according to unmanned aerial vehicle's accurate positioning information and unmanned aerial vehicle's aerial survey image output high accuracy aerial survey result, avoided manual control unmanned aerial vehicle location to carry out aerial survey data that leads to and there is great difference with actual topography, the problem that aerial survey precision is low, this embodiment has promoted the aerial survey precision that unmanned aerial vehicle navigated time measuring, further improved operation precision and plant protection effect based on this aerial survey result carries out plant protection operation.

Further, a third embodiment of the unmanned aerial vehicle aerial survey method is provided.

Referring to fig. 3, fig. 3 is a schematic flowchart of a third embodiment of the unmanned aerial vehicle aerial survey method according to the present invention, based on the embodiment shown in fig. 2, in this embodiment, step S100 further includes, before the step of receiving an aerial survey image for a target parcel sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by an RTK positioning base station:

step S101, sending the mapping route of the target parcel to a flight control assembly of the unmanned aerial vehicle, so that the flight control assembly controls the unmanned aerial vehicle to carry out aerial survey along the mapping route, and acquiring an aerial survey image of the target parcel.

In this embodiment, according to the aerial survey demand of reality, combine information such as the topography of target plot, set up the survey and drawing course, among the current aerial survey method, need the user to lay by oneself like the accuse point, waste time and energy, in this embodiment, need not the user and set up ground like the accuse point, can acquire unmanned aerial vehicle's high accuracy location based on RTK location basic station, save operating time and manpower when promoting positioning accuracy.

The surveying and mapping route set based on actual demands is sent to a flight control assembly of the unmanned aerial vehicle, and the flight control assembly controls the unmanned aerial vehicle to carry out aerial survey on the surveying and mapping route so as to obtain aerial survey images of the target plot.

The present embodiment provides for the unmanned aerial vehicle to generate a survey route for the target parcel by sending the survey route to a flight control component of the unmanned aerial vehicle; receiving aerial survey images which are sent by an unmanned aerial vehicle and aim at a target land parcel; receiving carrier phase difference fraction data corresponding to the unmanned aerial vehicle and transmitted by an RTK base station and a carrier phase observation value corresponding to the unmanned aerial vehicle and transmitted by an RTK mobile station; correcting the carrier phase observation value according to the carrier phase difference fraction data, and taking a corrected result as RTK data of the unmanned aerial vehicle corresponding to the aerial survey image; outputting an aerial measurement result corresponding to the target land parcel according to the aerial measurement image and the real-time positioning information; from this, promoted the aerial survey precision of unmanned aerial vehicle navigation time measuring, when having improved the operation precision and the plant protection effect that carry out the plant protection operation based on this aerial survey result, saved operation personnel's time and human cost.

Further, a fourth embodiment of the unmanned aerial vehicle aerial survey method is provided.

Referring to fig. 4, fig. 4 is a schematic flowchart of a fourth embodiment of the unmanned aerial vehicle aerial survey method according to the present invention, based on the embodiment shown in fig. 2, in this embodiment, step S100 of receiving an aerial survey image for a target parcel sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by an RTK positioning base station further includes, before the step of:

step S102, sending an RTK positioning request for the unmanned aerial vehicle to the RTK positioning base station, so that the RTK positioning base station responds to the positioning request and returns RTK data of the unmanned aerial vehicle corresponding to the aerial survey image;

in this embodiment, when the unmanned aerial vehicle navigates the target parcel, the ground station sends an RTK positioning request for the unmanned aerial vehicle to the RTK positioning base station, so that the RTK positioning base station returns RTK data of the unmanned aerial vehicle corresponding to the aerial survey image in response to the positioning request, as an implementation manner, the positioning request includes an RTK mobile station to be positioned and a positioning time, and in response to the positioning request, the RTK positioning base station sends RTK data of the unmanned aerial vehicle corresponding to the positioning time to the ground station, so that the ground station calculates a high-precision aerial survey result of the target parcel; the problems that large difference exists between aerial survey data and actual terrain and aerial survey accuracy is low due to the fact that the unmanned aerial vehicle is manually controlled to position to conduct aerial survey are solved.

Further, a fifth embodiment of the unmanned aerial vehicle aerial survey method is provided.

Referring to fig. 5, fig. 5 is a schematic flowchart of a fifth embodiment of an unmanned aerial vehicle aerial survey method according to the present invention, based on the embodiment shown in fig. 1, in this embodiment, step S100 further includes, before the step of receiving an aerial survey image for a target parcel sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle corresponding to the aerial survey image sent by an RTK positioning base station:

step S400, judging whether the aerial survey mode of the unmanned aerial vehicle is a common mode or a high-precision mode;

if the aerial survey mode of the unmanned aerial vehicle is the high-precision mode, the method proceeds to step S100: receiving an aerial survey image aiming at a target plot sent by an unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by an RTK positioning base station and corresponds to the aerial survey image.

The ground station of the embodiment is compatible with the existing common aerial survey method and the RTK positioning-based high-precision unmanned aerial vehicle aerial survey method, and can select corresponding aerial survey modes for different aerial survey requirements, so that the actual aerial survey requirements are better met.

The embodiment of the invention also provides a plant protection method, which is applied to the ground station and comprises the following steps:

c, aerial surveying the target plot by adopting the unmanned aerial vehicle aerial surveying method of any embodiment to obtain an aerial surveying result;

d, setting a plant protection operation route according to the aerial survey result;

and e, controlling a plant protection unmanned aerial vehicle to perform plant protection operation on the target land block according to the plant protection operation route.

In agricultural application, the unmanned aerial vehicle generally uses a aerial survey unmanned aerial vehicle to survey and draw a plot to obtain aerial survey data, and plans an operation route of the plant protection unmanned aerial vehicle according to the aerial survey data, so that compared with common manual spraying operation, the plant protection operation efficiency is much higher; however, in the existing aerial survey method for manually controlling the positioning of the unmanned aerial vehicle, due to the complexity and changeability of the field terrain, the aerial survey data acquired by the unmanned aerial vehicle has a large difference from the actual terrain, and the aerial survey precision is low, so that the operation precision of plant protection operation is influenced.

In this embodiment, the unmanned aerial vehicle aerial survey method according to any one of the above embodiments is adopted to carry out aerial survey on a target plot to obtain an aerial survey result, the aerial survey unmanned aerial vehicle is accurately differentially positioned through the RTK positioning base station, and a high-precision aerial survey result is output according to accurate positioning information of the unmanned aerial vehicle and an aerial survey image of the unmanned aerial vehicle, so that the problems that aerial survey data and actual terrain have large difference and low aerial survey precision due to the fact that the unmanned aerial vehicle is manually controlled to carry out aerial survey are solved.

The invention provides an unmanned aerial vehicle aerial survey device.

This embodiment unmanned aerial vehicle aerial survey device includes:

the receiving module is used for receiving an aerial survey image aiming at a target plot sent by the unmanned aerial vehicle and RTK data of the unmanned aerial vehicle, which is sent by the RTK positioning base station and corresponds to the aerial survey image;

the positioning module is used for calculating to obtain real-time positioning information of the unmanned aerial vehicle according to the RTK data;

and the processing module is used for outputting an aerial survey result corresponding to the target land parcel according to the aerial survey image and the real-time positioning information.

The steps of the unmanned aerial vehicle aerial survey method implemented when each module of the unmanned aerial vehicle aerial survey device provided by this embodiment operates are all technical solutions of all the above embodiments, so that all the beneficial effects brought by the technical solutions of the above embodiments are at least achieved, and are not repeated here.

The invention provides an unmanned aerial vehicle aerial survey system, which comprises a ground station, an unmanned aerial vehicle and an RTK positioning base station, wherein the unmanned aerial vehicle is in communication connection with the ground station;

the unmanned aerial vehicle is used for sending aerial survey images aiming at the target land parcel to the ground station;

the RTK positioning base station is used for sending the RTK data of the unmanned aerial vehicle corresponding to the aerial survey image to the ground station;

and the ground station is used for calculating to obtain the real-time positioning information of the unmanned aerial vehicle according to the RTK data and outputting the aerial survey result corresponding to the target plot according to the aerial survey image and the real-time positioning information.

The present embodiment provides the steps for implementing the above-mentioned unmanned aerial vehicle aerial survey method when the unmanned aerial vehicle aerial survey system operates, and all technical solutions of all the above-mentioned embodiments are adopted, so that all beneficial effects brought by the technical solutions of the above-mentioned embodiments are at least achieved, and are not repeated here.

The invention also provides a computer readable storage medium.

The computer readable storage medium of the present invention has stored thereon a drone aerial survey program which, when executed by a processor, implements the steps of the drone aerial survey method as described above.

The method implemented when the unmanned aerial vehicle aerial survey program running on the processor is executed can refer to each embodiment of the unmanned aerial vehicle aerial survey method of the present invention, and details are not repeated here.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It should be noted that, in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.