Title:
INDOOR NAVIGATION METHOD AND APPARATUS FOR UNMANNED AERIAL VEHICLE, DEVICE AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/159603
Kind Code:
A1
Abstract:
An indoor navigation method and apparatus for an unmanned aerial vehicle, a device and a storage medium. The method comprises: upon receiving an unmanned aerial vehicle navigation request, obtaining an initial position and a destination position of an unmanned aerial vehicle (S10); acquiring operating state information of the unmanned aerial vehicle by means of a first acquisition apparatus of the unmanned aerial vehicle, and acquiring surrounding environment information of different heights and different photographing angles at the initial position by means of a second acquisition apparatus of the unmanned aerial vehicle (S20); constructing a feature point cloud of a photographed object according to the operating state information and the surrounding environment information, and processing the feature point cloud to obtain a point cloud model of the photographed object (S30); and superposing the point cloud model and a preset BIM model to obtain a superposed model, generating a navigation route to the destination position according to the superposed model, and controlling the unmanned aerial vehicle to operate according to the navigation route (S40). Indoor automatic navigation for unmanned aerial vehicles is achieved, and the accuracy of indoor navigation for unmanned aerial vehicles is improved.
Inventors:
XIAN ZHIHAI (CN)
CHEN DONGLIANG (CN)
CHEN DONGLIANG (CN)
Application Number:
PCT/CN2020/085853
Publication Date:
August 19, 2021
Filing Date:
April 21, 2020
Export Citation:
Assignee:
ONE CONNECT SMART TECH CO LTD SHENZHEN (CN)
International Classes:
G01C21/16; G01S11/12; G05D1/10
Domestic Patent References:
| WO2018048353A1 | 2018-03-15 |
Foreign References:
| CN104236548A | 2014-12-24 | |||
| CN109540142A | 2019-03-29 | |||
| CN109410327A | 2019-03-01 | |||
| CN108303099A | 2018-07-20 | |||
| US20170193830A1 | 2017-07-06 | |||
| US20170206648A1 | 2017-07-20 |
Attorney, Agent or Firm:
CENFO INTELLECTUAL PROPERTY AGENCY (CN)
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