CN108474657B - Environment information acquisition method, ground station and aircraft - Google Patents
Environment information acquisition method, ground station and aircraft Download PDFInfo
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- G05D1/10—Simultaneous control of position or course in three dimensions
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
An environmental information acquisition method, a ground station and an aircraft are provided, wherein the method comprises the following steps: the ground station sends an environmental information acquisition instruction to the aircraft to instruct the aircraft to shoot a target object according to flight control parameters and/or shooting control parameters carried by the environmental information acquisition instruction, so that image data comprising a plurality of images is obtained, the ground station receives the image data sent by the aircraft, the plurality of images are spliced, the spliced plurality of images are analyzed, and the environmental information of the target object is generated and displayed. The embodiment of the invention can conveniently and efficiently collect the environmental information.
Description
Technical Field
The invention relates to the technical field of information processing, in particular to an environmental information acquisition method, a ground station and an aircraft.
Background
At present, information of surrounding environment needs to be collected in many scenes, for example, an electronic map is not accurate enough for ground marks when going out in the field, and more precise ground marks need to be provided; the police needs to master the details of the surrounding environment when the police arranges and controls the implementation of the arrest or the fire fighters put out the fire. However, the existing environment information acquisition scheme generally has many disadvantages, for example, more manual participation is needed, 3D modeling needs to be performed on the surrounding environment, the existing electronic map is more dependent, and the acquisition of the environment information is time-consuming and low in efficiency due to the above disadvantages. Therefore, how to conveniently and efficiently collect the environmental information becomes a problem to be solved urgently.
Disclosure of Invention
The embodiment of the invention discloses an environmental information acquisition method, a ground station and an aircraft, which can acquire environmental information conveniently and efficiently.
The first aspect of the embodiments of the present invention discloses an environmental information acquisition method, including:
and the ground station sends an environment information acquisition instruction to the aircraft, wherein the environment information acquisition instruction carries flight control parameters and/or shooting control parameters.
And the ground station receives image data sent by the aircraft in response to the environment information acquisition instruction, wherein the image data comprises a plurality of images, and the plurality of images are obtained by shooting a target object by the aircraft according to the flight control parameters and/or the shooting control parameters.
And the ground station splices the multiple images, analyzes the spliced multiple images, and generates and displays the environmental information of the target object.
The second aspect of the embodiment of the present invention discloses another method for acquiring environmental information, including:
the aircraft receives an environment information acquisition instruction sent by the ground station, wherein the environment information acquisition instruction carries flight control parameters and/or shooting control parameters.
And the aircraft responds to the environmental information acquisition instruction, and shoots a target object according to the flight control parameters and/or the shooting control parameters to obtain image data of the target object, wherein the image data comprises a plurality of images.
And the aircraft sends the image data to the ground station so that the ground station generates and displays the environmental information of the target object according to the plurality of images.
A third aspect of the embodiments of the present invention discloses a ground station, including:
and the communication device is used for sending an environmental information acquisition instruction to the aircraft, wherein the environmental information acquisition instruction carries flight control parameters and/or shooting control parameters.
The communication device is further configured to receive image data sent by the aircraft in response to the environmental information acquisition instruction, where the image data includes a plurality of images, and the plurality of images are obtained by shooting a target object by the aircraft according to the flight control parameter and/or the shooting control parameter.
And the processor is used for splicing the plurality of images, analyzing the spliced images and generating the environmental information of the target object.
And the output device is used for displaying the environmental information of the target object.
A fourth aspect of an embodiment of the present invention discloses an aircraft, including:
and the communication device is used for receiving an environment information acquisition instruction sent by the ground station, wherein the environment information acquisition instruction carries flight control parameters and/or shooting control parameters.
And the flight controller is used for responding to the environmental information acquisition instruction and shooting a target object according to the flight control parameters and/or the shooting control parameters to obtain image data of the target object, wherein the image data comprises a plurality of images.
The communication device is further configured to send the image data to the ground station, so that the ground station generates and displays environment information of the target object according to the plurality of images.
In the embodiment of the invention, the ground station sends the environmental information acquisition instruction to the aircraft to instruct the aircraft to shoot the target object according to the flight control parameter and/or the shooting control parameter carried by the environmental information acquisition instruction to obtain the image data comprising a plurality of images, the ground station receives the image data sent by the aircraft, splices the plurality of images, analyzes the spliced plurality of images to generate and display the environmental information of the target object, and can conveniently and efficiently acquire the environmental information.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an environmental information collection method according to an embodiment of the present invention;
FIG. 2 is an interface schematic diagram of an image capture and flight trajectory disclosed in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a ground station according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an aircraft according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another ground station disclosed in the embodiments of the present invention;
fig. 6 is a schematic structural diagram of another aircraft disclosed in the embodiments of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The embodiment of the invention discloses an environmental information acquisition method, a ground station and an aircraft, which can acquire environmental information conveniently and efficiently. The following are detailed below.
The ground station described in the embodiment of the present invention may specifically be a terminal such as a smart phone, a tablet computer, a notebook computer, or may also be wearable devices such as video glasses, a smart watch, and a smart band.
Fig. 1 is a schematic flow chart of an environmental information collection method according to an embodiment of the present invention. The environmental information collection method described in this embodiment includes:
101. the ground station sends an environmental information acquisition instruction to the aircraft, and the aircraft receives the environmental information acquisition instruction.
The environmental information acquisition instruction may specifically carry flight control parameters and/or shooting control parameters. The flight control parameters may specifically include a flight limit altitude for limiting the flight of the aircraft within a specified altitude and a shooting range for specifying a position area range to be shot by the aircraft during the environmental acquisition. The shooting control parameter may specifically include target shooting accuracy, that is, accuracy of an image obtained by shooting desired by a user, and may be measured by a parameter of pixel/meter.
In specific implementation, the ground station may provide an operation interface, through which a user may input flight control parameters and shooting control parameters, and may trigger the ground station to send the environmental information acquisition instruction to the aircraft through the operation interface, or a rocker, a key (a virtual key or an entity key), and the like, and may carry the flight control parameters and the shooting control parameters in the environmental information acquisition instruction.
In some feasible embodiments, the environmental information acquisition instruction may specifically carry only flight control parameters, and the aircraft performs shooting control according to default shooting control parameters.
102. And the aircraft responds to the environmental information acquisition instruction, and shoots a target object according to the flight control parameters and/or the shooting control parameters to obtain image data of the target object, wherein the image data comprises a plurality of images.
In the specific implementation, after the aircraft receives the environmental information acquisition instruction, the flight control parameters and/or shooting control parameters carried by the environmental information acquisition instruction are acquired, the flight height, the flight track and the shooting direction within the specified shooting range can be autonomously determined according to the flight control parameters and/or shooting control parameters, the camera parameters of the aircraft and the like, the aircraft flies according to the flight track, the target object is shot by the camera according to the shooting direction shot each time, the image data of the target object is acquired, and the image data comprises a plurality of images and the shooting direction corresponding to the shooting direction when each image is shot. The camera parameters may specifically include a camera resolution, a Field of View (FOV), and the like, and the shooting orientation is the position and head orientation of the aircraft when shooting with the camera.
In some possible embodiments, assuming that the user specifies the shooting accuracy, the environment information acquisition instruction carries a flight control parameter and a shooting control parameter at the same time, the flight limit altitude includes a flight limit altitude upper limit (for example, 100m), and the aircraft may determine the flight altitude of the aircraft according to the flight limit altitude, the target shooting accuracy, and the camera parameter, where a specific implementation manner may be: the aircraft sets the initial value of the flight calculation altitude as the upper limit of the flight limit altitude, calculates the actual shooting precision (recorded as the first actual shooting precision) of the aircraft when the aircraft shoots an image at the initial value of the flight calculation altitude according to the initial value of the flight calculation altitude and the camera parameters, compares the first actual shooting precision with the shooting precision (namely the target shooting precision) expected by a user, and if the first actual shooting precision is greater than or equal to the target shooting precision, the initial value of the flight calculation altitude can meet the requirement of the user on the shooting precision, so that the aircraft can take the initial value of the flight calculation altitude as the flight altitude.
It should be noted that, if the environmental information acquisition instruction only carries flight control parameters, that is, the user does not specify the desired shooting accuracy, the target shooting accuracy is the default shooting accuracy of the aircraft side.
Further, if the first actual shooting accuracy is less than the target shooting accuracy, it indicates that the initial value of the calculated flying altitude cannot meet the user's requirement for shooting accuracy, since the lower the flying altitude of the aircraft is and the higher the actual shooting accuracy when the image is shot under the condition that the camera parameters are not changed, the aircraft can reduce the initial value of the calculated flying altitude by a preset altitude value (for example, 5m) to obtain a corrected value of the calculated flying altitude, and then the aircraft recalculates the actual shooting accuracy according to the corrected value of the calculated flying altitude and the camera parameters, i.e. the actual shooting accuracy when the aircraft shoots the image at the corrected value of the calculated flying altitude (denoted as the second actual shooting accuracy), and compares the second actual shooting accuracy with the target shooting accuracy, and if the second actual shooting accuracy is greater than or equal to the target shooting accuracy, it indicates that the corrected value of the calculated flying altitude can meet the, the aircraft may then take the correction of the calculated altitude of flight as the altitude of flight.
It should be noted that, if the second actual shooting accuracy is smaller than the target shooting accuracy, the aircraft may continue to decrease the correction value of the calculated flying altitude by a preset altitude value (for example, 5m) until the actual shooting accuracy is greater than or equal to the target shooting accuracy, so as to meet the user's requirement for shooting accuracy.
Further, the flight limit altitude further includes a lower limit of the flight limit altitude (e.g., 20m), if the initial value of the flight calculation altitude fails to meet the requirement of the user on the shooting accuracy, the aircraft may first determine whether the initial value of the flight calculation altitude is less than or equal to the lower limit of the flight limit altitude before reducing the initial value of the flight calculation altitude by a preset altitude value to obtain a corrected value of the flight calculation altitude, and if the initial value of the flight calculation altitude is less than or equal to the lower limit of the flight limit altitude, it indicates that the aircraft may exceed a specified altitude range and have a safety hazard when flying according to the obtained corrected value of the flight calculation altitude, and at this time, the aircraft may send a prompt message to the ground station, for example, may prompt the ground station to reduce the lower limit; if the initial value of the calculated flying height is greater than the lower limit of the flying height limit, the aircraft may perform an operation of increasing the actual shooting accuracy by decreasing the initial value of the calculated flying height.
After the ground station receives the prompt message sent by the aircraft, the specific response strategy may be: if the lower limit of the flight limit height can be reduced, the lower limit of the flight limit height can be reduced to meet the requirement of a user on shooting precision; or if the surrounding environment of the shooting range is complex, and the reduction of the lower limit of the flight limit altitude may seriously threaten the safety of the aircraft, the target shooting precision expected by the user can be reduced; alternatively, if the user's requirement for the shooting accuracy can be lowered, the target shooting accuracy desired by the user can be reduced.
It should be noted that the aircraft may use an altitude value smaller than the upper limit of the flight limit altitude as the initial value of the calculated flight altitude, for example, a median value between the upper limit of the flight limit altitude and the lower limit of the flight limit altitude may be used as the initial value of the calculated flight altitude, and of course, any altitude value between the upper limit of the flight limit altitude and the lower limit of the flight limit altitude may be used as the initial value of the calculated flight altitude, which is not limited in the embodiment of the present invention.
In some possible embodiments, the aircraft may determine a flight trajectory of the aircraft within a specified shooting range and a shooting orientation for each shooting according to the camera parameters and the determined flight altitude, and the specific implementation may be: the method comprises the steps that an aircraft shoots a target object at the flying height by using a camera, for example, the target object is shot vertically downwards by using the camera to obtain a shot image, size information (such as length and width) of the shot image is obtained, then the image to be shot covering a specified shooting range is determined according to the size information such as the length and the width of the shot image, the number of the images to be shot, the position in the shooting range and the like are included, the shooting direction of each shooting is determined according to the direction of the center point of each image to be shot, and a track formed by connecting the center points of each image to be shot according to a preset rule can be determined as the flying track of the aircraft in the shooting range.
It should be noted that the aircraft may also calculate the shooting position for each shooting according to the flight speed, the flight trajectory, and the like, for example, according to the distance from one shooting point to another shooting point on the flight trajectory, the shooting time may be determined by combining the flight speed, that is, how long time elapses after one shooting and the next shooting is performed.
For example, as shown in fig. 2, the shooting range specified by the user is an area surrounded by a black solid line, the target object is the ground, the aircraft uses the camera to shoot the ground vertically downward at the determined flying height, the length and the width of the shot image are obtained, a certain margin is left when the ground station splices the images to ensure that the shot images can completely cover the shooting range, the aircraft can reduce the length and the width of the shot image by preset values, the number of the images to be shot covering the shooting range and the positions in the shooting range are determined by using the length, the width, the shape and the size information of the shooting range and the like after the preset values are reduced, and the orientation of the center point of each image to be shot (i.e. the intersection point of the diagonals of the rectangular area) can be used as the shooting orientation corresponding to each shooting, and determining a track formed by connecting the central points of each image to be shot according to a preset rule as the flight track of the aircraft in the shooting range, wherein the preset rule can be an S-shaped rule shown in fig. 2, namely the obtained flight track is S-shaped (namely the track corresponding to a dotted line). Of course, the preset rule may also be a rule such as a "hui" shape, and if the preset rule is the "hui" shape rule, the obtained flight trajectory is to fly layer by layer from outside to inside or fly layer by layer from inside to outside.
In some possible embodiments, for an environmental information collection task in a scene with low ambient brightness, such as at night, the aircraft may be equipped with an illumination device, and at this time, the aircraft may fly according to a flight trajectory, illuminate the target object with the illumination device, and shoot the target object with the camera according to a shooting direction of each shooting, so as to obtain image data of the target object.
It should be noted that the lighting device may be a searchlight, that is, the aircraft may continuously illuminate the target object with the searchlight during the flight according to the flight trajectory. Or, the lighting device may also be a flash lamp, that is, the flash lamp may be turned on to illuminate the target object when the camera is required to shoot in the process of flying according to the flight trajectory.
In some feasible embodiments, for an environmental information acquisition task in a scene with low ambient brightness, such as at night, and under the condition that the load of an aircraft is heavy, an auxiliary aircraft can be assigned to the aircraft, lighting equipment is mounted on the auxiliary aircraft, the aircraft can fly according to a flight trajectory at the moment, the auxiliary aircraft is controlled by wireless communication modes, such as wireless fidelity Wi-Fi and bluetooth, to light a target object through the lighting equipment, if the lighting equipment is a searchlight, the aircraft can send a control instruction to the auxiliary aircraft at the starting point of the flight trajectory, and the auxiliary aircraft is instructed to turn on the searchlight to continuously light the target object in the flight process; if the lighting equipment is a flash lamp, the aircraft can send a control instruction to the auxiliary aircraft when the camera is required to shoot each time, the auxiliary aircraft is instructed to start the flash lamp to illuminate the target object, and then the aircraft shoots the target object by using the camera according to the shooting direction shot each time, so that the image data of the target object is obtained. The auxiliary aircraft needs to accompany the aircraft according to the same flight trajectory.
103. The aircraft sends the image data to the ground station, and the ground station receives the image data.
104. And the ground station splices the multiple images, analyzes the spliced multiple images, and generates and displays the environmental information of the target object.
Wherein the environmental information may include one or more of road information, topographic feature information, and route planning information.
In the specific implementation, the ground station receives image data sent by the aircraft, acquires a plurality of images contained in the image data, and a shooting orientation of each image, and then splices the plurality of images according to the shooting orientation of each image and an image splicing algorithm (for example, Scale-invariant feature transform (SIFT) algorithm, etc.), so as to obtain the spliced plurality of images, acquires environmental information in the spliced plurality of images through recognition algorithms such as feature extraction, depth learning, etc., and displays the environmental information through a user interface, for example, the ground station marks specific areas such as a road network, a water area, a farmland, a forest, a desert, etc. in the spliced plurality of images, and can also perform navigation planning of routes according to actual demands of users, etc.
In some feasible embodiments, the splicing of the multiple images and the generation of the environmental information of the target object can be completed by the aircraft, that is, after the aircraft obtains the image data of the target object, the multiple images taken can be directly spliced, the multiple spliced images are analyzed, the environmental information of the target object is generated, and then the environmental information of the target object is sent to the ground station, so that the ground station can directly display the environmental information in the user interface after receiving the environmental information, and can perform navigation planning and the like of a route according to the actual requirements of the user.
In the embodiment of the invention, the ground station sends an environmental information acquisition instruction to the aircraft to instruct the aircraft to shoot a target object according to flight control parameters and/or shooting control parameters carried by the environmental information acquisition instruction to obtain image data comprising a plurality of images, the ground station receives the image data sent by the aircraft to splice the plurality of images, the spliced plurality of images are analyzed to generate and display the environmental information of the target object, after a user specifies a shooting range, the aircraft can independently complete the determination of flight altitude, flight trajectory, shooting direction and the like to further shoot the image data of the target object, the ground station receives the image data and analyzes the image data to generate the environmental information of the target object, so that the environmental information can be conveniently and efficiently acquired, personalized services are provided according to the environmental information, and the applicability is wide.
Fig. 3 is a schematic structural diagram of a ground station according to an embodiment of the present invention. The ground station described in this embodiment includes:
the sending module 301 is configured to send an environmental information acquisition instruction to the aircraft, where the environmental information acquisition instruction carries flight control parameters and/or shooting control parameters.
A receiving module 302, configured to receive image data sent by the aircraft in response to the environmental information acquisition instruction, where the image data includes multiple images, and the multiple images are obtained by shooting a target object by the aircraft according to the flight control parameter and/or the shooting control parameter.
And the processing module 303 is configured to splice the multiple images, analyze the spliced multiple images, and generate the environmental information of the target object.
A display module 304, configured to display environment information of the target object.
In some possible embodiments, the image data further includes a shooting orientation, and the processing module 303 is specifically configured to:
the shooting orientation of each image is acquired from the image data.
And splicing the plurality of images according to the shooting direction of each image to obtain the spliced plurality of images.
In some possible embodiments, the environmental information includes one or more of road information, topographic feature information, and route planning information.
It can be understood that the functions of the functional modules of the ground station in the embodiment of the present invention can be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process thereof may refer to the related description of the foregoing method embodiment, which is not described herein again.
In the embodiment of the invention, a sending module 301 sends an environmental information acquisition instruction to an aircraft to instruct the aircraft to shoot a target object according to flight control parameters and/or shooting control parameters carried by the environmental information acquisition instruction to obtain image data comprising a plurality of images, a receiving module 302 receives the image data sent by the aircraft, a processing module 303 splices the plurality of images, the spliced plurality of images are analyzed to generate environmental information of the target object, a display module 304 displays the environmental information of the target object, the environmental information can be conveniently and efficiently acquired, and personalized services are provided according to the environmental information.
Fig. 4 is a schematic structural diagram of an aircraft according to an embodiment of the present invention. The aircraft described in this embodiment includes:
the receiving module 401 is configured to receive an environmental information acquisition instruction sent by a ground station, where the environmental information acquisition instruction carries flight control parameters and/or shooting control parameters.
A processing module 402, configured to respond to the environmental information acquisition instruction, shoot a target object according to the flight control parameter and/or the shooting control parameter, and obtain image data of the target object, where the image data includes multiple images.
A sending module 403, configured to send the image data to the ground station, so that the ground station generates and displays environment information of the target object according to the multiple images.
In some possible embodiments, the environment information acquisition instruction carries the flight control parameter and the shooting control parameter, where the flight control parameter includes a flight limit height and a shooting range, and the shooting control parameter includes a target shooting precision, and the processing module 402 includes:
the determining unit 4020 is configured to determine the flying height of the aircraft according to the flying limit height, the target shooting accuracy, and the camera parameter in response to the environmental information acquisition instruction.
The determining unit 4020 is further configured to determine a flight trajectory of the aircraft within the shooting range and a shooting position for each shooting according to the flight altitude and the camera parameters.
The shooting unit 4021 is configured to fly according to the flight trajectory, and shoot a target object by using a camera according to the shooting position of each shooting, so as to obtain image data of the target object.
In some possible embodiments, the flight-limit altitude comprises an upper flight-limit altitude limit, and the determining unit 4020 is specifically configured to:
and responding to the environmental information acquisition instruction, setting an initial value of the flight calculation height as the upper limit of the flight limit height, and calculating first actual shooting precision according to the initial value of the flight calculation height and the camera parameters.
And if the first actual shooting precision is greater than or equal to the target shooting precision, determining the initial value of the flight calculation height as the flight height.
In some possible embodiments, the determining unit 4020 is further configured to reduce the initial value of the calculated flying altitude by a preset altitude value to obtain a corrected value of the calculated flying altitude if the first actual shooting accuracy is smaller than the target shooting accuracy.
The determining unit 4020 is further configured to calculate a second actual shooting accuracy according to the correction value of the flight calculation altitude and the camera parameter.
The determining unit 4020 is further configured to determine the correction value of the calculated flying altitude as the flying altitude if the second actual shooting accuracy is greater than or equal to the target shooting accuracy.
In some possible embodiments, the flight limit altitude further comprises a lower flight limit altitude limit, and the aircraft further comprises a determining module 404, wherein:
the determining module 404 is configured to determine whether the initial value of the calculated flying height is smaller than or equal to the lower limit of the flying height limit.
The sending module 403 is further configured to send a prompt message to the ground station if the current time elapses, where the prompt message is used to prompt the ground station to reduce the lower limit of the flight limit height or the target shooting accuracy.
The determining unit 4020 is specifically configured to, if the initial value of the calculated flying height is not the preset value, decrease the initial value of the calculated flying height by a preset height value, and obtain a corrected value of the calculated flying height.
In some possible embodiments, the determining unit 4020 is specifically configured to:
and shooting the target object at the flying height by using a camera to obtain a shot image, and acquiring the size information of the shot image.
And determining the image to be shot covering the shooting range according to the size information of the shot image.
And determining the shooting direction of each shooting according to the direction of the central point of each image to be shot, and determining the track formed by connecting the central points of each image to be shot according to a preset rule as the flight track of the aircraft in the shooting range.
In some possible embodiments, the aircraft is equipped with lighting devices, and the shooting unit 4021 is specifically configured to:
flying according to the flying track, and illuminating the target object by using the illuminating device.
And shooting the target object by using a camera according to the shooting direction of each shooting to obtain the image data of the target object.
In some possible embodiments, the auxiliary aircraft of the aircraft is equipped with a lighting device, and the shooting unit 4021 is specifically configured to:
and flying according to the flight track, and controlling the auxiliary aircraft to illuminate the target object by using the illumination equipment.
And shooting the target object by using a camera according to the shooting direction of each shooting to obtain the image data of the target object.
It can be understood that the functions of the functional modules and units of the aircraft according to the embodiments of the present invention may be specifically implemented according to the method in the above method embodiments, and the specific implementation process may refer to the related description of the above method embodiments, which is not described herein again.
In the embodiment of the invention, a receiving module 401 receives an environment information acquisition instruction sent by a ground station, the environment information acquisition instruction carries flight control parameters and/or shooting control parameters, a processing module 402 shoots a target object according to the flight control parameters and/or the shooting control parameters to obtain image data of the target object, the image data comprises a plurality of images, and a sending module 403 sends the image data to the ground station, so that the ground station generates and displays the environment information of the target object according to the plurality of images, and the environment information acquisition device can conveniently and efficiently acquire the environment information and has wide applicability.
Please refer to fig. 5, which is a schematic structural diagram of another ground station according to an embodiment of the present invention. The ground station described in this embodiment includes: a communication device 501, a processor 502, an input device 503, an output device 504, and a memory 505. The communication device 501, the processor 502, the input device 503, the output device 504, and the memory 505 are connected by a bus.
The communication device 501 may be a radio frequency Receiver or a radio frequency chip, and in particular, the communication device 501 may include a Transmitter (TX) and a Receiver (RX) integrated together. The Processor 502 may be a Central Processing Unit (CPU), or other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The input device 503 may be a touch panel, a mouse, a keyboard, etc., and the touch panel includes a touch screen, etc. The output device 504 may include a display for outputting data such as environmental information.
The memory 505 may include both read-only memory and random access memory, and provides instructions and data to the processor 502. A portion of memory 505 may also include non-volatile random access memory. Wherein:
the communication device 501 is configured to send an environmental information acquisition instruction to the aircraft, where the environmental information acquisition instruction carries a flight control parameter and/or a shooting control parameter.
The communication device 501 is further configured to receive image data sent by the aircraft in response to the environmental information acquisition instruction, where the image data includes a plurality of images, and the plurality of images are obtained by shooting a target object by the aircraft according to the flight control parameter and/or the shooting control parameter.
The processor 502 is configured to splice the multiple images, and analyze the spliced multiple images to generate the environmental information of the target object.
An output device 504 for displaying the environment information of the target object.
In some possible embodiments, the image data further includes a shooting orientation, and the processor 502 is specifically configured to:
the shooting orientation of each image is acquired from the image data.
And splicing the plurality of images according to the shooting direction of each image to obtain the spliced plurality of images.
In some possible embodiments, the environmental information includes one or more of road information, topographic feature information, and route planning information.
In a specific implementation, the communication device 501, the processor 502, the input device 503, the output device 504, and the memory 505 described in this embodiment of the present invention may execute the implementation described in the environmental information acquisition method provided in fig. 1 in this embodiment of the present invention, or may execute the implementation of the ground station described in fig. 3 in this embodiment of the present invention, which is not described herein again.
In the embodiment of the invention, the communication device 501 sends an environmental information acquisition instruction to the aircraft to instruct the aircraft to shoot a target object according to flight control parameters and/or shooting control parameters carried by the environmental information acquisition instruction to obtain image data comprising a plurality of images, the communication device 501 receives the image data sent by the aircraft, the processor 502 splices the plurality of images, the spliced plurality of images are analyzed to generate environmental information of the target object, the output device 504 displays the environmental information of the target object, the environmental information can be acquired conveniently and efficiently, and personalized services are provided according to the environmental information.
Fig. 6 is a schematic structural diagram of another aircraft according to an embodiment of the present invention. The aircraft described in this embodiment includes: communication device 601, flight controller 602, camera 603, and memory 604. The communication device 601, the flight controller 602, the camera 603, and the memory 604 are connected by a bus.
The communication device 601 may be specifically a radio frequency Receiver or a radio frequency chip, and specifically, the communication device 601 may include a Transmitter (TX) and a Receiver (RX) integrated together. The flight controller 602 may be a microcontroller, a baseband processor, a baseband chip, a Digital Signal Processor (DSP), or a System On Chip (SOC) including a baseband processor and an application processor. The camera 603 is used to capture an environmental image.
the communication device 601 is configured to receive an environmental information acquisition instruction sent by a ground station, where the environmental information acquisition instruction carries flight control parameters and/or shooting control parameters.
And the flight controller 602 is configured to respond to the environmental information acquisition instruction, and capture a target object according to the flight control parameter and/or the capture control parameter to obtain image data of the target object, where the image data includes multiple images.
The communication device 601 is further configured to send the image data to the ground station, so that the ground station generates and displays environment information of the target object according to the plurality of images.
In some feasible embodiments, the environment information acquisition instruction carries the flight control parameter and the shooting control parameter, the flight control parameter includes a flight limit height and a shooting range, the shooting control parameter includes a target shooting precision, and the flight controller 602 is specifically configured to:
and responding to the environmental information acquisition instruction, and determining the flight altitude of the aircraft according to the flight limit altitude, the target shooting precision and the camera parameters.
And determining the flight track of the aircraft in the shooting range and the shooting position of each shooting according to the flight altitude and the camera parameters.
Flying according to the flying track, and shooting the target object by using the camera 603 according to the shooting direction of each shooting to obtain the image data of the target object.
In some possible embodiments, the flight-limit altitude comprises a flight-limit altitude upper limit, and the flight controller 602 is specifically configured to:
and responding to the environmental information acquisition instruction, setting an initial value of the flight calculation height as the upper limit of the flight limit height, and calculating first actual shooting precision according to the initial value of the flight calculation height and the camera parameters.
And if the first actual shooting precision is greater than or equal to the target shooting precision, determining the initial value of the flight calculation height as the flight height.
In some possible embodiments, the flight controller 602 is further configured to reduce the initial value of the calculated flight altitude by a preset altitude value to obtain a corrected value of the calculated flight altitude if the first actual shooting accuracy is smaller than the target shooting accuracy.
The flight controller 602 is further configured to calculate a second actual shooting precision according to the correction value of the flight calculation altitude and the camera parameter.
The flight controller 602 is further configured to determine the correction value of the calculated flight altitude as the flight altitude if the second actual shooting accuracy is greater than or equal to the target shooting accuracy.
In some possible embodiments, the flight-limit altitude further comprises a lower flight-limit altitude limit,
the flight controller 602 is further configured to determine whether the initial value of the calculated flight altitude is less than or equal to the lower limit of the flight limit altitude.
The communication device 601 is further configured to send a prompt message to the ground station if the current time elapses, where the prompt message is used to prompt the ground station to reduce the lower limit of the flight limit height or the target shooting accuracy.
The flight controller 602 is specifically configured to reduce the initial value of the calculated flight altitude by a preset altitude value if the calculated flight altitude is not the preset altitude value, so as to obtain a corrected value of the calculated flight altitude.
In some possible embodiments, the flight controller 602 is specifically configured to:
the target object is photographed at the flying height by the camera 603, a photographed image is obtained, and size information of the photographed image is acquired.
And determining the image to be shot covering the shooting range according to the size information of the shot image.
And determining the shooting direction of each shooting according to the direction of the central point of each image to be shot, and determining the track formed by connecting the central points of each image to be shot according to a preset rule as the flight track of the aircraft in the shooting range.
In some possible embodiments, the aircraft is equipped with a lighting device 605, and the flight controller 602 is specifically configured to:
flying according to the flight trajectory, and illuminating the target object by using the illuminating device 605.
And shooting the target object by using the camera 603 according to the shooting direction of each shooting to obtain the image data of the target object.
In some possible embodiments, the auxiliary aircraft of the aircraft is equipped with a lighting device 605, and the flight controller 602 is specifically configured to:
and flying according to the flight trajectory, and controlling the auxiliary aircraft to illuminate the target object by using the illumination device 605.
And shooting the target object by using the camera 603 according to the shooting direction of each shooting to obtain the image data of the target object.
In a specific implementation, the communication device 601, the flight controller 602, the camera 603, the memory 604, and the lighting device 605 described in the embodiment of the present invention may perform the implementation described in the environmental information acquisition method provided in fig. 1 in the embodiment of the present invention, or may also perform the implementation of the aircraft described in fig. 4 in the embodiment of the present invention, which is not described herein again.
In the embodiment of the invention, the communication device 601 receives an environment information acquisition instruction sent by a ground station, the environment information acquisition instruction carries flight control parameters and/or shooting control parameters, the flight controller 602 shoots a target object according to the flight control parameters and/or the shooting control parameters to obtain image data of the target object, the image data comprises a plurality of images, and the communication device 601 sends the image data to the ground station so that the ground station generates and displays the environment information of the target object according to the plurality of images, can conveniently and efficiently acquire the environment information, and has wide applicability.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (16)
1. An environmental information collection method, comprising:
the method comprises the steps that a ground station sends an environment information acquisition instruction to an aircraft, wherein the environment information acquisition instruction carries flight control parameters and shooting control parameters, the flight control parameters comprise flight limiting heights and shooting ranges, and the shooting control parameters comprise target shooting precision;
the ground station receives image data sent by the aircraft in response to the environment information acquisition instruction, wherein the image data comprises a plurality of images, the plurality of images are obtained by the aircraft flying according to the flying track after determining the flying track in the shooting range and the shooting direction of each shooting according to the flying limit height, the target shooting precision and the camera parameters, and shooting a target object by using a camera according to the shooting direction of each shooting;
the ground station splices the multiple images, analyzes the spliced multiple images, and generates and displays environmental information of the target object;
wherein, the image data still includes shoots the position, the ground station is to many images splice, include:
the ground station acquires the shooting direction of each image from the image data;
and the ground station splices the multiple images according to the shooting direction of each image to obtain the spliced multiple images.
2. The method of claim 1,
the environmental information includes one or more of road information, topographic feature information, and route planning information.
3. An environmental information collection method, comprising:
the method comprises the steps that an aircraft receives an environment information acquisition instruction sent by a ground station, wherein the environment information acquisition instruction carries flight control parameters and shooting control parameters;
the aircraft responds to the environmental information acquisition instruction, and shoots a target object according to the flight control parameter and the shooting control parameter to obtain image data of the target object, wherein the image data comprises a plurality of images;
the method for acquiring the image data of the target object by the aircraft comprises the following steps that the flight control parameters comprise flight limit height and a shooting range, the shooting control parameters comprise target shooting precision, the aircraft responds to the environmental information acquisition instruction and shoots the target object according to the flight control parameters and the shooting control parameters to obtain the image data of the target object, and the method comprises the following steps:
the aircraft responds to the environmental information acquisition instruction, and the flight height of the aircraft is determined according to the flight limit height, the target shooting precision and the camera parameters;
the aircraft determines the flight track of the aircraft in the shooting range and the shooting position of each shooting according to the flight height and the camera parameters;
the aircraft flies according to the flight track, and a camera is used for shooting a target object according to the shooting direction of each shooting to obtain image data of the target object;
the aircraft sends the image data to the ground station so that the ground station generates and displays the environmental information of the target object according to the plurality of images;
wherein, the aircraft determines the flight track of the aircraft in the shooting range and the shooting orientation of each shooting according to the flight altitude and the camera parameters, and the method comprises the following steps:
the aircraft shoots a target object at the flying height by using a camera to obtain a shot image, and size information of the shot image is obtained;
the aircraft determines an image to be shot covering the shooting range according to the size information of the shot image;
the aircraft determines the shooting direction of each shooting according to the direction of the center point of each image to be shot, and determines the track formed by connecting the center points of each image to be shot according to a preset rule as the flight track of the aircraft in the shooting range.
4. The method of claim 3, wherein the flight-limit altitude comprises an upper flight-limit altitude limit, and wherein determining the flight altitude of the aircraft based on the flight-limit altitude, the target capture accuracy, and camera parameters in response to the environmental-information-gathering instruction comprises:
the aircraft responds to the environmental information acquisition instruction, an initial value of a flight calculation height is set as the upper limit of the flight limit height, and first actual shooting precision is calculated according to the initial value of the flight calculation height and the camera parameters;
and if the first actual shooting precision is greater than or equal to the target shooting precision, the aircraft determines the initial value of the flight calculation altitude as the flight altitude.
5. The method of claim 4, further comprising:
if the first actual shooting precision is smaller than the target shooting precision, the aircraft reduces the initial value of the flight calculation height by a preset height value to obtain a corrected value of the flight calculation height;
the aircraft calculates a second actual shooting precision according to the correction value of the flight calculation height and the camera parameter;
and if the second actual shooting precision is greater than or equal to the target shooting precision, determining the corrected value of the flight calculation altitude as the flight altitude by the aircraft.
6. The method of claim 5, wherein the flight limit altitude further comprises a lower flight limit altitude, and wherein the aircraft further comprises, before reducing the initial value of the calculated flight altitude by a preset altitude value to obtain the corrected value of the calculated flight altitude:
the aircraft judges whether the initial value of the flight calculation altitude is smaller than or equal to the lower limit of the flight limit altitude;
if so, the aircraft sends a prompt message to the ground station, wherein the prompt message is used for prompting the ground station to reduce the lower limit of the flight limit altitude or the target shooting precision;
if not, the aircraft performs the step of reducing the initial value of the flight calculation altitude by a preset altitude value to obtain a corrected value of the flight calculation altitude.
7. The method according to any one of claims 4 to 6, wherein the aircraft is mounted with an illumination device, flies along the flight trajectory, and captures an image of a target object with a camera according to the capturing orientation for each capturing to obtain image data of the target object, and the method comprises:
the aircraft flies according to the flight track and illuminates a target object by using the illumination equipment;
and shooting the target object by the aircraft according to the shooting direction of each shooting by using a camera to obtain the image data of the target object.
8. The method according to any one of claims 4 to 6, wherein an auxiliary aircraft of the aircraft is mounted with an illumination device, and the aircraft flies along the flight trajectory and captures an image of a target object with a camera according to the capturing orientation for each capturing to obtain image data of the target object, and the method comprises:
the aircraft flies according to the flight track and controls the auxiliary aircraft to illuminate the target object by using the illumination equipment;
and shooting the target object by the aircraft according to the shooting direction of each shooting by using a camera to obtain the image data of the target object.
9. A ground station, comprising:
the communication device is used for sending an environment information acquisition instruction to the aircraft, wherein the environment information acquisition instruction carries flight control parameters and shooting control parameters, the flight control parameters comprise flight limiting heights and shooting ranges, and the shooting control parameters comprise target shooting precision;
the communication device is further configured to receive image data sent by the aircraft in response to the environmental information acquisition instruction, where the image data includes a plurality of images, the plurality of images are obtained by the aircraft flying according to the flight trajectory after determining a flight trajectory within a shooting range and a shooting position of each shooting according to the flight limit height, the target shooting precision and the camera parameters, and shooting a target object by using a camera according to the shooting position of each shooting;
the processor is used for splicing the multiple images, analyzing the spliced multiple images and generating the environmental information of the target object;
output means for displaying environmental information of the target object;
wherein the image data further includes a shooting orientation, and the processor is specifically configured to:
acquiring the shooting direction of each image from the image data;
and splicing the plurality of images according to the shooting direction of each image to obtain the spliced plurality of images.
10. The ground station of claim 9,
the environmental information includes one or more of road information, topographic feature information, and route planning information.
11. An aircraft, characterized in that it comprises:
the communication device is used for receiving an environment information acquisition instruction sent by the ground station, wherein the environment information acquisition instruction carries flight control parameters and shooting control parameters;
the flight controller is used for responding to the environmental information acquisition instruction, shooting a target object according to the flight control parameter and the shooting control parameter, and obtaining image data of the target object, wherein the image data comprises a plurality of images;
the flight control parameters comprise a flight limit height and a shooting range, the shooting control parameters comprise target shooting precision, and the flight controller is specifically used for:
responding to the environmental information acquisition instruction, and determining the flight altitude of the aircraft according to the flight limit altitude, the target shooting precision and the camera parameters;
determining the flight track of the aircraft in the shooting range and the shooting direction of each shooting according to the flight altitude and the camera parameters;
flying according to the flying track, and shooting a target object by using a camera according to the shooting direction of each shooting to obtain image data of the target object;
the communication device is further configured to send the image data to the ground station, so that the ground station generates and displays environment information of the target object according to the plurality of images;
wherein the flight controller is specifically configured to:
shooting a target object at the flying height by using a camera to obtain a shot image, and acquiring size information of the shot image;
determining an image to be shot covering the shooting range according to the size information of the shot image;
and determining the shooting direction of each shooting according to the direction of the central point of each image to be shot, and determining the track formed by connecting the central points of each image to be shot according to a preset rule as the flight track of the aircraft in the shooting range.
12. The aircraft of claim 11, wherein the flight-limit altitude comprises an upper flight-limit altitude, the flight controller being configured to:
responding to the environmental information acquisition instruction, setting an initial value of a flight calculation height as the upper limit of the flight limit height, and calculating first actual shooting precision according to the initial value of the flight calculation height and the camera parameters;
and if the first actual shooting precision is greater than or equal to the target shooting precision, determining the initial value of the flight calculation height as the flight height.
13. The aircraft of claim 12,
the flight controller is further configured to reduce the initial value of the flight calculation altitude by a preset altitude value if the first actual shooting accuracy is smaller than the target shooting accuracy, so as to obtain a corrected value of the flight calculation altitude;
the flight controller is further used for calculating second actual shooting precision according to the correction value of the flight calculation height and the camera parameter;
and the flight controller is further used for determining the corrected value of the flight calculation height as the flight height if the second actual shooting precision is greater than or equal to the target shooting precision.
14. The aircraft of claim 13 wherein the flight limit altitude further comprises a lower flight limit altitude limit,
the flight controller is further used for judging whether the initial value of the flight calculation height is smaller than or equal to the lower limit of the flight limit height;
the communication device is further configured to send a prompt message to the ground station if the current time elapses, where the prompt message is used to prompt the ground station to reduce the lower limit of the flight limit height or the target shooting accuracy;
and the flight controller is specifically used for reducing the initial value of the flight calculation height by a preset height value if the flight calculation height is not reduced, so as to obtain a corrected value of the flight calculation height.
15. The aircraft according to any one of claims 12 to 14, wherein the aircraft is equipped with a lighting device, and the flight controller is configured to:
flying according to the flying track, and illuminating the target object by using the illuminating device;
and shooting the target object by using a camera according to the shooting direction of each shooting to obtain the image data of the target object.
16. The aircraft according to any one of claims 12 to 14, wherein an auxiliary aircraft of the aircraft is equipped with lighting equipment, and the flight controller is configured to:
flying according to the flight track, and controlling the auxiliary aircraft to illuminate the target object by using the illumination equipment;
and shooting the target object by using a camera according to the shooting direction of each shooting to obtain the image data of the target object.
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| PCT/CN2017/078975 WO2018176376A1 (en) | 2017-03-31 | 2017-03-31 | Environmental information collection method, ground station and aircraft |
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| CN108474657B true CN108474657B (en) | 2020-10-30 |
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| US20190339362A1 (en) * | 2018-05-03 | 2019-11-07 | Mediatek Inc. | Signature-based object detection method and associated apparatus |
| CN111061288A (en) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | Method and device for landing identification of aircraft based on ground station |
| CN111061291A (en) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | Method and device for recognizing ground mark |
| CN111061289A (en) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | Flight control method and device for identification based on ground identification |
| CN111061292A (en) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | Aircraft landing method and device |
| CN111061300A (en) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | Method and device for dynamically setting ground identification |
| EP3885702A4 (en) * | 2018-11-21 | 2021-12-01 | Guangzhou Xaircraft Technology Co., Ltd | Surveying and mapping system, surveying and mapping method, apparatus, device and medium |
| KR20210104033A (en) * | 2018-11-21 | 2021-08-24 | 광저우 엑스에어크래프트 테크놀로지 씨오 엘티디 | Planning method, apparatus, control terminal and storage medium of survey and mapping sample points |
| CN112327893A (en) * | 2019-08-05 | 2021-02-05 | 旭日蓝天(武汉)科技有限公司 | AI (Artificial intelligence) technology-based unmanned aerial vehicle flight control front-end people counting system and method |
| CN110928200B (en) * | 2019-12-17 | 2020-12-15 | 中国人民解放军军事科学院国防科技创新研究院 | Virtual-real linkage simulation test system and method for unmanned aerial vehicle |
| CN113436461B (en) * | 2021-05-31 | 2022-09-23 | 荣耀终端有限公司 | Method for sending parking space information, vehicle-mounted device and computer-readable storage medium |
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