CN108536863A - Selection area update method and system in a kind of map based on unmanned plane - Google Patents
Selection area update method and system in a kind of map based on unmanned plane Download PDFInfo
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- CN108536863A CN108536863A CN201810361245.5A CN201810361245A CN108536863A CN 108536863 A CN108536863 A CN 108536863A CN 201810361245 A CN201810361245 A CN 201810361245A CN 108536863 A CN108536863 A CN 108536863A
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- unmanned plane
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
Abstract
The invention discloses selection area update methods in a kind of map based on unmanned plane, including：S1：User's input is detected to obtain the longitude and latitude on the boundary for the selection area that user draws on the electronic map；S2：The target tile of covering selection area is chosen in electronic map as target shooting area, and divides target shooting area to obtain multiple tiles；S3：Calculate the longitude and latitude of the central point of each tile；S4：Obtain a whole pictures for each tile；S5：Processing is corrected to the picture of each tile；S6：Generate target area map.Implement the present invention, on the one hand may be implemented to eliminate the artificial trouble for manipulating unmanned plane and taking photo by plane automatically according to user's selection area real-time update map picture by unmanned plane；On the other hand the present invention utilizes tile technology, obtains a whole photo for each tile in real time, picture renewal speed is fast, greatly improves the speed for updating entire target shooting area.
Description
Technical field
The present invention relates to Cartographic Technique fields, more specifically to selection area in a kind of map based on unmanned plane
Update method and system.
Background technology
Along with the high speed development of wireless communication, computer technology and geographic information system technic, map location service is early
It is ripe to be applied to agricultural or industry mapping.Due to popularizing for unmanned plane, people begin to use mobile terminal control to carry sensing
The unmanned plane capture images of device are so as to map making.When people are to the spy that is equipped on some electronic map on mobile terminal
When determining area interest, need manual operation unmanned plane that the region is gone to be shot, therefore operate very cumbersome.
Invention content
The technical problem to be solved in the present invention is, in view of the drawbacks of the prior art, provides a kind of ground based on unmanned plane
Selection area update method and system in figure.
The technical solution adopted by the present invention to solve the technical problems is：Area is selected in a kind of map based on unmanned plane of structure
Area update method comprising following steps：
S1：User's input is detected to obtain the longitude and latitude on the boundary for the selection area that user draws on the electronic map；
S2：The target tile of covering selection area is chosen in electronic map as target shooting area, and divides target
Shooting area is to obtain multiple tiles；
S3：Calculate the longitude and latitude of the central point of each tile；
S4：Obtain a whole pictures for each tile；
S5：Processing is corrected to the picture of each tile；
S6：Generate target area map.
In the above-mentioned map based on unmanned plane in selection area update method, in step S2 divide target shooting area with
Obtaining multiple tile specific steps includes：
To target shooting area create pyramid model tile map, since the target shooting area upper left corner, from a left side to
The right side is cut from top to bottom, is divided into the map tile of the square of same size, the 0th layer of tile matrix is formed, the 0th
On the basis of layer map picture, the 1st layer of map picture is generated according to the method that every 2 ﹡, 2 pixels synthesize a pixel, and to its into
Row piecemeal is divided into the square map picture with next layer of same size, forms the 1st layer of tile matrix, so recycles, until
N-1 layers, form each layer of tile matrix.
In the above-mentioned map based on unmanned plane in selection area update method, the step S4 is specifically included：
The center position of each tile is defined, the figure that unmanned plane is shot in the center position of each tile is received
Piece.
In the above-mentioned map based on unmanned plane in selection area update method, the step S4 is specifically included：
The equally distributed multiple positions of each tile are defined, unmanned plane is received and is shot in the multiple position of each tile
Multiple overlapped pictures, and whole one of each tile synthesized according to multiple overlapped photos of shooting
Open photo.
The embodiment of the present invention also provides selection area more new system in a kind of map based on unmanned plane, including：Unmanned plane,
Earth station system, server and network, wherein：Earth station system and server are connected with unmanned plane by network communication respectively
It connects, the server connects high in the clouds；
The earth station system includes for showing the display device of electronic map, for obtaining user in electronic map
The input unit of the selection area of input and processor for determining target shooting area according to selection area；
The server includes computing module, and the computing module is used to obtain the longitude and latitude on the boundary of target shooting area
Degree marks off multiple tiles by tile technology, constructs tile pyramid model, and calculate the central point of each tile
Longitude and latitude；
The server further includes communication module, for being in communication with each other with earth station system and transmitting control instruction extremely
The earth station system is shot with controlling unmanned plane, finally obtains a whole pictures for each tile；
The server further includes image processing module, is corrected for the picture to each tile, the server
Picture after processing is put into high in the clouds, forms the newest picture of target shooting area.
In the above-mentioned map based on unmanned plane in selection area more new system, each tile of the server acquisition
A whole pictures are the pictures shot in the center position of each tile by unmanned plane.
In the above-mentioned map based on unmanned plane in selection area more new system, each tile of the server acquisition
A whole pictures are synthetically formed according to multiple overlapped photos of shooting by the unmanned plane, described more
Overlapped picture is opened to be shot in multiple positions of each tile by the unmanned plane.
Implement selection area update method and system in the map based on unmanned plane of the present invention, has below beneficial to effect
Fruit：On the one hand, the present invention can obtain any selection area that user inputs in electronic map by input unit, and will cover
The target tile of lid selection area is as target shooting area；On the other hand, using tile technology, target shooting area is created
Pyramid model tile map finds tile point, such as unmanned plane shoots photo, Huo Zhe in the center position of each tile
Equally distributed multiple positions of each tile shoot multiple overlapped photos, and synthesize whole one of each tile
A whole pictures for photo, each tile by server to receiving are rectified a deviation, are cut, and will through correction,
Picture after cutting is put into high in the clouds, directly generates tile map, and renewal speed is fast, greatly improves the entire target shooting of update
The speed in region automatically generates updated map with little need for manpower intervention.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is provided in an embodiment of the present invention executing the application environment of map rejuvenation；
Fig. 2 is the concrete structure schematic diagram of unmanned plane in Fig. 1；
Fig. 3 be the embodiment of the present invention a kind of map based on unmanned plane in the method flow of selection area update method show
It is intended to；
Fig. 4 is divided into the schematic diagram of multiple mutually independent tiles；
Fig. 5 is the method flow schematic diagram of the map updating method of the preferred embodiment based on Fig. 3；
Fig. 6 is the schematic diagram for the center position for indicating each tile；
Fig. 7 is the method flow schematic diagram of the map updating method of another preferred embodiment based on Fig. 3；
Fig. 8 is the schematic diagram for the multiple positions for indicating each tile.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
The specific implementation mode of the present invention.
As shown in Figure 1, being provided in an embodiment of the present invention to execute the application environment of map rejuvenation, the application environment packet
It includes：Unmanned plane 10, earth station system 20, Cloud Server 30 and network.
Unmanned plane 10 can be high-altitude or the low flyer of any suitable type, including typical four-axle aircraft,
The RC Goblin that can be hovered or the Fixed Wing AirVehicle etc. with certain movement speed.It is arranged on unmanned plane 10 at least one
Image collecting device, infrared induction instrument (it was found that life entity), swashs at thermoinduction instrument (being used for measuring temperature, look for burning things which may cause a fire disaster, life entity etc.)
For light thunder away from, radar etc., image collecting device can be such as high-definition camera or motion cameras, to complete to target
The communication module of any suitable type can also be arranged in the image shoot process of shooting area A, to realize the control to unmanned plane
The transmission of system and data.
The hardware of unmanned plane 10 relates generally to three parts：1, the flight control system of unmanned plane, 2, the dynamical system of unmanned plane,
Coordination collocation etc. including propeller, motor, battery and a whole set of system, 3, the contour structures of inorganic machine, for carrying image
Harvester such as camera, and by each error reference record of the picture of shooting in picture data.Specifically, unmanned plane
Concrete structure is as shown in Figure 2 comprising flight control system 101；Gyroscope 102, be used to measure X, Y, Z-direction pitch angle,
Angle of inclination etc.；The GPS/ Big Dippeves 103；Barometer 104, for measuring drone flying height；Data link 105, for passing
Transmission of data and photo (artwork)；Magnetic compass 106.
Earth station system 20 include for showing the display device of electronic map, it is defeated in electronic map for obtaining user
The input unit of the selection area entered and processor for determining target shooting area according to selection area.Earth station system 20
All key points for also covering operation unmanned plane 10, make unmanned plane 10 that can independently be pressed by the track of load with remote control
According to the airline operation of planning, map datum is captured automatically.Cloud Server 30 by earth station system 20 issuing control instruction
With reception unmanned plane gathered data, the picture of each tile in corresponding geographical location is received.By being put into cloud after integrating, splicing
End, directly generates tile map.In some embodiments, it is removable that input unit, processor, display device, which can be implemented separately,
Dynamic intelligent terminal.
Network can be any suitable, to realize the wired or wireless network of two communication between devices connection,
Such as 4G/WiFi.It is established and is communicated to connect by network between 10 three of earth station system 20, Cloud Server 30 and unmanned plane, on
Data/commands are passed or issued, and then complete map rejuvenation instruction.
In application process, unmanned plane 10 is connect by corresponding network with earth station system 20, by earth station system 20
Unmanned plane 10 is controlled independently according to the airline operation of planning, captures map datum, while the figure that unmanned plane 10 will take automatically
As data are returned to earth station system 20, earth station system 20 is transmitted further to Cloud Server 30, and Cloud Server 30 carries out data
It is put into high in the clouds after processing, directly generates updated tile map.
Referring to Fig. 3, for the method for selection area update method in a kind of map based on unmanned plane of the embodiment of the present invention
Flow diagram, this method comprises the following steps：
S1：It is inputted in the input unit detection user of ground surface end to obtain the selection area that user draws on the electronic map
Boundary longitude and latitude.Input unit can be for example, capacitance display screen, electronic map can be shown in display screen, then
User's input on capacitance display screen is detected, to obtain the boundary of corresponding selection area on electronic map.
S2：The target tile of covering selection area is chosen in electronic map as target shooting area, and divides target
Shooting area is to obtain multiple tile U；The present embodiment is construction tile pyramid, specifically by the calculating mould in Cloud Server 30
Target shooting area A is divided into multiple tiles by root tuber according to required precision and level of zoom, and each tile has corresponding tile
Raster data can correspond to and be expressed as n-th layer, X row, Y row.
Specifically, in embodiments of the present invention, tile pyramid model is a kind of multiresolution hierarchical model, from tile gold
For the bottom of word tower to top layer, resolution ratio is lower and lower, but the geographic range indicated is constant.Determine that map service platform is wanted first
The quantity N of the level of zoom of offer, level of zoom is minimum, the maximum map picture of map scale is as pyramidal bottom
Layer, i.e., the 0th layer, and piecemeal is carried out to it, since the upper left corner of map picture, cut from left to right, from top to bottom, point
It is cut into the square map tile of same size (such as 256x256 pixels), forms the 0th layer of tile matrix；In the 0th layer of Map
On the basis of piece, the 1st layer of map picture is generated by the method that every 2x2 pixels synthesize a pixel, and piecemeal is carried out to it, point
It is cut into the square map tile with next layer of same size, forms the 1st layer of tile matrix；The 2nd is generated using same method
Layer tile matrix；…；So go down, until N-1 layers, constitutes entire tile pyramid.
Such as the entire earth is the 0th layer, the size of the 23rd layer of each tile is 2.5 meters * 2.5 meters.
More and more Map Services use tile technology now, such as present China carries out the day Map Services of publication just
Map tile technology is used.Map tile after being sliced in fact is grating image, does not have location information, but is sliced
After having used related slices algorithm, the position specifically positioned can be calculated.It is space for example, by using WGS84 earth coordinates
With reference to being sliced to map, divide to form map watt using certain Slicing Algorithm, such as with longitude and latitude step-length equal proportion
Piece can calculate specific location when needing to position a specific place according to longitude and latitude step-length, be reached with this
The function of positioning.
In embodiments of the present invention, target shooting area A is divided into multiple mutually independent tile U according to tile technology,
As shown in figure 4, being a certain layer tile matrix, the picture of each tile U in every layer is obtained and update is completely independent.And it is each
Tile all has positioning function, that is, has corresponding geographical location.
S3：Calculate the longitude and latitude of the central point of each tile U.Here according to the geographical location of each tile U, still by cloud
The computing module of server 30 calculates the longitude and latitude of the central point of each tile U of each layer of tile matrix.
S4：Obtain a whole pictures of each tile U.Here server is according to each watt of each layer of tile matrix
The position of the central point of piece U exports control signal to control picture of the unmanned plane shooting with presumptive area by earth station system.
Unmanned plane can acquire oneself and fly through region by video camera or other suitable image capture devices in the air
Image.The specific course line of unmanned plane or all running orbit can be determined by earth station system and server, be in earth station
Under the control of system and server.The type of image data in the present embodiment is photo.
As shown in figure 5, obtaining the whole pictures tool of each tile U of each layer of tile matrix in above-mentioned steps S4
Body includes：
S4’:A photo is shot in the positions central point O of each tile U, as shown in Figure 6.Here with unmanned plane every
The positions central point O of a tile U shoot photo, and the shooting speed of unmanned plane is fast, and flying speed is fast, and picture renewal speed is also fast,
Several milliseconds or so may be updated entire target shooting area A, be suitable for the fast technical field of more new demand, such as traffic control area
Domain.
In another preferred embodiment, as shown in fig. 7, obtaining each tile U of each layer of tile matrix in step S4
A whole pictures specifically include：
S41：Multiple overlapped pictures are shot in equally distributed multiple positions of each tile U, as shown in Figure 8.
It uniformly chooses 4 points (O1, O2, O3, O4) and shoots 4 overlapped photos, naturally it is also possible to be other, such as 9 or more
It is more, any restrictions are not done here, depend primarily on required precision.
S42：Multiple the overlapped pictures that will be shot in multiple positions of each tile U utilize the portion for comparing coincidence
Point, by finding similitude, synthesize a whole pictures of each tile U.And the synthesis of each tile U is handled, phase
Mutual complete independently, without mutually waiting for.
During mapping, to ensure the reliability of data, multiple positions of the same area are acquired respectively,
During carrying out Duplication judgement, the predetermined threshold of judgement can be determined according to actual conditions, such as 85% or
Higher/lower depends on the control strategy of server, is allowed with such Duplication between at least two width consecutive images
A few width picture catchings finally synthesize the entirety of each tile of each layer of tile matrix to the similitude for the tile to be shot
One photo.
In above-mentioned steps using a frame unmanned plane or multiple UAVs around the central point of each tile U, find uniform
Multiple point positions of distribution shoot photo, synthesize a photo, making up map automatic Mosaic by the splicing of similitude entangles
Inclined accuracy, precision is high, its accuracy and precision are can guarantee in the case where GPS is disturbed, and it is high to be suitable for precision
Technical field, such as earthquake fire rescue the regional area for having survival personnel.
S5：Processing is corrected to the picture of each tile；
During mapping, shooting picture may be because of factors such as sensor accuracy, environment, and the photo of shooting can be wrong
Difference not necessarily shoots photo in strict accordance with preset condition, but by correction and need to be cut to accord with according to target cut size
Close preset picture.Here it is the processing such as independent correction to be carried out to the picture of each tile, is cut, without mutually waiting for,
In, the parameter that correction and cutting are related to includes holder drift angle information, GPS information, the speed of unmanned plane, height and Image Acquisition
The shooting angle etc. of device.
Specifically, according to information such as GPS sensor data, and the angle of shooting photo, picture is rectified a deviation.Including step
It is rapid as follows：
S51, photo should meet condition：It is parallel to plane XOZ；
S52, photo should meet condition：Perpendicular to plane ZOY；
S53, photo should meet condition：Perpendicular to plane XOY；
S54, according to the location information of photograph taking point, by the physical location of tile central point (GPS central points) in photo
In be identified；
S55, excess margins are subtracted according to tile size section.
Specific code is as follows：
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S6：The picture of calibrated processing is put into high in the clouds, directly generates tile map, combination forms target shooting area
Newest picture.
The process of emergence is needed not move through in this step, and the picture after directly cutting correction is put into high in the clouds, directly generates
Tile map, each tile U correspond to a photo, and the newest picture of target shooting area A is formed after combination.
The embodiment of the present invention also provides selection area more new system in a kind of map based on unmanned plane, which includes upper
Unmanned plane 10, earth station system 20, Cloud Server 30 described in face and network.Specifically, include calculating by Cloud Server 30
Module, computing module are specifically used for executing following steps：
Obtain the longitude and latitude on the boundary of target shooting area A；
Multiple tiles are marked off by tile technology, construct tile pyramid model；
Calculate the longitude and latitude of the central point of each tile.
Cloud Server 30 further includes communication module, and communication module is used for and earth station system 20 in a preferred embodiment
The longitude and latitude of the central point of each tile is transmitted to earth station system 20 by communication, and earth station system 20 passes through these geographical positions
Data output control signal is set to control unmanned plane in center position one pictures of shooting of each tile and be returned to ground
These data are transferred to Cloud Server 30 by system of standing 20, earth station system 20 again.
Cloud Server 30 further includes image processing module, for the photo of each tile carry out independent correction as correction,
The processing such as cutting, without mutually waiting for.Picture after processing is put into high in the clouds by Cloud Server 30, directly generates tile map.
In another preferred embodiment, for being communicated with earth station system 20, earth station system 20 exports communication module
Control signal shoots multiple phase mutual respects to control the multiple points of the uniform design around the center position of each tile of unmanned plane 10
Folded photo.Using intersection is compared, by searching similitude, synthesize a whole photo of each tile U, nobody
A whole photo for each tile is returned to Cloud Server 30 by machine.The real-time Transmission after integrating, splicing of Cloud Server 30
To high in the clouds, tile map is directly generated.Each tile corresponds to a photo, and the newest figure of target shooting area is formed after combination
Piece.
In summary, on the one hand, the present invention can input by input unit acquisition user in electronic map any
Selection area, and the target tile of selection area will be covered as target shooting area；On the other hand, right using tile technology
Target shooting area creates pyramid model tile map, finds tile point, such as unmanned plane is in the center point of each tile
Shooting photo is set, or multiple overlapped photos are shot in equally distributed multiple positions of each tile, and is synthesized
A whole photo for each tile, rectified a deviation to a pictures of the entirety of each tile received by server,
Cut etc., and the picture after rectifying a deviation, cutting is put into high in the clouds, tile map is directly generated, renewal speed is fast, greatly improves
The speed of update entire target shooting area automatically generates updated map with little need for manpower intervention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (7)
1. selection area update method in a kind of map based on unmanned plane, which is characterized in that including：
S1：User's input is detected to obtain the longitude and latitude on the boundary for the selection area that user draws on the electronic map；
S2：The target tile of covering selection area is chosen in electronic map as target shooting area, and divides target shooting
Region is to obtain multiple tiles；
S3：Obtain out the longitude and latitude of the central point of each tile；
S4：Obtain a whole pictures for each tile；
S5：Processing is corrected to the picture of each tile；
S6：Generate new target area map.
2. selection area update method in the map according to claim 1 based on unmanned plane, which is characterized in that the step
Divide target shooting area in rapid S2 includes with the specific steps for obtaining multiple tiles：Pyramid mould is created to target shooting area
Type tile map is cut since the target shooting area upper left corner, is divided into same size from left to right, from top to bottom
Square map tile, formed the 0th layer of tile matrix, on the basis of the 0th layer of map picture, according to every 2 ﹡, 2 pixels close
The 1st layer of map picture is generated at the method for a pixel, and piecemeal is carried out to it, is divided into the pros with next layer of same size
Shape map picture forms the 1st layer of tile matrix, so recycles, and until N-1 layers, forms each layer of tile matrix.
3. selection area update method in the map according to claim 2 based on unmanned plane, which is characterized in that the step
Rapid S4 is specifically included：
The center position of each tile is defined, the pictures that unmanned plane is shot in the center position of each tile are received.
4. selection area update method in the map according to claim 2 based on unmanned plane, which is characterized in that the step
Rapid S4 is specifically included：
The equally distributed multiple positions of each tile are defined, receive unmanned plane in the more of the multiple position of each tile shooting
Open overlapped picture, and a whole photograph for each tile synthesized according to multiple overlapped photos of shooting
Piece.
5. selection area more new system in a kind of map based on unmanned plane, which is characterized in that including：Mobile terminal, unmanned plane,
Face station system, server and network, wherein：Earth station system and server are connect with unmanned plane by network communication respectively,
The server connects high in the clouds；
The earth station system includes being inputted in electronic map for showing the display device of electronic map, for obtaining user
Selection area input unit and processor for determining target shooting area according to selection area；
The server includes computing module, and the computing module is used to obtain the longitude and latitude on the boundary of target shooting area, is led to
It crosses tile technology and marks off multiple tiles, construct tile pyramid model, and calculate the longitude and latitude of the central point of each tile
Degree；
The server further includes communication module, for control instruction to be in communication with each other and transmitted with earth station system to described
Earth station system is shot with controlling unmanned plane, finally obtains a whole pictures for each tile；
The server further includes image processing module, is corrected for the picture to each tile, and the server will be through
Treated, and picture is put into high in the clouds, forms the newest picture of target shooting area.
6. selection area more new system in the map according to claim 5 based on unmanned plane, which is characterized in that the clothes
A whole pictures for each tile that business device obtains are one shot in the center position of each tile by unmanned plane
Picture.
7. selection area more new system in the map according to claim 5 based on unmanned plane, which is characterized in that the clothes
A whole pictures for each tile that business device obtains are multiple overlapped photos by the unmanned plane according to shooting
It is synthetically formed, multiple described overlapped pictures are shot by the unmanned plane in multiple positions of each tile.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810361245.5A CN108536863A (en) | 2018-04-20 | 2018-04-20 | Selection area update method and system in a kind of map based on unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810361245.5A CN108536863A (en) | 2018-04-20 | 2018-04-20 | Selection area update method and system in a kind of map based on unmanned plane |
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| CN108536863A true CN108536863A (en) | 2018-09-14 |
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| CN109618131A (en) * | 2018-11-22 | 2019-04-12 | 亮风台（上海）信息科技有限公司 | A kind of method and apparatus of information to aid in decision for rendering |
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| CN111768339A (en) * | 2020-06-29 | 2020-10-13 | 广西翼界科技有限公司 | Rapid splicing method for aerial images of unmanned aerial vehicle |
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