CN110716586A - Photographing control method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium - Google Patents
Photographing control method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium Download PDFInfo
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- CN110716586A CN110716586A CN201911112678.8A CN201911112678A CN110716586A CN 110716586 A CN110716586 A CN 110716586A CN 201911112678 A CN201911112678 A CN 201911112678A CN 110716586 A CN110716586 A CN 110716586A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention discloses a photographing control method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining the ground height of an unmanned aerial vehicle, and determining a target photographing distance according to the ground height, a preset standard height and a preset photo overlapping degree; according to the target photographing interval, determining the photographing time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle; and after the shooting of the next surveying and mapping photo is finished according to the shooting time, returning to execute the operation of acquiring the ground height of the unmanned aerial vehicle until the unmanned aerial vehicle finishes surveying and mapping flight. According to the embodiment of the invention, the ground height of the unmanned aerial vehicle is obtained, so that a new photographing interval is calculated, and the time for next photographing is determined, so that the real-time adjustment of the photographing interval and the photographing time is realized, and the unmanned aerial vehicle can meet the requirement of course overlapping degree in the surveying and mapping photographing process.
Description
Technical Field
The embodiment of the invention relates to the unmanned aerial vehicle surveying and mapping technology, in particular to a photographing control method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
Unmanned aerial vehicle photogrammetry is increasingly becoming a new important surveying and mapping means, has the characteristics of long endurance time, low cost, flexibility and the like, and is an important supplement of satellite remote sensing and manned aerial remote sensing.
Traditional unmanned aerial vehicle survey and drawing task includes each item survey and drawing parameter, for example, GSD (Ground Sample Distance), photo overlap degree, interval and the airspeed of shooing etc.. The mapping parameters are set before flight mapping, and cannot be changed during flight. In the photo schematic diagram of the flying mapping of the high-altitude ground environment by the unmanned aerial vehicle as shown in fig. 1, the unmanned aerial vehicle flies from Pos1 to Pos2 according to the preset GSD and photo distance, and takes one photo at each of Pos1 and Pos2, the two photos have an overlapping area a1, and because a higher hill is encountered between Pos1 and Pos2, the photo is not taken in the area a2 on the top of the hill. Therefore, the final mapping photograph has no image of the area a2, which may result in missing mapping data when later software is used to generate the mapping data.
Disclosure of Invention
The embodiment of the invention provides a photographing control method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, so that the photographing interval and the photographing time of the unmanned aerial vehicle can be adjusted in real time, and the requirement of surveying and mapping of the unmanned aerial vehicle on the overlapping degree of pictures can be met.
In a first aspect, an embodiment of the present invention provides a method for controlling photographing of an unmanned aerial vehicle, where the method includes:
the method comprises the steps of obtaining the ground height of an unmanned aerial vehicle, and determining a target photographing distance according to the ground height, a preset standard height and a preset photo overlapping degree;
according to the target photographing interval, determining the photographing time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle;
and after the shooting of the next surveying and mapping photo is finished according to the shooting time, returning to execute the operation of acquiring the ground height of the unmanned aerial vehicle until the unmanned aerial vehicle finishes surveying and mapping flight.
Further, acquire unmanned aerial vehicle's height to ground, include:
controlling a ground measuring device carried on the unmanned aerial vehicle to transmit a detection signal;
and acquiring the ground height of the unmanned aerial vehicle according to the received echo signal corresponding to the detection signal.
Further, according to the ground height, the preset standard height and the preset photo overlap, determining a target photographing distance, including:
if the ground height is determined to be smaller than the standard height, calculating a target photographing distance matched with the ground height according to the ground height and the photo overlapping degree;
and if the ground height is determined to be larger than or equal to the standard height, acquiring a preset standard photographing interval as the target photographing interval.
Further, calculating a target photographing distance matched with the ground height according to the ground height and the photo overlapping degree, and including:
calculating a target ground resolution matched with the ground height according to the ground height, the image sensor pixel size of the mapping camera and the camera focal length;
and calculating the target photographing distance matched with the ground height according to the target ground resolution, the number of pixels of the pictures photographed by the mapping camera in a set direction and the picture overlapping degree, wherein the set direction is associated with the photographing mode of the mapping camera.
Further, calculating a target ground resolution matching the ground height according to the ground height, an image sensor pixel size of the mapping camera and a camera focal length, comprising:
according to the formula: (ii) GSD ═ (H x a)/f, calculating the target ground resolution GSD;
wherein H is the height to the ground; a is the pixel size of the image sensor; f is the camera focal length.
Further, according to the target ground resolution, the number of pixels of the pictures taken by the mapping camera in the set direction, and the picture overlapping degree, calculating the target photographing distance matched with the ground height, including:
according to the formula: (ii) S (PixelSize) GSD (1-Overlap/100), calculating the target photographing interval S;
wherein, PixelSize is the number of the pixels; GSD is the target ground resolution; and the Overlap is the overlapping degree of the photos, and belongs to (0, 100).
Further, according to the target photographing distance, determining the photographing time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle, including:
acquiring a latest shooting position, and calculating the relative distance from the unmanned aerial vehicle to a next shooting position according to the latest shooting position, the current position of the unmanned aerial vehicle and the target shooting distance;
calculating the flight time of the unmanned aerial vehicle to reach the next shooting position according to the relative distance and the flight speed of the unmanned aerial vehicle;
and determining the shooting time of the next mapping picture according to the flight time.
Further, before obtaining the ground height of the unmanned aerial vehicle, the method further includes:
controlling the unmanned aerial vehicle to fly at the standard height;
the standard height is determined through a preset standard ground resolution, and the standard photographing interval is determined through the standard ground resolution and the preset photo overlapping degree.
In a second aspect, an embodiment of the present invention further provides a photographing control device for an unmanned aerial vehicle, where the photographing control device includes:
the target photographing distance determining module is used for acquiring the ground height of the unmanned aerial vehicle and determining a target photographing distance according to the ground height, a preset standard height and a preset photo overlapping degree;
the shooting time determining module is used for determining the shooting time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle according to the target shooting distance;
and the return execution module is used for returning to execute the operation of acquiring the ground height of the unmanned aerial vehicle after the shooting of the next surveying and mapping photo is completed according to the shooting time until the unmanned aerial vehicle finishes surveying and mapping flight.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method for controlling photographing of an unmanned aerial vehicle according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a computer processor, implements the method for controlling photographing by a drone according to any embodiment of the present invention.
According to the embodiment of the invention, by the technical means of acquiring the ground height of the unmanned aerial vehicle in real time to calculate the new target photographing interval after the last photographing is finished and calculating the next photographing time according to the target photographing interval, the problem that the overlapping degree of the photos is not enough or does not have the overlapping degree when the ground fluctuation is large due to the unchanged parameters in the flight mapping process of the traditional unmanned aerial vehicle is solved, the real-time adjustment of the next photographing time according to the ground height during the last photographing is realized, and the technical effect that the requirement of the overlapping degree of the photos can be met in the mapping process of the unmanned aerial vehicle is ensured.
Drawings
FIG. 1 is a schematic diagram of a prior art unmanned aerial vehicle taking photographs of a highly fluctuating ground environment during flight mapping;
fig. 2 is a flowchart of a photographing control method for an unmanned aerial vehicle according to a first embodiment of the present invention;
fig. 3 is a flowchart of a photographing control method for an unmanned aerial vehicle in the second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a photographing control device of an unmanned aerial vehicle in a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle in the fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 2 is a flowchart of a photo control method for an unmanned aerial vehicle according to an embodiment of the present invention, where the embodiment is applicable to a situation where the unmanned aerial vehicle is used to complete a mapping task, and the method can be executed by a photo control device of the unmanned aerial vehicle, where the photo control device can be implemented by software and/or hardware, and can be generally integrated in the unmanned aerial vehicle, and specifically includes the following steps:
step 110, acquiring the ground height of the unmanned aerial vehicle, and determining a target photographing distance according to the ground height, a preset standard height and a preset photo overlapping degree;
wherein the drone is an unmanned aircraft that is operated with a radio remote control device and self-contained program control, or is operated autonomously, either completely or intermittently, by an onboard computer. The ground height of the unmanned aerial vehicle is the distance between the current position of the unmanned aerial vehicle and the ground, and in the photographing schematic diagram of the unmanned aerial vehicle for performing flight mapping on the ground environment with fluctuating height as shown in fig. 1, when the ground height of the unmanned aerial vehicle is small, namely, when a mountain or a high-rise building appears in the ground plane, part of the ground area can not be photographed by using the existing photographing distance, or the photographed picture does not meet the requirement of the overlapping degree. Therefore, when the ground height becomes small, the subject photographing interval needs to be adjusted in real time.
The standard height is preset before the unmanned aerial vehicle executes the surveying and mapping task, and the unmanned aerial vehicle flies according to the standard height in the flying process. In the prior art, various mapping parameters of the drone, such as the photographing distance, the GSD, and the like, are calculated assuming that the ground height of the drone is the standard height.
Course overlap refers to the portion of adjacent pictures in the course that have the same area image, usually expressed as a percentage. The aviation direction overlapping degree in the aerial photogrammetry is generally 60% -65%; the maximum of the individual should not be more than 75% and the minimum should not be less than 56%. The interval of shooing is unmanned aerial vehicle front and back two linear distance between the position of shooing, when highly being less than preset standard height to ground, only adjusts the interval of shooing, also promptly, reduces the interval of shooing, just enables the photo of shooing and satisfies the requirement of photo overlap degree.
Step 120, determining the shooting time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle according to the target shooting distance;
wherein, after calculating the target interval of shooing, owing to acquire the height to ground, calculate the target interval of shooing and all need certain time, unmanned aerial vehicle flies at predetermined airspeed always in this time. Therefore, a certain distance exists between the current position of the unmanned aerial vehicle and the position where the surveying and mapping picture is shot last time, and the next shooting time is calculated again according to the difference between the target shooting distance and the distance.
Step 130, finishing the shooting of the next mapping photo according to the shooting time;
wherein, after calculating the shooting time, the surveying camera that unmanned aerial vehicle carried carries on the shooting of surveying photo next time after this shooting time.
Step 140, judging whether the unmanned aerial vehicle finishes surveying and mapping flight, if not, returning to the step 110, and if so, executing the step 150;
and if the airplane is still in the process of mapping and shooting, after the next mapping and shooting is carried out, returning to execute the operation of acquiring the ground height of the unmanned aerial vehicle, and continuously calculating the target shooting distance and shooting time for the next mapping and shooting.
And 150, finishing the surveying and mapping shooting process by the unmanned aerial vehicle.
After the unmanned aerial vehicle takes the mapping photo every time, the operations of obtaining the ground height, calculating the target shooting distance and shooting time are repeatedly executed until the flight process is finished.
According to the embodiment of the invention, by the technical means of acquiring the ground height of the unmanned aerial vehicle in real time after the last shooting is finished to calculate the target shooting interval and calculating the next shooting time according to the target shooting interval, the technical problems that the shooting interval is unchanged and the overlapping degree of the photos is not enough or does not have the overlapping degree easily caused by the fact that the parameters of the flight mapping process of the traditional unmanned aerial vehicle are unchanged, and the ground height during the last shooting is used for adjusting the next shooting time in real time so as to ensure that the requirement of the overlapping degree of the photos can be met in the mapping process of the unmanned aerial vehicle are solved.
Example two
Fig. 3 is a flowchart of a photographing control method for an unmanned aerial vehicle in a second embodiment of the present invention, where the second embodiment of the present invention specifies that a photographing target interval is calculated according to a ground altitude of the unmanned aerial vehicle, and a next photographing time is calculated according to the target photographing interval, and the steps of the second embodiment of the present invention include:
step 210, controlling the unmanned aerial vehicle to fly at the standard height;
the standard height is determined through a preset standard ground resolution, and the standard photographing interval is determined through the standard ground resolution and the preset photo overlapping degree.
Wherein the relationship between the height and the ground resolution is: h ═ f GSD)/a. Wherein, H is height, GSD is ground resolution, which is also called spatial resolution, and the ground resolution refers to the ability of displaying the minimum size of the detected ground object on the remote sensing image, and is expressed as the actual ground size corresponding to the pixel. f is the focal length of the lens of the mapping camera, and the focal length of the lens refers to the distance from the optical back principal point of the lens to the focal point. a is the pixel size of the camera image sensor, and the pixel is also called as a pixel or a pixel point, namely an image unit (picture element), which is the minimum unit for forming a digital image and is the minimum unit for scanning and sampling a ground scene by the sensor during remote sensing data acquisition, such as scanning imaging.
The principle of this formula is: because the lens of the mapping camera adopts the principle of pinhole imaging, the proportion of the focal length f of the lens to the ground height H is the same as the proportion of the pixel size a to the ground resolution GSD. When GSD is preset standard ground resolution, and survey and drawing camera and camera lens are in case confirmed, f and a are all definite values, what calculate this moment is standard height Hs, that is, preset unmanned aerial vehicle flying height. Correspondingly, when unmanned aerial vehicle according to this flying height real-time flight in-process, if passed through mountain or higher building wait position, the H value in this formula can correspondingly reduce, and GSD also can correspondingly grow.
Wherein, the relation between the photographing distance and the ground resolution and the overlapping degree of the photos is as follows: s (PixelSize) GSD (1-Overlap/100). When the surveying and mapping camera adopts horizontal shooting, the picture resolution is M x N, wherein M is greater than N, M is the number of pixels corresponding to the long side of the picture, N is the number of pixels corresponding to the wide side of the picture, and the value of PixelSize is N; when the surveying and mapping camera adopts vertical shooting, the resolution of the photo is A × B, wherein A < B, A is the number of pixels corresponding to the wide side of the photo, B is the number of pixels corresponding to the long side of the photo, and the value of PixelSize is B. For example, when taking a horizontal shot, the picture resolution is 4000 × 3000, and the PixelSize value is 3000; when taken upright, the photo resolution is 3000 x 4000, and the PixelSize value is 4000. GSD is the ground resolution, Overlap is the photo Overlap, and the Overlap takes the value in 0-100. The principle of this formula is: GSD is the ground actual size corresponding to a pixel (namely a pixel), the product of GSD and PixelSize is the ground actual size corresponding to the shot picture, and the part of the overlapped part of two adjacent shot pictures except the requirement of the picture overlapping degree is the shooting distance of two adjacent shots. Once the mapping camera, lens and shooting direction are determined, PixelSize is fixed, and Overlap is also preset before the unmanned aerial vehicle performs mapping tasks, so that when GSD is standard ground resolution, the standard shooting distance is calculated.
As described above, when the ground height is reduced, the GSD is also correspondingly increased, and if the previous photographing interval is maintained for photographing, the overlap of the actually photographed photos is reduced from the preset overlap, and data loss occurs. Therefore, the photographing distance satisfying the requirement of the overlapping degree needs to be calculated at any time according to the ground height H.
the unmanned aerial vehicle is provided with a ground measuring device, the ground measuring device transmits a detection signal to the ground, and the ground measuring device may be a ground radar detector, a laser distance sensor, or the like.
Step 230, acquiring the ground height of the unmanned aerial vehicle according to the received echo signal corresponding to the detection signal;
wherein, return after the probing signal that the geodetic surveying device sent to ground contacted ground, when receiving the echo signal that corresponds with this probing signal, the geodetic surveying device can obtain the height to the earth of unmanned aerial vehicle to the earth's surface to provide this height for unmanned aerial vehicle.
When the ground height is larger than or equal to the standard height, mapping operation can be continuously carried out according to a preset standard photographing distance; when the ground height is smaller than the standard height, recalculation of the target photographing distance is required.
when the ground height is larger than or equal to the standard height, shooting is carried out according to the preset standard shooting distance, and the requirement of the overlapping degree of the photos can be met. At this time, the target photographing interval does not need to be recalculated, and the standard photographing interval is directly used as the target photographing interval.
wherein, according to the formula: and (H) a/f, and calculating the target ground resolution GSD. H is the height to the ground; a is the pixel size of the image sensor; f is the camera focal length. a. f is constant, so when the height of the ground is known, the target ground resolution matched with the height of the ground can be calculated.
Wherein, according to the formula: s (PixelSize GSD) (1-Overlap/100), the target photographing interval S is calculated. Wherein, PixelSize is the number of the pixels; GSD is the target ground resolution; and the Overlap is the overlapping degree of the photos, and belongs to (0, 100). Since PixelSize and Overlap are constant values, the target photographing distance S can be calculated after GSD is calculated in step 260.
the distance between the current position of the unmanned aerial vehicle and the latest shooting position is subtracted from the target shooting distance, and the distance is the distance between the current position of the unmanned aerial vehicle and the next shooting position.
after the relative distance between the current position of the unmanned aerial vehicle and the next shooting position is calculated according to step 280, the flight time of the unmanned aerial vehicle reaching the next shooting position can be obtained by dividing the relative distance by the flight speed of the unmanned aerial vehicle, which is a preset fixed value before takeoff.
Step 2100, determining a time of taking the next mapping photo according to the time of flight.
After the time of flight when the unmanned aerial vehicle reaches the next shooting position is calculated according to step 290, the current time plus the time of flight is the shooting time of the next surveying and mapping photo.
And step 2110, finishing the shooting of the next mapping photo according to the shooting time.
After the shooting time of the next mapping photo is calculated according to the step 2110, the mapping camera takes one mapping photo after the time is reached. After the shooting is finished, if the unmanned aerial vehicle is still in the mapping flight process, the operation of the step 220 is executed again until the unmanned aerial vehicle finishes the mapping flight process.
Step 2120, judging whether the unmanned aerial vehicle completes surveying and mapping flight, if not, returning to the step 220, and if so, executing the step 2130;
and 2130, finishing a surveying and mapping shooting process by the unmanned aerial vehicle.
According to the embodiment of the invention, the ground height of the unmanned aerial vehicle is acquired in real time after the last shooting is finished, when the ground height is smaller than the standard height, the ground resolution is calculated according to the ground height, the target shooting interval is calculated according to the ground resolution, and the next shooting time is calculated according to the target shooting interval, so that the technical problems that the parameters of the flight mapping process of the traditional unmanned aerial vehicle are unchanged, the shooting interval is unchanged, and the overlapping degree of the photos is not enough or has no overlapping degree when the ground fluctuation is large are solved, and the technical effect that the next shooting time can be adjusted in real time according to the ground height during the last shooting is realized, so that the requirement on the overlapping degree of the photos can be met in the mapping process of the unmanned aerial vehicle.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a photographing control device of an unmanned aerial vehicle in a third embodiment of the present invention, where the photographing control device of the unmanned aerial vehicle includes: a target photographing distance determining module 310, a photographing time determining module 320, and a return executing module 330, wherein:
the target photographing interval determining module 310 is configured to obtain a ground height of the unmanned aerial vehicle, and determine a target photographing interval according to the ground height, a preset standard height and a preset photo overlapping degree;
a shooting time determining module 320, configured to determine, according to the target shooting distance, shooting time of a next surveying picture of a surveying camera carried by the unmanned aerial vehicle;
and a return execution module 330, configured to return to execute the operation of obtaining the ground altitude of the drone after the shooting of the next surveying and mapping photo is completed according to the shooting time until the drone completes surveying and mapping flight.
According to the embodiment of the invention, by the technical means of acquiring the ground height of the unmanned aerial vehicle in real time after the last shooting is finished to calculate the target shooting interval and calculating the next shooting time according to the target shooting interval, the technical problems that the shooting interval is unchanged and the overlapping degree of the photos is not enough or does not have the overlapping degree easily caused by the fact that the parameters of the flight mapping process of the traditional unmanned aerial vehicle are unchanged, and the ground height during the last shooting is used for adjusting the next shooting time in real time so as to ensure that the requirement of the overlapping degree of the photos can be met in the mapping process of the unmanned aerial vehicle are solved.
On the basis of the above embodiment, the target photographing distance determining module 310 includes:
the detection signal transmitting unit is used for controlling a ground measuring device carried on the unmanned aerial vehicle to transmit a detection signal;
and the ground height acquisition unit is used for acquiring the ground height of the unmanned aerial vehicle according to the received echo signal corresponding to the detection signal.
On the basis of the above embodiment, the target photographing distance determining module 310 further includes:
the ground height is smaller than the standard height, and the ground height executing unit is used for calculating a target photographing distance matched with the ground height according to the ground height and the photo overlapping degree if the ground height is determined to be smaller than the standard height;
and the ground height is greater than the standard height execution unit, and the ground height execution unit is used for acquiring a preset standard photographing interval as the target photographing interval if the ground height is determined to be greater than or equal to the standard height.
On the basis of the above embodiment, the ground height less than standard height execution unit includes:
the target ground resolution calculating subunit is used for calculating the target ground resolution matched with the ground height according to the ground height, the image sensor pixel size of the mapping camera and the camera focal length;
and the target photographing interval calculating subunit is used for calculating the target photographing interval matched with the ground height according to the target ground resolution, the number of pixels of the pictures taken by the mapping camera in a set direction and the picture overlapping degree, wherein the set direction is associated with the photographing mode of the mapping camera.
On the basis of the above embodiment, the target ground resolution calculating subunit specifically includes:
according to the formula: (ii) GSD ═ (H x a)/f, calculating the target ground resolution GSD;
wherein H is the height to the ground; a is the pixel size of the image sensor; f is the camera focal length.
On the basis of the above embodiment, the target photographing distance calculating subunit specifically includes:
according to the formula: (ii) S (PixelSize) GSD (1-Overlap/100), calculating the target photographing interval S;
wherein, PixelSize is the number of the pixels; GSD is the target ground resolution; and the Overlap is the overlapping degree of the photos, and belongs to (0, 100).
On the basis of the above embodiment, the shooting time determination module 320 includes:
the relative distance calculation unit is used for acquiring the latest shooting position and calculating the relative distance from the unmanned aerial vehicle to the next shooting position according to the latest shooting position, the current position of the unmanned aerial vehicle and the target shooting distance;
the flight time determining unit is used for calculating the flight time of the unmanned aerial vehicle reaching the next shooting position according to the relative distance and the flight speed of the unmanned aerial vehicle;
and the shooting time determining unit is used for determining the shooting time of the next mapping picture according to the flight time.
On the basis of the above embodiment, the photographing control device of the unmanned aerial vehicle further includes:
the flight control module is used for controlling the unmanned aerial vehicle to fly at the standard height;
the standard height is determined through a preset standard ground resolution, and the standard photographing interval is determined through the standard ground resolution and the preset photo overlapping degree.
The photographing control device of the unmanned aerial vehicle, provided by the embodiment of the invention, can execute the photographing control method of the unmanned aerial vehicle, provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of a drone in a fourth embodiment of the present invention, as shown in fig. 5, the apparatus includes a processor 40, a memory 41, an input device 42, and an output device 43; the number of processors 40 in the device may be one or more, and one processor 40 is taken as an example in fig. 5; the processor 40, the memory 41, the input device 42 and the output device 43 in the apparatus may be connected by a bus or other means, which is exemplified in fig. 5.
The memory 41 serves as a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the photographing control method of the drone in the embodiment of the present invention (for example, the target photographing distance determining module 310, the photographing time determining module 320, and the return executing module 330 in the photographing control apparatus of the drone). The processor 40 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 41, so as to implement the above-mentioned photographing control method for the unmanned aerial vehicle. The method comprises the following steps:
the method comprises the steps of obtaining the ground height of an unmanned aerial vehicle, and determining a target photographing distance according to the ground height, a preset standard height and a preset photo overlapping degree;
according to the target photographing interval, determining the photographing time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle;
and after the shooting of the next surveying and mapping photo is finished according to the shooting time, returning to execute the operation of acquiring the ground height of the unmanned aerial vehicle until the unmanned aerial vehicle finishes surveying and mapping flight.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 42 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 43 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for controlling photographing by an unmanned aerial vehicle, and the method includes:
the method comprises the steps of obtaining the ground height of an unmanned aerial vehicle, and determining a target photographing distance according to the ground height, a preset standard height and a preset photo overlapping degree;
according to the target photographing interval, determining the photographing time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle;
and after the shooting of the next surveying and mapping photo is finished according to the shooting time, returning to execute the operation of acquiring the ground height of the unmanned aerial vehicle until the unmanned aerial vehicle finishes surveying and mapping flight.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present invention is not limited to the above-described method operations, and may also perform related operations in the photographing control method for the unmanned aerial vehicle provided in any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the photographing control device for an unmanned aerial vehicle, each unit and each module included in the photographing control device are only divided according to functional logic, but are not limited to the above division, as long as corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. The photographing control method of the unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the steps of obtaining the ground height of an unmanned aerial vehicle, and determining a target photographing distance according to the ground height, a preset standard height and a preset photo overlapping degree;
according to the target photographing interval, determining the photographing time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle;
and after the shooting of the next surveying and mapping photo is finished according to the shooting time, returning to execute the operation of acquiring the ground height of the unmanned aerial vehicle until the unmanned aerial vehicle finishes surveying and mapping flight.
2. The method of claim 1, wherein obtaining the ground height of the drone comprises:
controlling a ground measuring device carried on the unmanned aerial vehicle to transmit a detection signal;
and acquiring the ground height of the unmanned aerial vehicle according to the received echo signal corresponding to the detection signal.
3. The method of claim 1, wherein determining the target photographing distance according to the ground height, the preset standard height and the preset photo overlap comprises:
if the ground height is determined to be smaller than the standard height, calculating a target photographing distance matched with the ground height according to the ground height and the photo overlapping degree;
and if the ground height is determined to be larger than or equal to the standard height, acquiring a preset standard photographing interval as the target photographing interval.
4. The method of claim 3, wherein calculating the target photographing distance matching the ground height according to the ground height and the photo overlap comprises:
calculating a target ground resolution matched with the ground height according to the ground height, the image sensor pixel size of the mapping camera and the camera focal length;
and calculating the target photographing distance matched with the ground height according to the target ground resolution, the number of pixels of the pictures photographed by the mapping camera in a set direction and the picture overlapping degree, wherein the set direction is associated with the photographing mode of the mapping camera.
5. The method of claim 4, wherein calculating a target ground resolution matching the ground height based on the ground height, an image sensor pixel size of the mapping camera, and a camera focal length comprises:
according to the formula: (ii) GSD ═ (H x a)/f, calculating the target ground resolution GSD;
wherein H is the height to the ground; a is the pixel size of the image sensor; f is the camera focal length.
6. The method of claim 4, wherein calculating the target photographing distance matching the ground height according to the target ground resolution, the number of pixels of the photograph taken by the surveying and mapping camera in the set direction, and the photograph overlapping degree comprises:
according to the formula: (ii) S (PixelSize) GSD (1-Overlap/100), calculating the target photographing interval S;
wherein, PixelSize is the number of the pixels; GSD is the target ground resolution; and the Overlap is the overlapping degree of the photos, and belongs to (0, 100).
7. The method of any one of claims 1-6, wherein determining a time for taking a next surveying picture of a surveying camera onboard the drone according to the target photographing interval comprises:
acquiring a latest shooting position, and calculating the relative distance from the unmanned aerial vehicle to a next shooting position according to the latest shooting position, the current position of the unmanned aerial vehicle and the target shooting distance;
calculating the flight time of the unmanned aerial vehicle to reach the next shooting position according to the relative distance and the flight speed of the unmanned aerial vehicle;
and determining the shooting time of the next mapping picture according to the flight time.
8. The method of any one of claims 4-6, further comprising, prior to obtaining the ground height of the drone:
controlling the unmanned aerial vehicle to fly at the standard height;
the standard height is determined through a preset standard ground resolution, and the standard photographing interval is determined through the standard ground resolution and the preset photo overlapping degree.
9. The utility model provides an unmanned aerial vehicle's controlling means that shoots, its characterized in that includes:
the target photographing distance determining module is used for acquiring the ground height of the unmanned aerial vehicle and determining a target photographing distance according to the ground height, a preset standard height and a preset photo overlapping degree;
the shooting time determining module is used for determining the shooting time of the next surveying and mapping photo of the surveying and mapping camera carried by the unmanned aerial vehicle according to the target shooting distance;
and the return execution module is used for returning to execute the operation of acquiring the ground height of the unmanned aerial vehicle after the shooting of the next surveying and mapping photo is completed according to the shooting time until the unmanned aerial vehicle finishes surveying and mapping flight.
10. A drone comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of controlling photography of a drone of any of claims 1-8.
11. A storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the method of controlling photographing of a drone according to any one of claims 1-8.
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