CN110823187A - Control method and device for measuring area to be measured based on aerial photography - Google Patents
Control method and device for measuring area to be measured based on aerial photography Download PDFInfo
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- CN110823187A CN110823187A CN201911146062.2A CN201911146062A CN110823187A CN 110823187 A CN110823187 A CN 110823187A CN 201911146062 A CN201911146062 A CN 201911146062A CN 110823187 A CN110823187 A CN 110823187A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The invention provides a control method for measuring an area to be measured based on aerial photography, which realizes the measurement of the actual area to be measured through an unmanned aerial vehicle, and comprises the following steps: a. determining the proportion k of a first area to be measured in the aerial photo to the aerial photo; b. and determining a second area S to be measured based on the relative aerial height H of aerial photography, the basic information of the equipment and the proportion k. Aiming at the defects of the prior surveying and mapping technology, the invention provides a simple aerial photography and measurement thought for meeting the surveying and mapping requirements of agriculture and forestry on high frequency, high timeliness, low cost and low threshold. The simple aerial photography measurement provided by the invention comprises the following steps: based on images shot by the civil multi-rotor unmanned aerial vehicle, the equipment cost and the technical threshold are low; the method has the advantages of friendly interface, simple operation, accurate drawing of closed graphs according to disaster-stricken boundaries, strict measurement of damaged areas, quick calculation and high accuracy.
Description
Technical Field
The invention belongs to the technical field of aerial survey, and particularly relates to a control method and device for measuring an area to be measured based on aerial photography.
Background
The current drawing technology to be measured develops towards integration, digitization, automation and intellectualization, and the classical geodetic measurement positioning means is gradually replaced by the global positioning system technology; the traditional map measuring method is wanting to be excessive in digital mapping technology; traditional analog mapping products gradually shift to digital geographic information products; the traditional survey and drawing "old three appearance", theodolite, spirit level, platemeter begin to convert to with the present means of drawing that awaits measuring such as satellite, unmanned aerial vehicle, mobile device, traditional survey and drawing industry gradually changes to modern geographic information industry or present industry of drawing that awaits measuring.
The mapping technology is more and more advanced, the accuracy and the precision are increasingly improved, and the following problems are that the dependence degree of the mapping technology on professional equipment, the equipment cost and the technical threshold are increasingly raised. Taking the measurement of the vegetation area in agriculture and forestry as an example: the farmland mountain forest terrain is complex, dangerous and wide in area, and is not suitable for measuring the vegetation area by using handheld GPS equipment; different from the marks of mining industry and building industry, the agricultural and forestry crops grow fast, and the remote sensing measurement cannot be carried out by using historical satellite photos due to possible seed changing and rotation tillage; the cost of using the recent satellite photos is too high, and the production speed of the satellite photos is difficult to meet the requirement of time efficiency; the equipment cost and the technical threshold of the surveying and mapping unmanned aerial vehicle are too high, and the popularization is difficult.
At present, a technical scheme capable of solving the technical problems does not exist, and specifically, a control method and device for measuring an area to be measured based on aerial photography does not exist.
Disclosure of Invention
Aiming at the technical defects in the prior art, the invention aims to provide a control method and a control device for measuring an area to be measured based on aerial photography, according to one aspect of the invention, the control method for measuring the area to be measured based on aerial photography is provided, and the measurement of the actual area to be measured is realized through an unmanned aerial vehicle, and comprises the following steps:
a. determining the proportion k of a first area to be measured in the aerial photo to the aerial photo;
b. and determining a second area S to be measured based on the relative aerial height H of aerial photography, the basic information of the equipment and the proportion k.
Preferably, the step a includes:
a1. determining aerial photos through aerial photography;
a2. determining a first area to be detected and the number of pixels occupied by the first area to be detected;
a3. and determining a proportion k based on the number of pixels occupied by the first area to be detected and the total number of pixels of the aerial photo.
Preferably, in the step a2, the first area to be measured is determined by:
a21. determining marking pixel points in the aerial photo based on the photo feature information;
a22. and taking the graph formed by the marked pixel points as the first area to be detected.
Preferably, the photo feature information includes at least brightness, saturation, and hue of the aerial photo.
Preferably, after the step a22, the method further comprises the steps of:
a23. and manually adjusting the first area to be measured.
Preferably, said step b comprises at least:
b1. determining a relative altitude H based on the absolute altitude of the aerial photo at high altitude and the absolute altitude of the plane where the area to be measured is located;
b2. determining basic equipment information, wherein the basic equipment information at least comprises the height h of an unmanned aerial vehicle camera optical sensor, the length l of the unmanned aerial vehicle optical sensor and the actual focal length f of the unmanned aerial vehicle camera;
b3. and determining a second area S to be measured.
Preferably, in the step b3, the second area to be measured S is determined by the following formula:
According to another aspect of the present invention, there is provided a control device for measuring an area to be measured based on aerial photography, comprising at least:
unmanned aerial vehicle: the photo taking device is used for photo aerial shooting;
a computing device: which is used to determine the second area to be measured.
The invention provides a control method for measuring an area to be measured based on aerial photography, which realizes the measurement of the actual area to be measured through an unmanned aerial vehicle, and comprises the following steps: a. determining the proportion k of a first area to be measured in the aerial photo to the aerial photo; b. and determining a second area S to be measured based on the relative aerial height H of aerial photography, the basic information of the equipment and the proportion k. Aiming at the defects of the prior surveying and mapping technology, the invention provides a simple aerial photography and measurement thought for meeting the surveying and mapping requirements of agriculture and forestry on high frequency, high timeliness, low cost and low threshold. The simple aerial photography measurement provided by the invention comprises the following steps: based on images shot by the civil multi-rotor unmanned aerial vehicle, the equipment cost and the technical threshold are low; the method has the advantages of friendly interface, simple operation, accurate drawing of closed graphs according to disaster-stricken boundaries, strict measurement of damaged areas, quick calculation and high accuracy.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic flowchart illustrating a control method for measuring an area to be measured based on aerial photography according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a specific process for determining the ratio k of the first area to be measured in the aerial photo according to the first embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a specific process of determining a first area to be measured and the number of pixels occupied by the first area to be measured according to a second embodiment of the present invention;
fig. 4 is a schematic specific flowchart illustrating the determination of the second area to be measured S based on the relative aerial height H, the basic information of the device, and the ratio k according to the third embodiment of the present invention;
FIG. 5 is a topological diagram of a control device for measuring an area to be measured based on aerial photography according to another embodiment of the present invention;
FIG. 6 is an illustration of the effect of an aerial photograph of a fourth embodiment of the present invention; and
fig. 7 shows a schematic diagram of an aerial measurement according to a fifth exemplary embodiment of the present invention.
Detailed Description
In order to better and clearly show the technical scheme of the invention, the invention is further described with reference to the attached drawings.
Fig. 1 shows a detailed flowchart of a control method for measuring an area to be measured based on aerial photography according to an embodiment of the present invention, and the present invention is compared with the existing mapping technology: aiming at the measurement requirements of the vegetation area in agriculture and forestry, the most basic photogrammetry technology is adopted, and the operation is simple; based on civilian rotor unmanned aerial vehicle equipment of volume production, equipment cost is low. Further, the control method for measuring the area to be measured based on aerial photography according to the present invention realizes the measurement of the actual area to be measured by the unmanned aerial vehicle, and specifically includes:
firstly, entering step S101, determining the proportion k of a first area to be measured in an aerial photo, wherein the aerial photo is determined by shooting the aerial photo at high altitude through an unmanned aerial vehicle device controlled manually, in the technical scheme of the invention, the first area to be measured at least comprises the area to be measured in the agriculture and forestry photo, but usually the area to be measured is considered in a specific planning, the local area is naturally or artificially damaged, and the area to be measured of the part of the first area to be measured, which has a significant difference with other parts except the first area to be measured, can be obviously distinguished from the aerial photo, furthermore, the proportion k between the first area to be measured in the aerial photo and the area of the aerial photo can be known only by knowing the first area to be measured in the aerial photo, and the actual area to be measured can be measured by the equal proportion principle, these will be further described in the following detailed description, which will not be repeated herein.
And finally, entering step S102, determining a second area to be measured S based on the aerial photography relative altitude H, the device basis information, and the ratio k, wherein the second area to be measured S is the final actual area corresponding to the first area to be measured in the aerial photography as understood by those skilled in the art.
Further, in combination with step S101, a person skilled in the art considers that the technical solution disclosed in the present invention is not limited to a disaster area, but may be other areas to be measured and photographed by an unmanned aerial vehicle, and further, the technical solution disclosed in the present invention is not limited to agriculture and forestry, but may be used in other industries such as animal husbandry, fish farming, aerial photography and mapping, and land planning.
Fig. 2 is a schematic flowchart illustrating a specific process for determining a ratio k of a first area to be measured in an aerial photo according to a first embodiment of the present invention, where fig. 2 is a detailed description of step S101, and specifically, the step S101 includes:
firstly, step S1011 is entered to determine aerial photos by aerial photography, in such an embodiment, a user can remotely control the drone to perform aerial work and perform positioning shooting at a specified position or an expected position, so as to determine the aerial photos, wherein the aerial photos include but are not limited to electronic photos and photos.
Then, step S1012 is performed to determine a first area to be measured and the number of pixels occupied by the first area to be measured, where the determination of the first area to be measured may be intelligently processed by a computer or may be determined manually, and specifically, the intelligent processing by the computer needs to use the feature information of the first area to be measured as an input, specifically, there are various features in the first area to be measured that have a significant contrast with other portions of the aerial photograph, and these features may be reflected in the aerial photograph as pixels, and the manual determination is performed by manually circling the first area to be measured, which has a certain subjective awareness.
Finally, proceeding to step S1013, a ratio k is determined based on the number of pixels occupied by the first area to be detected and the total number of pixels of the aerial photograph, and in such an embodiment, assuming that the number of pixels occupied by the first area to be detected and the number of pixels occupied by the first area to be detected are 2000 and the total number of pixels of the whole aerial photograph is 20000, it may be determined that k is 0.1.
Fig. 3 is a schematic diagram illustrating a specific process of determining a first area to be measured and the number of pixels occupied by the first area to be measured according to a second embodiment of the present invention, in step S1012, the first area to be measured is determined as follows:
firstly, step S10121 is entered, and a marking pixel point in the aerial photo is determined based on photo feature information, where the photo feature information at least includes brightness, saturation, and hue of the aerial photo, and it is understood by those skilled in the art that when a disaster is obviously suffered in the first area to be detected, the photo can be seen from the brightness, saturation, hue, and the like of the aerial photo as reflected on the photo, but finally the R, G, B three components of each pixel point of the first area to be detected are different from other parts of the aerial photo to some extent, and these technical solutions will be applied to some professional processing and differences between adjacent pixel points, and also apply to technical means how to determine a gradient pixel point, how to determine a threshold value of a critical point, and the like, but these are existing technologies, and are not described herein again.
Then, step S10122 is performed, in which the pattern formed by the marking pixels is used as the first area to be measured, the pattern formed by the marking pixels may be in any regular or irregular shape, and the pattern formed by the marking pixels is the first area to be measured.
Finally, step S10123 is entered, in other embodiments, after step S10122 is executed, the present invention may continue to the subsequent steps, and in a preferred embodiment, in order to determine the first area to be measured more accurately, the first area to be measured may be optionally adjusted manually, if the first area to be measured after the initial smart determination or the human processing is very clear and correct, step S10123 is not required, and if the first area to be measured after the smart determination or the human processing needs to be adjusted, step S10123 is executed.
Fig. 4 shows a schematic flowchart of a third embodiment of the present invention, which is a specific flowchart for determining the second area to be measured S based on the relative aerial height H of the aerial photograph, the basic information of the device, and the ratio k, specifically, the step S102 at least includes:
firstly, step S1021 is entered, and a relative altitude H is determined based on the absolute altitude of the aerial photo at high altitude and the absolute altitude of the plane where the area to be measured is located.
Then, step S1022 is performed, and device basis information is determined, where the device basis information at least includes the height h of the optical sensor of the camera of the unmanned aerial vehicle, the length l of the optical sensor of the unmanned aerial vehicle, and the actual focal length f of the camera of the unmanned aerial vehicle, as shown in fig. 7, fig. 7 shows a schematic diagram of aerial photography measurement according to a fifth embodiment of the present invention, and it is understood by those skilled in the art that information such as a GPS height reference value, a GPS height, a camera model, and the like is actually used in the present invention, and details are not described herein.
Finally, step S1023 is performed to determine a second area S to be measured, and those skilled in the art understand that in step S1023, the second area S to be measured is determined by the following formula:
The skilled person understands that the above formula comes from the theoretical basis of aerial photography, i.e. according to the principle of photography, the camera lens group can be equivalently regarded as a small hole, and light forms an inverted image on the optical sensor through the equivalent small hole; on the premise of neglecting the distortion of the lens group, the rectangular pyramid formed by the orthographic projection (bottom surface) of the shot ground and the equivalent small hole (vertex) is in a similar relation with the rectangular pyramid formed by the optical sensor (bottom surface) and the equivalent small hole (vertex), and the area ratio of the two bottom surfaces is ^2 (relative altitude/actual focal length of equipment).
Further, the aerial photography mu measurement method comprises the following specific implementation steps: according to theoretical basis and actual conditions, the orthographic projection area of the shot ground can be calculated only by subtracting the absolute aerial height of the high-altitude aerial photo mu-measuring photo from the absolute height of the plane of the location of the area to be measured to obtain the relative aerial height and finding out the model of the equipment to obtain other parameters; and the proportion of the pixel number of the area to be measured in the aerial photo to the total pixel of the photo is the orthographic projection area of the area to be measured. If S is the second area to be measured, H is the height (width) of the unmanned aerial vehicle camera optical sensor, l is the length of the unmanned aerial vehicle optical sensor, H is the relative height, f is the actual focal length of the unmanned aerial vehicle camera, k is the proportion of the number of pixels in the area to be measured in the aerial photograph to the total pixels of the photograph, and then
Fig. 5 shows a topological diagram of a control device for measuring an area to be measured based on aerial photography according to another embodiment of the present invention, and fig. 6 shows an effect diagram of an aerial photograph according to a fourth embodiment of the present invention, in order to better understand the present invention, the present invention discloses a control device for measuring an area to be measured based on aerial photography, which adopts the technical solutions described in fig. 1 to fig. 4, and at least includes: an unmanned aerial vehicle 1 for photo aerial photography; a calculation device 2 is also included for determining a second area to be measured. As shown in fig. 5, the unmanned aerial vehicle takes aerial photographs at high altitude, performs imaging processing at the ground terminal, and thus realizes measurement of the area to be measured through the computing device. Fig. 6 is an aerial photograph taken by the control device shown in fig. 5, in which the enclosed portion is the second area to be measured.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (8)
1. The utility model provides a control method based on area to be measured of taking photo by plane measures, it realizes the measurement to the actual area to be measured through unmanned aerial vehicle, its characterized in that includes:
a. determining the proportion k of a first area to be measured in the aerial photo to the aerial photo;
b. and determining a second area S to be measured based on the relative aerial height H of aerial photography, the basic information of the equipment and the proportion k.
2. The control method according to claim 1, wherein the step a includes:
a1. determining aerial photos through aerial photography;
a2. determining a first area to be detected and the number of pixels occupied by the first area to be detected;
a3. and determining a proportion k based on the number of pixels occupied by the first area to be detected and the total number of pixels of the aerial photo.
3. The control method according to claim 2, characterized in that in the step a2, the first area to be measured is determined by:
a21. determining marking pixel points in the aerial photo based on the photo feature information;
a22. and taking the graph formed by the marked pixel points as the first area to be detected.
4. The control method according to claim 3, wherein the photo feature information includes at least brightness, saturation, and hue of the aerial photo.
5. The control method according to claim 3, characterized by, after said step a22, further comprising the step of:
a23. and manually adjusting the first area to be measured.
6. Control method according to claim 1, characterized in that said step b comprises at least:
b1. determining a relative altitude H based on the absolute altitude of the aerial photo at high altitude and the absolute altitude of the plane where the area to be measured is located;
b2. determining basic equipment information, wherein the basic equipment information at least comprises the height h of an unmanned aerial vehicle camera optical sensor, the length l of the unmanned aerial vehicle optical sensor and the actual focal length f of the unmanned aerial vehicle camera;
b3. and determining a second area S to be measured.
7. The control method according to claim 6, wherein in the step b3, the second area to be measured S is determined by the following formula:
8. A control device for measuring an area to be measured based on aerial photography, which employs the control method according to any one of claims 1 to 7, characterized by comprising at least:
unmanned aerial vehicle (1): the photo taking device is used for photo aerial shooting;
computing means (2): which is used to determine the second area to be measured.
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