CN112097744B

CN112097744B - Image scanning method, device, equipment and storage medium for vertical face

Info

Publication number: CN112097744B
Application number: CN202010972856.0A
Authority: CN
Inventors: 马鸣锋
Original assignee: Shanghai Remote Information Technology Co ltd
Current assignee: Shanghai Remote Information Technology Co ltd
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2022-08-30
Anticipated expiration: 2040-09-16
Also published as: CN112097744A

Abstract

The application relates to an image scanning method of a vertical surface, wherein the image scanning method comprises the steps of acquiring a first static image and a first dynamic image along a preset path under the condition that a certain horizontal distance is kept from the vertical surface; judging whether the overlapping rate of the first dynamic image and the first static image reaches the overlapping threshold range or not; under the condition that the overlapping rate reaches the overlapping threshold range, storing the first dynamic image as a second static image, and updating the image buffer map; and repeating the steps until the boundary of the vertical face in the image buffer map is a closed boundary. Through the method and the device, the problem that high-precision three-dimensional modeling cannot be completed due to inconsistent image overlapping rates of images acquired by an aircraft is solved, and the technical effects of stable image overlapping rates, short scanning time of vertical surfaces and high scanning efficiency are achieved.

Description

Image scanning method, device, equipment and storage medium for vertical face

Technical Field

The present application relates to the field of three-dimensional imaging technologies, and in particular, to a method, an apparatus, a device, and a storage medium for scanning an image of a vertical plane.

Background

When large-scale real environment is subjected to digital modeling, an unmanned aerial vehicle or a manned vehicle carrying multi-lens equipment is generally used for executing aerial image acquisition work. After image acquisition is completed, performing aerial three-dimensional triangulation calculation through software to generate a point cloud data set, constructing an Irregular Triangulated Network (TIN) based on the point cloud data set, generating a digital grid model, and performing texture mapping to obtain a three-dimensional model of a real environment, wherein the basic flow is shown in FIG. 1.

In the related art, the method for capturing images by using an unmanned aerial vehicle is generally an air plane flight method or a ground imitation flight method. The method has good effect under the condition that the ground is flat and has no height and fall. However, in the actual image capturing process, the urban scene has more buildings and the heights of the buildings are different. Under the condition that ground objects with large height difference appear, stable and consistent resolution images cannot be obtained on the upper surface of the building and the lower surface of the building, so that the resolution of the three-dimensional model is inconsistent, the quality of the three-dimensional model is affected, and the visual effect of the three-dimensional model is poor.

When high-definition image acquisition is performed on a vertical face of a building, an aircraft generally uses a vertical face route to perform data acquisition, namely, a flight plane of the aircraft is parallel to a plane of the vertical face of the building. However, there may be more obstacles in the acquisition environment, resulting in the flight paths of the aircraft not being in the same plane. In addition, when the aircraft approaches a building, due to external interference, a Positioning signal of the aircraft becomes weak, such as a Global Positioning System (GPS) signal, so that a horizontal distance between the aircraft and a vertical surface of the building cannot be kept within a certain range, and finally, resolution of an acquired image is inconsistent, and a final acquisition effect is affected.

The steps for planning a vertical surface route are generally as follows: acquiring image data of a region to be scanned in advance; performing preliminary modeling based on the image data to obtain a preliminary data model; obtaining spatial information based on the preliminary data model; and carrying out manual planning or program planning on the basis of the spatial information to obtain the vertical plane route.

However, the above method for planning a vertical plane route has many drawbacks, such as:

the time for planning the vertical plane route is long and the efficiency is low;

the aircraft is mainly positioned by means of GPS signals in the flying process, the horizontal distance between the aircraft and the vertical surface cannot be kept within a certain range, and certain errors still exist in the resolution of a scanning result;

obstacles exist in the acquisition environment, so that the horizontal distance between the aircraft and the vertical surface is unstable, the acquisition resolution of the aircraft is influenced, and the image overlapping rate of a plurality of acquired images is unstable;

barrier information with small volume in the acquisition environment cannot be acquired, and the flight safety of the aircraft in actual acquisition is directly influenced, so that the safety problems of collision, falling and the like of the aircraft occur;

the method comprises the following steps that images are collected by an aircraft at certain time intervals, under the influence of external factors such as wind and power surplus, the flying speeds of the aircraft are different, and further the flying distances of the aircraft are different in different time intervals, so that the image overlapping rates of a plurality of images are different;

the inconsistency of the acquisition resolution and the image overlapping rate can cause errors and even interruption in the three-dimensional modeling process, and the modeling task cannot be completed.

At present, no effective solution is provided for the problem that high-precision three-dimensional modeling cannot be completed due to inconsistent image overlapping rates of images acquired by aircrafts in the related art.

Disclosure of Invention

The embodiment of the application provides an image scanning method, device, equipment and storage medium for a vertical face, and aims to at least solve the problem that high-precision three-dimensional modeling cannot be completed due to inconsistent image overlapping rates of images acquired by an aircraft in the related art.

In a first aspect, an embodiment of the present application provides an image scanning method for a vertical plane, including:

acquiring a first static image and a first dynamic image along a preset path under the condition of keeping a certain horizontal distance from the vertical surface, wherein the first static image is used for indicating an image of the vertical surface acquired at a first position, the first dynamic image is used for indicating an image of the vertical surface acquired in the process of moving from the first position to a second position, and the coordinate of the first position is different from that of the second position;

judging whether the overlapping rate of the first dynamic image and the first static image reaches an overlapping threshold range;

under the condition that the overlapping rate reaches the overlapping threshold value range, storing the first dynamic image as a second static image, and updating an image buffer map, wherein the image buffer map is used for indicating the vertical face;

and repeating the steps until the boundary of the vertical face in the image buffer map is a closed boundary.

In some of these embodiments, maintaining a horizontal distance from the riser comprises:

acquiring horizontal distance data and attitude data;

fusing the horizontal distance data and the attitude data to obtain fused horizontal distance data;

and under the condition that the fusion horizontal distance data does not reach the range of the horizontal distance threshold value, sending a distance control instruction to enable the fusion horizontal distance data to reach the range of the horizontal distance threshold value.

In some embodiments, after determining whether the overlapping rate of the first dynamic image and the first static image reaches the overlapping threshold range, the method further includes:

under the condition that the overlapping rate of the first dynamic image and the first static image does not reach the range of the overlapping threshold value, updating the first dynamic image;

judging whether the overlapping rate of the updated first dynamic image and the first static image reaches an overlapping threshold range;

under the condition that the overlapping rate reaches the overlapping threshold range, storing the updated first dynamic image as a second static image, and updating the image buffer map;

In some of these embodiments, after updating the image buffer map, the method further comprises:

acquiring first fusion horizontal distance data and second fusion horizontal distance data along the preset path, wherein the first fusion horizontal distance data is used for indicating the fusion horizontal distance data acquired at a first moment, the second fusion horizontal distance data is used for indicating the fusion horizontal distance acquired at a second moment, and the second moment is the next moment of the first moment;

changing the direction of the preset path when the absolute value of the difference between the second fused horizontal distance data and the first fused horizontal distance data reaches a difference threshold range;

changing the direction of the preset path under the condition that the area rate of the vertical face of the second static image does not reach the area threshold range and the boundary of the vertical face of the image buffer map is an unclosed boundary;

In a second aspect, an embodiment of the present application provides an image scanning apparatus of a vertical face, including:

the horizontal distance control module is used for controlling the horizontal distance between the image scanning device and the vertical surface to be within a horizontal distance threshold range;

the path control module is used for controlling the image scanning device to move along a preset path;

the image acquisition module is used for acquiring a first static image of the vertical surface at a first position and acquiring a first dynamic image of the vertical surface in the process of moving from the first position to a second position, wherein the coordinate of the first position is different from the coordinate of the second position;

the overlapping rate judging module is used for judging whether the overlapping rate of the first dynamic image and the first static image reaches an overlapping threshold range or not;

the map updating module is used for updating an image buffer map when the overlapping rate of the first dynamic image and the first static image reaches the overlapping threshold range, wherein the image buffer map is used for indicating the vertical face;

the image storage module is used for storing the first dynamic image as a second static image under the condition that the overlapping rate of the first dynamic image and the first static image reaches the overlapping threshold range;

and the boundary judging module is used for controlling the image scanning device to finish scanning under the condition that the boundary in the image buffer map is a closed boundary.

In some of these embodiments, the horizontal distance control module comprises:

a reflective sensor for acquiring first horizontal distance data of the image scanning apparatus;

a vision sensor for acquiring second horizontal distance data of the image scanning apparatus;

the multi-axis acceleration sensor is used for acquiring attitude data of the image scanning device;

a fusion processing unit for fusing the first horizontal distance data, the second horizontal distance data, and the attitude data to obtain fused horizontal distance data;

the distance judging unit is used for judging whether the fused horizontal distance data reach the horizontal distance threshold range;

and the control unit is used for controlling the image scanning device to be close to or far away from the vertical surface under the condition that the fused horizontal distance data does not reach the range of the horizontal distance threshold value.

In some embodiments, the image obtaining module is further configured to update the first dynamic image in a case that an overlapping rate of the first dynamic image and the first static image does not reach the overlapping threshold range.

In some of these embodiments, the image scanning device further comprises:

the area judgment module is used for judging whether the area rate of the vertical face of the second static image reaches an area threshold range or not;

the path control module is further configured to change the direction of the preset path when the area rate of the vertical face of the second static image does not reach the area threshold range and the boundary of the vertical face of the image buffer map is an unclosed boundary.

In some of these embodiments, the image scanning device further comprises:

the horizontal distance judging module is used for judging whether the absolute value of the difference between first fusion horizontal distance data and second fusion horizontal distance data reaches a difference threshold range, wherein the first fusion horizontal distance data is used for indicating fusion horizontal distance data acquired at a first moment, the second fusion horizontal distance data is used for indicating fusion horizontal distance acquired at a second moment, and the second moment is the next moment of the first moment;

the path control module is further configured to change the direction of the preset path when the absolute value of the difference between the second fused horizontal distance data and the first fused horizontal distance data reaches the difference threshold range.

In a third aspect, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the image scanning method for a vertical plane according to the first aspect.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for image scanning of a facade as described in the first aspect above.

Compared with the related art, the image scanning method, the device, the equipment and the storage medium for the vertical surface provided by the embodiment of the application acquire a first static image and a first dynamic image along a preset path under the condition of keeping a certain horizontal distance from the vertical surface, wherein the first static image is used for indicating the image of the vertical surface acquired at a first position, the first dynamic image is used for indicating the image of the vertical surface acquired in the process of moving from the first position to a second position, and the coordinate of the first position is different from the coordinate of the second position; judging whether the overlapping rate of the first dynamic image and the first static image reaches the overlapping threshold range or not; under the condition that the overlapping rate reaches the overlapping threshold range, storing the first dynamic image as a second static image, and updating an image buffer map, wherein the second static image is used for indicating an image of the vertical face acquired at a second position, and the image buffer map is used for indicating the vertical face; the steps are repeated until the boundary of the vertical face in the image buffer map is a closed boundary, the problem that high-precision three-dimensional modeling cannot be completed due to inconsistent image overlapping rates of images acquired by the aircraft is solved, and the technical effects of stable image overlapping rates, short scanning time of the vertical face and high scanning efficiency are achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a flowchart of three-dimensional modeling according to the related art;

FIG. 2a is a block diagram (one) of the structure of an image scanning system of a vertical face according to an embodiment of the present application;

FIG. 2b is a block diagram of a structure of an image scanning system of a vertical plane according to an embodiment of the present application;

FIG. 3 is a flow chart of a method of image scanning of a riser according to an embodiment of the present application;

FIG. 4 is a flow chart of controlling horizontal distance according to an embodiment of the present application;

FIG. 5 is a flow chart of a method of image scanning of a riser according to an embodiment of the present application (two);

fig. 6 is a flowchart (iii) of an image scanning method of a riser according to an embodiment of the present application;

fig. 7 is a flowchart (iv) of an image scanning method of a riser according to an embodiment of the present application;

fig. 8 is a flowchart (v) of an image scanning method of a riser according to an embodiment of the present application;

FIG. 9 is a block diagram (one) of an image scanning apparatus of a vertical face according to an embodiment of the present application;

FIG. 10 is a block diagram of the structure of an image scanning apparatus according to an embodiment of the present application (II);

fig. 11 is a block diagram (iii) of the structure of an image scanning apparatus according to an embodiment of the present application;

fig. 12 is a block diagram of a horizontal distance control module according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.

It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Unless otherwise defined, technical or scientific terms referred to herein should have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.

Fig. 2a is a block diagram (one) of the structure of an image scanning system of a vertical face according to an embodiment of the present application. As shown in fig. 2a, the image scanning system 200 includes an image scanning apparatus 210, a terminal 220, and a network 230, wherein the image scanning apparatus 210 and the terminal 220 are wirelessly connected via the network 230.

The image scanning device 210 is used to acquire image data of a facade of a building and environmental data between the image scanning device 210 and the facade of the building. In some embodiments, the image scanning device 210 may be a drone or an aircraft carrying multiple lenses.

The terminal 220 is used for receiving the image data transmitted by the image scanning apparatus 210 and sending a control instruction to the image scanning apparatus 210. In some embodiments, the terminal 220 may be a computer system, such as a laptop, desktop, mobile terminal, and the like, or any combination thereof. The mobile terminal comprises a mobile phone, a tablet computer and the like or any combination thereof.

The network 230 may include any suitable network, and the network 230 may facilitate the image scanning device 210 to exchange information and/or data with the terminal 220. In some embodiments, the terminal 220 obtains the image data and the environment data from the image scanning apparatus 210 through the network 230, and transmits a control instruction, i.e., sends path information, to the image scanning apparatus 210 through the network 230 to the image scanning apparatus 210. The network 230 may include a public network (e.g., the internet), a private network (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), etc.), a wireless network (e.g., an 802.11 network, a Wi-Fi network, etc.), a cellular network (e.g., a 4G network, a 5G network, etc.), a frame relay network, a Virtual Private Network (VPN), a satellite network, a router, hub, switch, server, etc., or any combination thereof. By way of example only, network 230 may include a cable network, a wireline network, a fiber optic network, a telecommunications network, an intranet, a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Public Switched Telephone Network (PSTN), the like, or any combination thereof. In some embodiments, network 230 may include one or more network access points. For example, the network may include wired and/or wireless network access points, such as base stations and/or internet exchange points, through which various devices of the image scanning system 200 may connect to the network to exchange information and/or data.

Fig. 2b is a block diagram (ii) of the image scanning system of the vertical plane according to the embodiment of the present application. As shown in fig. 2b, the image scanning system 200 further includes a server 240, and the image scanning apparatus 210 and the terminal 220 are wirelessly connected to the server 240 through a network 230.

By the image scanning system of the embodiment, under the condition that the horizontal distance between the image scanning device and the vertical surface of the building is kept within a certain distance range, the image overlapping rate can be calculated in real time, the image acquisition time is reduced, the image acquisition efficiency is improved, the stability of the image overlapping rate is improved, the image resolution is ensured to be basically kept consistent, and then a high-precision three-dimensional modeling task is completed.

Fig. 3 is a flowchart (one) of an image scanning method of a riser according to an embodiment of the present application. As shown in fig. 3, the image scanning method of the vertical plane includes the steps of:

step S302, under the condition of keeping a certain horizontal distance from a vertical surface, acquiring a first static image and a first dynamic image along a preset path, wherein the first static image is used for indicating an image of the vertical surface acquired at a first position, the first dynamic image is used for indicating an image of the vertical surface acquired in the process of moving from the first position to a second position, and the coordinate of the first position is different from the coordinate of the second position;

step S304, judging whether the overlapping rate of the first dynamic image and the first static image reaches the overlapping threshold range;

step S306, under the condition that the overlapping rate reaches the overlapping threshold range, storing the first dynamic image as a second static image, and updating an image buffer map, wherein the image buffer map is used for indicating a vertical face;

and step S308, repeating the steps until the boundary of the vertical face in the image buffer map is a closed boundary.

In some embodiments, the preset path is a movement path from left to right along the horizontal direction of the vertical surface or a movement path from right to left along the horizontal direction of the vertical surface.

In some of these embodiments, the image scanning device acquires a first still image of the facade of the building at a first location, the first still image referring to an immobilized single image captured and stored by the image scanning device. During the process of moving from the first position to the second position, the image scanning device acquires a first dynamic image of the vertical face of the building, wherein the first dynamic image refers to a plurality of dynamic images scanned by the image scanning device, an image stream formed by the plurality of dynamic images or a video stream formed by the plurality of dynamic images, and the first dynamic image is not stored or is stored but deletes a plurality of unsatisfactory images so as to remain at least one image which meets the requirement.

In some embodiments, the determining the overlapping ratio of the first dynamic image and the first static image is to sequentially determine that a plurality of images arranged in time sequence or in a preset path sequence in the first dynamic image are overlapped with the first static image.

Wherein, a plurality of images are obtained at one time. The image scanning device firstly acquires a plurality of images to form a first dynamic image, and then sequentially and respectively carries out overlapping rate judgment on the first dynamic image and the first static image. The method is that a second position is calculated according to the overlapping threshold range and the flying speed of the image scanning device, then the image scanning device moves from the first position to the second position, a plurality of images are obtained at one time, and then the overlapping rate is judged.

Specifically, the first dynamic image includes n images, and in the case that the overlapping rate of the first image and the first static image does not reach the overlapping threshold range, the first image is deleted, then the overlapping rate of the second image and the first static image is judged, and the judgment is performed sequentially until the overlapping rate of the mth image and the first static image reaches the overlapping threshold range. Wherein m is a natural number not less than 1, and n is a natural number not less than m.

When m is smaller than n, namely the overlapping rate of the mth image and the first static image obtained by the image scanning device reaches the overlapping threshold range, and the overlapping rate of the nth image and the first static image does not reach the overlapping threshold range, deleting the first to (m-1) th images, and storing the mth image as a second static image; then, the overlapping rate of the m +1 images to the n-th image and the second still image is sequentially judged, and the steps are repeated. In this case, the second still image may be regarded as the first still image for the second overlap ratio determination, and the m +1 th to nth images may be regarded as the first moving images for the second overlap ratio determination.

In some special cases, the overlapping rate of the nth image of the first dynamic image and the first static image still does not reach the overlapping threshold range, and at this time, a next second position needs to be acquired, and then the above determining step is repeated.

In the case of using this method, the position at which the image scanning apparatus acquires the second still image may be before the preset second position, may overlap with the second position, or may be after the preset second position. And re-determining the next second position of the preset path based on the relationship between the position of the second static image acquired by the image scanning device and the first position.

Alternatively, multiple images are acquired multiple times. The image scanning device scans the vertical face of the building to obtain a first image, and the overlapping rate of the first image and the first static image is judged; deleting the first image under the condition that the overlapping rate does not reach the overlapping threshold range, then scanning the vertical face of the building by the image scanning device to obtain a second image, and judging the overlapping rate of the second image and the first static image; and continuously repeating the steps until the overlapping rate of the nth image and the first static image obtained by scanning the vertical face of the building by the image scanning device reaches the overlapping threshold range. This method is to calculate a second position based on the flying speed or time interval of the image scanning apparatus, then the image scanning apparatus moves from the first position to the second position, and only one image is obtained at a time, and then the overlapping rate judgment is performed.

Specifically, the first dynamic image includes one image, and in the case where the overlapping rate of the image and the first static image does not reach the overlapping threshold range, the one image is deleted and the next image is acquired as the first dynamic image until the overlapping rate of the nth image and the first static image reaches the overlapping threshold range. Wherein n is a natural number of 1 or more.

In this case, the image scanning apparatus performs the overlapping ratio determination with the first still image every time it acquires one image.

The two methods for acquiring the first dynamic image have advantages and disadvantages respectively. Under the condition that the real-time computing capability of the image scanning device is weak, the image scanning device can acquire a plurality of images at one time and then judge the overlapping rate one by one; under the condition that the real-time computing power of the image scanning device is strong, the image scanning device judges the overlapping rate every time when acquiring an image.

The two modes can ensure that the image overlapping rate acquired by the image scanning device is stable.

In some of these embodiments, the overlap threshold range is 75% to 85%, with a preferred overlap threshold range of 78% to 82%.

In some embodiments, the purpose of storing the first moving image as the second still image is to retain an image that meets the modeling requirement, and to use the second still image as the first still image of the next time as a reference for the determination of the overlapping ratio.

In some of these embodiments, the image buffer map is used to instruct the image scanning device to scan an image of a facade of a building along a preset path. That is, the initial state of the image buffer map is a blank map, and the first still image and the second still image acquired by the image scanning apparatus continuously fill the image buffer map to indicate the image of the vertical face that has been acquired.

In one embodiment, since the vertical face of the building is a face having a closed boundary, in the case where the boundary of the image of the vertical face in the image buffer map is a closed boundary, it is indicated that the image scanning apparatus has acquired all the images of the vertical face of the building, which is sufficient to complete the high-precision three-dimensional modeling task.

In the related art, since the image overlapping rate cannot be calculated in real time, the field image scanning time is long, the image scanning efficiency is low, and the obtained image overlapping rate is unstable. In this embodiment, when the horizontal distance between the image scanning device and the vertical surface of the building is kept constant, the first dynamic image and the first static image are used to perform real-time dynamic overlapping rate calculation, so as to reduce the image scanning time, improve the image scanning efficiency, and keep the image overlapping rate stable.

Fig. 4 is a flowchart of controlling horizontal distance according to an embodiment of the present application. As shown in fig. 4, the method of maintaining a horizontal distance from a vertical surface comprises the steps of:

step S402, acquiring horizontal distance data and attitude data;

step S404, fusing the horizontal distance data and the attitude data to obtain fused horizontal distance data;

step S406, when the fusion horizontal distance data does not reach the horizontal distance threshold range, a distance control instruction is sent to make the fusion horizontal distance data reach the horizontal distance threshold range.

In some of these embodiments, first horizontal distance data between the image scanning device and a facade of a building is acquired by a reflective sensor. Wherein, reflective sensor can be laser radar range sensor, millimeter wave radar range sensor, infrared ray distance sensor, ultrasonic radar etc. promptly based on collect the sensor that the ripples of returning carries out the range finding. The reflective sensor may be one of the sensors described above, or may be a combination of a plurality of the sensors described above.

In some of these embodiments, second horizontal distance data between the image scanning device and the facade of the building is acquired by the vision sensor. Wherein, the vision sensor can be a binocular vision sensor or a depth vision sensor.

Wherein the horizontal distance data is one or a combination of the first horizontal distance data and the second horizontal distance data.

In some embodiments, the attitude data of the image scanning device, such as orientation, tilt angle (e.g., pitch angle, right-left angle), three-axis acceleration, and angular acceleration, is obtained by an acceleration sensor. The acceleration sensor may be an Inertial Measurement Unit (IMU) sensor.

Wherein, the horizontal threshold range is 9m to 11m, and the preferable horizontal threshold range is 9.5m to 10.5 m.

In step S404, there are at least two fusion methods.

In some embodiments, the first fusion method is to fuse the first horizontal distance data, the second horizontal distance data, and the attitude data based on an extended kalman filter method.

In some embodiments, the second fusion method is to determine valid data based on the data of the acceleration sensor and perform fusion. The method comprises the following specific steps:

in the case of acceleration sensor data remaining unchanged: if the data of the reflective sensor and the data of the visual sensor have the same state, for example, the data keeps unchanged, the data is suddenly increased or the data is suddenly decreased, and the average value of the first horizontal distance data and the second horizontal distance data is used as the fusion horizontal distance data; if the data of the vision sensor is kept unchanged, and the data of the reflective sensor is suddenly increased or decreased, taking the second horizontal distance data as fusion horizontal distance data; if the data of the laser sensor is kept unchanged, and the data of the vision sensor is changed into a large data burst or a small data burst, taking the first horizontal distance data as fusion horizontal distance data; if the data of the reflective sensor and the data of the vision sensor have different changing states, such as the data of the laser sensor is changed to be larger and the data of the vision sensor is changed to be smaller, or the data of the laser light sensor is changed to be smaller and the data of the vision sensor is changed to be larger, the first horizontal distance data and the second horizontal distance data are invalid data.

In the case of a small sudden change in the data of the acceleration sensor: if the data of the reflective sensor and the data of the visual sensor have the same state, for example, the data keeps unchanged, the data is suddenly increased or the data is suddenly decreased, and the average value of the first horizontal distance data and the second horizontal distance data is used as the fusion horizontal distance data; if the data of the vision sensor is reduced, the data of the reflection type sensor is kept unchanged or the data is increased, the second horizontal distance data is used as fusion horizontal distance data; if the data of the laser sensor is smaller, the data of the vision sensor is kept unchanged or the data of the vision sensor is larger, the first horizontal distance data is used as fusion horizontal distance data; if the data of the reflective sensor and the data of the vision sensor have different changing states, such as the data of the laser sensor is suddenly increased and the data of the vision sensor is kept unchanged, or the data of the laser sensor is kept unchanged and the data of the vision sensor is suddenly increased, the first horizontal distance data and the second horizontal distance data are invalid data.

In the case of a sudden change in the acceleration sensor data: if the data of the reflective sensor and the data of the visual sensor have the same state, for example, the data is kept unchanged or the data is reduced suddenly, taking the average value of the first horizontal distance data and the second horizontal distance data as the fusion horizontal distance data; if the data of the vision sensor is changed to be larger, the data of the reflection sensor is kept unchanged or the data is changed to be smaller, the second horizontal distance data is used as fusion horizontal distance data; if the data of the reflective sensor is increased suddenly and the data of the visual sensor is kept unchanged or the data of the visual sensor is increased suddenly or the data of the visual sensor is decreased suddenly, the first horizontal distance data is used as fusion horizontal distance data; if the data of the reflective sensor and the data of the vision sensor have different changing states, such as the data of the laser sensor is changed little and the data of the vision sensor is kept unchanged, or the data of the laser sensor is kept unchanged and the data of the vision sensor is changed little, the first horizontal distance data and the second horizontal distance data are invalid data.

In some embodiments, in the case that the fused horizontal distance data is greater than the horizontal threshold range, sending a first distance control instruction to move the image scanning device to a direction close to the vertical surface of the building so as to enable the fused horizontal distance to reach the horizontal threshold range; and under the condition that the fusion horizontal distance data is smaller than the horizontal threshold range, sending a second distance control instruction to enable the image scanning device to move towards the direction far away from the vertical surface of the building, so that the fusion horizontal distance reaches the horizontal threshold range.

In the related art, the aircraft is generally located by using a GPS signal, and due to the influence of buildings and obstacles, the GPS signal is weak and the GPS signal has a large error, so that the horizontal distance between the aircraft and the vertical surface of the building is kept within a certain horizontal distance range. In this embodiment, the first horizontal distance data, the second horizontal distance data and the posture data are fused, so that a more accurate horizontal distance data can be obtained, thereby ensuring that the horizontal distance data between the image scanning device and the vertical surface of the building is within the horizontal threshold range, and ensuring that the resolution of the obtained images about the vertical surface is consistent and the overlapping rate is stable.

Fig. 5 is a flowchart (ii) of an image scanning method of a riser according to an embodiment of the present application. As shown in fig. 5, the image scanning method further includes:

step S502, under the condition that the overlapping rate of the first dynamic image and the first static image does not reach the overlapping threshold range, updating the first dynamic image;

step S504, judging whether the overlapping rate of the updated first dynamic image and the first static image reaches the overlapping threshold range;

step S506, under the condition that the overlapping rate reaches the overlapping threshold range, storing the updated first dynamic image as a second static image, and updating an image buffer map;

and step S508, repeating the steps until the boundary of the vertical face in the image buffer map is a closed boundary.

The steps S504 to S508 are substantially the same as the steps S304 to S308, and are not described herein again. That is, in the entire method flow, after step S502 is executed, executing step S504 corresponds to returning to executing step S304.

In the related art, since the image overlapping rate cannot be calculated in real time, the field image scanning time is long, the image scanning efficiency is low, and the obtained image overlapping rate is unstable. In this embodiment, when the horizontal distance between the image scanning device and the vertical surface of the building is kept constant, the second dynamic image and the first static image are used to perform real-time dynamic overlapping rate calculation, so as to reduce the image scanning time, improve the image scanning efficiency, and keep the image overlapping rate stable.

Fig. 6 is a flowchart (iii) of an image scanning method of a riser according to an embodiment of the present application. As shown in fig. 6, after updating the image buffer map, the image scanning method further includes the steps of:

step S602, changing the direction of the preset path under the condition that the area rate of the vertical face of the second static image does not reach the area threshold range and the boundary of the vertical face of the image buffer map is an unclosed boundary;

and step S604, repeating the steps until the boundary of the vertical surface in the image buffer map is a closed boundary.

Wherein the area ratio of the vertical face is used to indicate a ratio of the area of the vertical face in the second still image to the area of the second still image.

In some embodiments, the area ratio of the vertical surface of the second still image does not reach the area threshold range and the boundary of the vertical surface of the image buffer map is an unclosed boundary, which is used to indicate that the vertical surface of the second still image acquired by the image scanning device includes the boundary, and the vertical surface in the image buffer map is not a closed plane, i.e., continues to move along the preset path, and the image scanning device cannot acquire more images about the vertical surface.

Wherein, whether the vertical surface comprises a boundary is judged through the visual sensor.

In some embodiments, changing the direction of the preset path includes changing a movement path from left to right or from right to left along the horizontal direction of the vertical surface to a movement path from bottom to top along the vertical direction of the vertical surface, changing a movement path from left to right along the horizontal direction of the vertical surface to a movement path from right to left along the horizontal direction of the vertical surface, and changing a movement path from right to left along the horizontal direction of the vertical surface to a movement path from left to right along the horizontal direction of the vertical surface.

In the related art, the scanning route of the aircraft is generally preset according to the contour shape of the vertical face of the building, and the turning point of the scanning route has a certain distance from the contour of the vertical face of the building, namely, the vertical face of the building is inside the plane formed by the scanning route. However, when the outline shape of some buildings is a regular shape, such as a rectangle, this method results in long scanning path, long scanning time and low scanning efficiency. In this embodiment, the movement path of the image scanning device is changed by determining the area ratio of the vertical surface in the second static image in real time, so as to reduce the image scanning distance, reduce the image scanning time, and improve the image scanning efficiency.

Fig. 7 is a flowchart (iv) of an image scanning method of a riser according to an embodiment of the present application. As shown in fig. 7, after updating the image buffer map, the image scanning method includes the steps of:

step S702, acquiring first fusion horizontal distance data and second fusion horizontal distance data along a preset path, wherein the first fusion horizontal distance data is used for indicating the fusion horizontal distance data acquired at a first moment, the second fusion horizontal distance data is used for indicating the fusion horizontal distance acquired at a second moment, and the second moment is the next moment of the first moment;

step S704, changing the direction of the preset path when the absolute value of the difference between the second fused horizontal distance data and the first fused horizontal distance data reaches the difference threshold range;

and step S706, repeating the steps until the boundary of the vertical surface in the image buffer map is a closed boundary.

In some of these embodiments, the second fused horizontal distance data is less than the first fused horizontal distance data, i.e. the difference between the second fused horizontal distance data and the first fused horizontal distance data is negative, indicating that the image scanning device has reached the boundary of the riser and that the surface of the building at the boundary of the riser is in front of the riser in the event that the absolute value of the difference reaches the difference threshold range.

In some of these embodiments, the second fused horizontal distance is greater than the first fused horizontal distance, i.e., the second fused horizontal distance data has positive differences in the first fused horizontal distance data, indicating that the image scanning device has reached the boundary of a riser and that the surface of the building at the boundary of the riser is behind the riser if the absolute value of the difference reaches a threshold range of differences.

In some of these embodiments, the second fused horizontal distance data is infinite, the difference between the second fused horizontal distance data and the first fused horizontal distance data is infinite, and in a case where the absolute value of the difference reaches the difference threshold range, it indicates that the image scanning apparatus has reached the boundary of the vertical face, and there is no building at the boundary of the vertical face.

In the related art, the scanning route of the aircraft is generally preset according to the contour shape of the vertical face of the building, and the turning point of the scanning route has a certain distance from the contour of the vertical face of the building, namely, the vertical face of the building is inside the plane formed by the scanning route. However, when some buildings are connected with different buildings, and the vertical faces of the different buildings have a certain horizontal distance difference, this method may cause inaccurate scanning, easily misses scanning or additional scanning, and causes low scanning efficiency. In this embodiment, the difference of the fusion horizontal distance data at adjacent moments is determined, so that the accuracy of the image scanning distance is ensured, the image scanning time is reduced, and the image scanning efficiency is improved.

Fig. 8 is a flowchart (v) of an image scanning method of a riser according to an embodiment of the present application. As shown in fig. 8, the image scanning method includes the steps of:

step S802, moving along a preset path under the condition of keeping a certain horizontal distance from a vertical surface;

step S804, a first static image and a first dynamic image are obtained;

step S806 of determining whether the overlapping rate of the first dynamic image and the first static image reaches an overlapping threshold range, executing step S808 if the overlapping rate does not reach the overlapping threshold range, and executing step S810 if the overlapping rate reaches the overlapping threshold range;

step S808, updating the first dynamic image, and executing step S806;

step S810, storing the first dynamic image as a second static image, updating the image buffer map, and executing step S812;

step S812, determining whether the area ratio of the vertical surface of the static image reaches an area threshold range, executing step S804 if the area ratio reaches the area threshold range, and executing step S814 if the area ratio does not reach the area threshold range;

step S814, judging whether the boundary of the vertical face of the image buffer map is a closed boundary, executing step S816 under the condition that the boundary of the vertical face of the image buffer map is an unclosed boundary, and executing step S818 under the condition that the boundary of the vertical face of the image buffer map is a closed boundary;

step S816, changing the direction of the preset path, and executing step S804;

in step S818, the image buffer map is saved, and the scanning is ended.

The steps of keeping a certain horizontal distance from the vertical surface are the same as those of steps S402 to S406.

The specific workflow is as follows:

controlling the horizontal distance between the image scanning device and the vertical surface of the building to be 10m +/-0.5 m;

setting a preset path, and enabling the image scanning device to move from left to right from the bottom of a vertical surface of a building and scan, wherein the vertical distance between the preset path and the ground is controlled to be 1m +/-0.2 m;

in a preset path, an image scanning device firstly shoots and stores a first static image at a first position and updates an image buffer map;

continuously scanning the vertical face in the process of moving along a preset path to obtain a first dynamic image of which the overlapping rate with the first static image reaches an overlapping threshold range, marking the position of the first dynamic image reaching the overlapping threshold range as a second position, shooting and storing the first dynamic image as a second static image, and updating an image buffer map;

repeating the above steps when the area ratio of the vertical face of the second still image reaches the area threshold range; changing the direction of the preset path under the condition that the area rate of the vertical face of the second static image does not reach the area threshold range and the boundary of the vertical face of the image buffer map is an unclosed boundary, so that the image scanning device moves from the right to the left of the vertical face of the building and scans;

and repeating the steps until the area rate of the vertical face of the second static image does not reach the area threshold range and the boundary of the vertical face of the image buffer map is a closed boundary.

In the related art, due to the blockage of buildings and obstacles, the GPS signal is weak and has large error, so that the horizontal distance between the aircraft and the vertical surface of the building cannot be kept within a certain range; the aircraft collects images according to a certain time interval, and the flight distances of different time intervals are different due to the difference of the flight speeds, so that the influence overlapping rates among a plurality of images are inconsistent. In the embodiment, the horizontal distance between the image scanning device and the vertical surface is controlled within a certain range, so that the parameters of the image of the vertical surface acquired by the image scanning device are basically consistent, that is, the image with basically consistent resolution can be obtained at the same visual angle and the same focal length; the method has the advantages that the real-time overlapping rate calculation is adopted, the overlapping rate of the obtained multiple static images is basically kept consistent, the problem that high-precision three-dimensional modeling cannot be completed due to the fact that the image overlapping rates of the images collected by the image scanning device are inconsistent is solved, and the technical effects of stable image overlapping rate, short scanning time of the vertical face and high scanning efficiency are achieved.

Fig. 9 is a block diagram (one) of the structure of the image scanning apparatus of the vertical plane according to the embodiment of the present application. As shown in fig. 9, the image scanning apparatus 210 includes a horizontal distance control module 910, a path control module 920, an image acquisition module 930, an overlap ratio determination module 940, a map update module 950, an image storage module 960, and a boundary determination module 970.

A horizontal distance control module 910 for controlling a horizontal distance between the image scanning apparatus 210 and a vertical surface of the building to be within a horizontal distance threshold range;

a path control module 920, configured to control the image scanning apparatus 210 to move along a preset path;

an image obtaining module 930 configured to obtain a first static image of the vertical surface at a first position and obtain a first dynamic image of the vertical surface during a movement from the first position to a second position, wherein coordinates of the first position are different from coordinates of the second position;

an overlap rate determining module 940, configured to determine whether an overlap rate of the first dynamic image and the first static image reaches an overlap threshold range;

a map updating module 950, configured to update an image buffer map when an overlapping rate of the first dynamic image and the first static image reaches an overlapping threshold range, where the image buffer map is used to indicate a vertical face;

an image storage module 960, configured to store the first dynamic image as the second static image when an overlapping rate of the first dynamic image and the first static image reaches an overlapping threshold range;

and a boundary determining module 970, configured to control the image scanning device 210 to end the scanning if the boundary in the image buffer map is a closed boundary.

In addition, the image obtaining module 930 is further configured to update the first dynamic image when the overlapping rate of the first dynamic image and the first static image does not reach the overlapping threshold range.

In the related art, the horizontal distance between the aircraft and the vertical surface of the building cannot be controlled to be maintained within a certain range; the influence overlapping rate among a plurality of images acquired by the device is inconsistent. Through the image scanning device of the embodiment, the horizontal distance between the image scanning device and the image scanner is kept within a certain range by utilizing the horizontal distance control module, the image overlapping rate of the collected images is judged in real time by utilizing the overlapping rate judging module, the overlapping rates among a plurality of images are ensured to be consistent, the problem that high-precision three-dimensional modeling cannot be completed due to inconsistent image overlapping rates of the images collected by the image scanning device is solved, and the technical effects of stable image overlapping rate, short scanning time of vertical surfaces and high scanning efficiency are realized.

Fig. 10 is a block diagram (ii) of the configuration of the image scanning apparatus according to the embodiment of the present application. As shown in fig. 10, the image scanning apparatus 210 further includes an area determination module 980.

The area determination module 980 is configured to determine whether the area rate of the vertical surface of the second static image reaches an area threshold range;

the path control module 920 is further configured to change the direction of the preset path when the area rate of the vertical surface of the second still image does not reach the area threshold range and the boundary of the vertical surface of the image buffer map is an unclosed boundary.

In the related art, the scanning route of the aircraft is generally preset according to the contour shape of the vertical face of the building, and the turning point of the scanning route has a certain distance from the contour of the vertical face of the building, namely, the vertical face of the building is inside the plane formed by the scanning route. However, when the outline shape of some buildings is a regular shape, such as a rectangle, this method results in long scanning path, long scanning time and low scanning efficiency. In this embodiment, the area rate of the vertical surface in the second static image is determined in real time by the area determination module, and the motion path of the image scanning device is changed, thereby reducing the image scanning distance, reducing the image scanning time, and improving the image scanning efficiency.

Fig. 11 is a block diagram (iii) of the configuration of the image scanning apparatus according to the embodiment of the present application. As shown in fig. 10, the image scanning apparatus 210 further includes a horizontal distance determining module 990.

The horizontal distance determining module 990 is configured to determine whether an absolute value of a difference between first fusion horizontal distance data and second fusion horizontal distance data reaches a difference threshold range, where the first fusion horizontal distance data is used to indicate fusion horizontal distance data acquired at a first time, the second fusion horizontal distance data is used to indicate fusion horizontal distance acquired at a second time, and the second time is a next time of the first time;

the path control module 920 is further configured to change the direction of the preset path when the absolute value of the difference between the second fused horizontal distance data and the first fused horizontal distance data reaches the difference threshold range.

Fig. 12 is a block diagram of a horizontal distance control module according to an embodiment of the present application. As shown in fig. 12, the horizontal distance control module 910 includes a reflective sensor 911, a vision sensor 912, a multi-axis acceleration sensor 913, a fusion processing unit 914, a distance determination unit 915, and a control unit 916.

A reflective sensor 911 for acquiring first horizontal distance data of the image scanning apparatus 210;

a vision sensor 912 for acquiring second horizontal distance data of the image scanning apparatus 210;

a multi-axis acceleration sensor 913 for acquiring attitude data of the image scanning apparatus 210;

a fusion processing unit 914 for fusing the first horizontal distance data, the second horizontal distance data, and the attitude data to obtain fused horizontal distance data;

a distance judgment unit 915 for judging whether the fused horizontal distance data reaches a horizontal distance threshold range;

a control unit 916, configured to control the image scanning device 210 to approach or move away from the riser in a case where the fused horizontal distance data does not reach the horizontal distance threshold range.

In some of these embodiments, the reflective sensor may be a lidar ranging sensor.

In some of these embodiments, the vision sensor may be a binocular vision sensor, a depth vision sensor.

In some of these embodiments, the multi-axis acceleration sensor may be an Inertial Measurement Unit (IMU) sensor.

In some of these embodiments, in the case where the fused horizontal distance data is greater than the horizontal threshold range, the control unit 916 sends a first distance control instruction to move the image scanning apparatus 210 in a direction close to the vertical face of the building, so that the fused horizontal distance reaches the horizontal threshold range; in the case where the fusion horizontal distance data is smaller than the horizontal threshold range, the control unit 916 transmits a second distance control instruction to move the image scanning apparatus 210 in a direction away from the vertical surface of the building, thereby bringing the fusion horizontal distance into the horizontal threshold range.

In the related art, an aircraft is generally located by using a GPS signal, and due to the influence of buildings and obstacles, the GPS signal is weak and the GPS signal has a large error, so that the horizontal distance between the aircraft and the vertical surface of the building is kept within a certain horizontal distance range. In this embodiment, the first horizontal distance data, the second horizontal distance data and the attitude data are acquired by the reflective sensor, the vision sensor and the multi-axis acceleration sensor, and are fused by the fusion processing unit, so that more accurate horizontal distance data can be acquired, and the horizontal distance data between the image scanning device and the vertical surface of the building is ensured to be within the horizontal threshold range, so that the acquired image resolution on the vertical surface is consistent and the overlapping rate is stable.

In addition, the image scanning method of the vertical surface of the embodiment of the present application may be implemented by a computer device. Components of the computer device may include, but are not limited to, a processor and a memory storing computer program instructions.

In some embodiments, the processor may include a Central Processing Unit (CPU), or A Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of embodiments of the present Application.

In some embodiments, the memory may include mass storage for data or instructions. By way of example, and not limitation, memory may include a Hard Disk Drive (Hard Disk Drive, abbreviated HDD), a floppy Disk Drive, a Solid State Drive (SSD), flash memory, an optical disc, a magneto-optical disc, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. The memory may include removable or non-removable (or fixed) media, where appropriate. The memory may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory is a Non-Volatile (Non-Volatile) memory. In certain embodiments, the Memory includes Read-Only Memory (ROM) and Random Access Memory (RAM). The ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), Electrically rewritable ROM (EAROM), or FLASH Memory (FLASH), or a combination of two or more of these, where appropriate. The RAM may be a Static Random-Access Memory (SRAM) or a Dynamic Random-Access Memory (DRAM), where the DRAM may be a Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), an Extended data output Dynamic Random-Access Memory (EDODRAM), a Synchronous Dynamic Random-Access Memory (SDRAM), and the like.

The memory may be used to store or cache various data files for processing and/or communication use, as well as possibly computer program instructions for execution by the processor.

The processor reads and executes the computer program instructions stored in the memory to realize the image scanning method of any one of the facades in the above embodiments.

In some of these embodiments, the computer device may also include a communication interface and a bus. The processor, the memory and the communication interface are connected through a bus and complete mutual communication.

The communication interface is used for realizing communication among modules, devices, units and/or equipment in the embodiment of the application. The communication interface may also be implemented with other components such as: the data communication is carried out among external equipment, image/data acquisition equipment, a database, external storage, an image/data processing workstation and the like.

A bus comprises hardware, software, or both that couple components of a computer device to one another. Buses include, but are not limited to, at least one of the following: data Bus (Data Bus), Address Bus (Address Bus), Control Bus (Control Bus), Expansion Bus (Expansion Bus), and Local Bus (Local Bus). By way of example, and not limitation, a Bus may include an Accelerated Graphics Port (AGP) or other Graphics Bus, an Enhanced Industry Standard Architecture (EISA) Bus, a Front-Side Bus (FSB), a Hyper Transport (HT) Interconnect, an ISA (ISA) Bus, an InfiniBand (InfiniBand) Interconnect, a Low Pin Count (LPC) Bus, a memory Bus, a microchannel Architecture (MCA) Bus, a PCI-Express (PCI-X) Bus, a Serial Advanced Technology Attachment (SATA) Bus, abbreviated VLB) bus or other suitable bus or a combination of two or more of these. A bus may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

The computer device may execute the image scanning method of the vertical surface in the embodiment of the present application based on the acquired preset path, the first static image, the first dynamic image, the first horizontal distance data, the second horizontal distance data, the posture data, and the image buffer map, thereby implementing the method described with reference to fig. 3.

In addition, in combination with the image scanning method for the vertical plane in the above embodiments, the embodiments of the present application may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement the method of image scanning of a riser of any of the above embodiments.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of scanning an image of a vertical surface, comprising:

under the condition of keeping a certain horizontal distance from the vertical face, acquiring a first static image and a first dynamic image along a preset path, wherein the preset path is a movement path from left to right along the horizontal direction of the vertical face or a movement path from right to left along the horizontal direction of the vertical face, the first static image is used for indicating an image of the vertical face acquired at a first position, the first dynamic image is used for indicating an image of the vertical face acquired in the movement process from the first position to a second position, and the coordinate of the first position is different from the coordinate of the second position;

judging whether the overlapping rate of the first dynamic image and the first static image reaches an overlapping threshold range, wherein the overlapping threshold range is 75-85%, and the judging method comprises the steps of sequentially performing overlapping judgment on a plurality of images which are arranged in a time sequence or a preset path sequence in the first dynamic image and the first static image;

under the condition that the overlapping rate reaches the overlapping threshold range, storing the first dynamic image as a second static image, and updating an image buffer map, wherein the second static image is used as the first static image at the next time, and the image buffer map is used for indicating the vertical face;

under the condition that the overlapping rate does not reach the overlapping threshold range, updating the first dynamic image, and repeating the steps;

changing the direction of the preset path under the condition that the area rate of the vertical face of the second static image does not reach the area threshold range and the boundary of the vertical face of the image buffer map is an unclosed boundary, wherein changing the direction of the preset path comprises changing a movement path from left to right or from right to left along the horizontal direction of the vertical face into a movement path from bottom to top along the vertical direction of the vertical face, changing a movement path from left to right along the horizontal direction of the vertical face into a movement path from right to left along the horizontal direction of the vertical face, and changing a movement path from right to left along the horizontal direction of the vertical face into a movement path from left to right along the horizontal direction of the vertical face;

repeating the steps until the boundary of the vertical face in the image buffer map is a closed boundary;

wherein maintaining a horizontal distance from the vertical surface comprises:

acquiring first horizontal distance data through a reflective sensor, acquiring second horizontal distance data through a visual sensor and acquiring attitude data through an acceleration sensor;

fusing the pose data and at least one of the first horizontal distance data, the second horizontal distance data to obtain fused horizontal distance data;

under the condition that the fusion horizontal distance data does not reach a horizontal distance threshold range, sending a distance control instruction to enable the fusion horizontal distance data to reach the horizontal distance threshold range, wherein the horizontal distance threshold range is 9-11 m;

the fusion method comprises the step of fusion based on an extended Kalman filtering method and on effective data judgment of an acceleration sensor.

2. The method for scanning an image of a vertical surface according to claim 1, wherein after updating the image buffer map, the method further comprises:

3. An image scanning device of a vertical face, comprising:

the horizontal distance control module is used for controlling the horizontal distance between the image scanning device and the vertical face to be within a horizontal distance threshold range, wherein the horizontal distance threshold range is 9-11 m;

the path control module is used for controlling the image scanning device to move along a preset path, wherein the preset path is a movement path from left to right along the horizontal direction of a vertical surface or a movement path from right to left along the horizontal direction of the vertical surface;

the overlapping rate judging module is used for judging whether the overlapping rate of the first dynamic image and the first static image reaches an overlapping threshold range, wherein the overlapping threshold range is 75% -85%, and the judging method comprises the step of sequentially performing overlapping judgment on a plurality of images which are arranged according to a time sequence or a preset path sequence in the first dynamic image and the first static image;

the boundary judgment module is used for controlling the image scanning device to finish scanning under the condition that the boundary in the image buffer map is a closed boundary;

the image acquisition module is further used for updating the first dynamic image under the condition that the overlapping rate of the first dynamic image and the first static image does not reach the overlapping threshold range;

the path control module is further configured to change a direction of the preset path when the area rate of the vertical face of the second static image does not reach the area threshold range and the vertical face of the image buffer map is an unclosed boundary, where changing the direction of the preset path includes changing a movement path from left to right or a movement path from right to left along a horizontal direction of the vertical face to a movement path from bottom to top along a vertical direction of the vertical face, changing a movement path from left to right along a horizontal direction of the vertical face to a movement path from right to left along a horizontal direction of the vertical face, and changing a movement path from right to left along a horizontal direction of the vertical face to a movement path from left to right along a horizontal direction of the vertical face;

the horizontal distance control module includes:

a vision sensor for acquiring second horizontal distance data of the image scanning device;

4. The apparatus according to claim 3, further comprising:

5. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method for image scanning of a facade according to any one of claims 1-2.

6. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for image scanning of a facade according to any one of claims 1-2.