CN112154391A - Method for determining surrounding route, aerial photographing method, terminal, unmanned aerial vehicle and system - Google Patents
Method for determining surrounding route, aerial photographing method, terminal, unmanned aerial vehicle and system Download PDFInfo
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- CN112154391A CN112154391A CN201980032726.4A CN201980032726A CN112154391A CN 112154391 A CN112154391 A CN 112154391A CN 201980032726 A CN201980032726 A CN 201980032726A CN 112154391 A CN112154391 A CN 112154391A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
A method for determining a surrounding route, an aerial photography method, a terminal, an unmanned aerial vehicle and a system are provided, wherein the method for determining the surrounding route comprises the following steps: acquiring a preset shooting distance and a plurality of different preset shooting heights (S201); determining route radii of different preset shooting heights according to the preset shooting distance, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distance when the preset shooting heights are different (S202); and generating a surrounding route according to the route radii of the preset shooting heights (S203). By using the method, the horizontal distance from each point on the generated surrounding route to the surface of the building is the same, and when the unmanned aerial vehicle flies along the surrounding route to perform an aerial photography task, the resolution of the photos taken at each position where the unmanned aerial vehicle flies through is consistent, so that the resolution of the photos can be kept consistent when aerial photography is performed on tower-shaped buildings or buildings with different upper and lower widths/radii.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a method for determining a surrounding route, an aerial photography method, a terminal, an unmanned aerial vehicle and a system.
Background
Along with the development of unmanned aerial vehicle technology, unmanned aerial vehicles are increasingly applied to shooting buildings and constructing geometric structures of the buildings. At present, when an unmanned aerial vehicle is used for modeling a tall building, a common operation mode is to fly around the building, take pictures of the building at different flying heights, and then construct a geometric relationship for the building according to the taken pictures.
In the prior art, the radius of the surrounding flight path at each different height is fixed, but for buildings with different upper and lower widths or radii, such as tower-shaped buildings, the resolution of pictures taken of the buildings at different positions is different.
Disclosure of Invention
In view of the above, the present application provides a method for determining a surrounding route, an aerial photography method, a terminal, an unmanned aerial vehicle and a system.
The application can be realized by the following technical scheme:
a method for determining a surrounding route is applied to a terminal, and comprises the following steps:
acquiring a preset shooting distance and a plurality of different preset shooting heights;
determining route radiuses of different preset shooting heights according to the preset shooting distance, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distance when the preset shooting heights are different;
and generating a surrounding route according to the route radiuses of the preset shooting heights.
A terminal for determining a surrounding route for an unmanned aerial vehicle, the terminal comprising: a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring a preset shooting distance and a plurality of different preset shooting heights;
determining route radiuses of different preset shooting heights according to the preset shooting distance, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distance when the preset shooting heights are different;
and generating a surrounding route according to the route radiuses of the preset shooting heights.
An aerial photography method applied to an unmanned aerial vehicle, the method comprising:
receiving a preset shooting distance and a plurality of different preset shooting heights sent by a terminal;
flying to the preset shooting height, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distances when the unmanned aerial vehicle is at different preset shooting heights;
and taking pictures along a surrounding route at a plurality of preset shooting heights.
An unmanned aerial vehicle, comprising: the system comprises a wireless communication device, a flight control device and a holder;
the holder is used for carrying camera equipment;
the wireless communication device is used for establishing a wireless channel with a terminal, and the unmanned aerial vehicle utilizes the wireless channel for data transmission;
the flight control device is used for receiving a preset shooting distance and a plurality of different preset shooting heights sent by the terminal; controlling an unmanned aerial vehicle to fly to the preset shooting height, wherein when the unmanned aerial vehicle is at different preset shooting heights, the distances from the unmanned aerial vehicle to the surface of a building are the preset shooting distances; and controlling the unmanned aerial vehicle to take pictures by the camera equipment carried by the holder along the surrounding route under the plurality of preset shooting heights.
An unmanned aerial vehicle system, the unmanned aerial vehicle system comprising: the system comprises an unmanned aerial vehicle and a terminal for determining a surrounding route;
the terminal sends a preset shooting interval and a plurality of different preset shooting heights to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies to the preset shooting heights, wherein the distances from the unmanned aerial vehicle to the surface of a building are the preset shooting intervals when the preset shooting heights are different;
the terminal determines different route radiuses of the preset shooting height according to the preset shooting distance, generates a surrounding route and sends the surrounding route to the unmanned aerial vehicle, and the unmanned aerial vehicle is enabled to shoot pictures along the surrounding route.
According to the method for determining the surrounding route, the horizontal distance from each point on the generated surrounding route to the surface of the building is the same, and when the unmanned aerial vehicle flies along the surrounding route to execute the aerial photographing task according to the aerial photographing method provided by the application, the distance from each flying position to the surface of the building is the same, so that the photo resolution is kept consistent when the unmanned aerial vehicle takes photos for tower-shaped buildings or buildings with different upper and lower widths/radiuses.
Drawings
FIG. 1 is a schematic diagram of a prior art method of determining a surrounding route;
FIG. 2 is a flow chart of a method of determining a surrounding route shown in an exemplary embodiment of the present application;
FIG. 3 is a schematic illustration of determining a surrounding route shown in an exemplary embodiment of the present application;
FIG. 4 is a schematic diagram of an interpolation sublayer shown in an exemplary embodiment of the present application;
FIG. 5 is a block diagram of a terminal for determining a surrounding route shown in an exemplary embodiment of the present application;
FIG. 6 is a flow chart of a method of aerial photography shown in an exemplary embodiment of the present application;
FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle shown in an exemplary embodiment of the present application;
FIG. 8 is a schematic structural diagram of an unmanned aerial vehicle shown in an exemplary embodiment of the present application;
FIG. 9 is a block diagram of an unmanned aerial vehicle system interaction shown in an exemplary embodiment of the present application;
FIG. 10 is a schematic structural diagram of an UAV system shown in an exemplary embodiment of the present application;
FIG. 11A is a schematic illustration of a prior art determination of a surrounding route for a "spring bamboo shoot" building as shown in an exemplary embodiment of the present application;
FIG. 11B is a schematic illustration of a determined surrounding route for a "spring bamboo shoot" building using the techniques of the present application, as shown in an exemplary embodiment of the present application;
FIG. 11C is a schematic illustration of a surrounding route refinement sublayer of a "spring bamboo shoot" building shown in an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
As shown in FIG. 1, for the surrounding route determined by taking pictures of buildings in surrounding flight in the prior art, FIG. 1 shows a tower-shaped building, the radius of the building at height H1 is r1, the radius of the building at height H2 is r2, and the radius of the building at height H3 is r3, wherein the sizes of r1, r2 and r3 are different. If the current round-the-fly solution is used, i.e. the radii of the upper and lower round-the-way paths are identical, assuming R, the aircraft is at a distance a-R1 from the building surface at H1, at a distance b-R2 from the building surface at H2, and at a distance c-R3 from the building surface at H3. Because r1, r2 and r3 are different in size, a, b and c are different in size, namely, the distance from the aircraft to the building surface is different under the height H1, the height H2 and the height H3, the aircraft is very close to the building surface at some heights, and is relatively far away from the building surface at some heights, and the resolution of pictures shot by the aircraft is different under different heights because the shooting distance is a factor for determining the resolution of the pictures.
In order to solve the above problem, an exemplary embodiment of the present invention shows a method for determining a surrounding route, which is applied to a terminal, and the specific flow is as shown in fig. 2:
step S201: acquiring a preset shooting distance and a plurality of different preset shooting heights;
step S202: determining route radiuses of different preset shooting heights according to the preset shooting distance, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distance when the preset shooting heights are different;
step S203: and generating a surrounding route according to the route radiuses of the preset shooting heights.
Before step S201, a reference line position of the building is obtained, where the reference line position is selected from the building, and may be a central axis position of the building, or another reference position selected by a user, and the reference position is not limited in this application. After the datum position is selected, the horizontal distance from the datum position to the surface of the building represents the building radius of the building, and the building radius is different in different heights for buildings with different upper and lower widths. In step S201, after the preset shooting distance is determined, the route radius at the preset shooting height can be calculated by adding the horizontal distance from the reference line position to the building surface at the preset shooting height to the preset shooting distance.
In step S202, the unmanned aerial vehicle flies to a plurality of different preset photographing altitudes set in step S201, and the horizontal distance from the unmanned aerial vehicle to the surface of the building is maintained at a fixed value regardless of the horizontal distance from the position of the reference line to the surface of the building at the different preset photographing altitudes, so that it is ensured that the pictures photographed at each preset photographing altitude have the same resolution.
In step S203, assuming that the horizontal distance from the unmanned aerial vehicle to the building surface is d and the horizontal distance from the reference line position to the building surface is d1 at the preset shooting altitude, the route radius (i.e., the horizontal distance from the shooting position to the reference line position) at the preset shooting altitude may be calculated as d + d1 according to the two distance parameters. If the horizontal distance from the reference line position to the building surface at another preset shooting height is d2, the course radius at this preset shooting height can be calculated as d + d2 according to the above calculation method. When the values of d1 and d2 are different, the flight path radii at the two preset shooting heights are different, but the horizontal distances from the unmanned aerial vehicle to the surface of the building at the two preset shooting heights are the same, so that the distances from the positions where the photos are shot to the surface of the building at the different preset shooting heights are also the same.
By the above-mentioned method for determining the circular route, when the upper and lower widths of the building are not consistent or the building radiuses at different heights are different, the circular route radiuses of the unmanned aerial vehicles at different heights are different, as shown in fig. 3, but the distances from the unmanned aerial vehicles to the surface of the building at any height and at any shooting position are consistent, so that the resolution of pictures shot at the circular route is consistent.
In one example, the resolution of pictures taken by the unmanned aerial vehicle along the surrounding route is the same at different preset shooting heights. For example, when a building is photographed by the method for determining the surrounding route, the resolution of the photographs taken by the unmanned aerial vehicle is the same because the horizontal distance from each position along the route to the surface of the building is the preset photographing distance when the unmanned aerial vehicle flies along the surrounding route.
In one example, before generating a surrounding route according to the route radii of the plurality of preset shooting heights, the method further comprises the following steps: determining whether a sublayer is inserted between two adjacent preset shooting heights according to the set overlapping rate in the vertical direction; if so, calculating the height of the sub-layer according to the overlapping rate in the vertical direction, inserting the sub-layer with the height being the height of the sub-layer between two adjacent preset shooting heights by using an interpolation method, and calculating the route radius of each sub-layer. For example, in some cases, the surrounding route generated according to the above method may be a relatively rough surrounding route, and the picture taken under the surrounding route may not cover the entire surface of the building, and for this reason, in one example, the rough surrounding route may be further refined, and for example, before the surrounding route is generated by the above method, the step of refining the interpolation sub-layer may be performed, and a vertical overlapping rate is first set, where the vertical overlapping rate is: the ratio of the length of the overlapping part of the adjacent photos along the same route to the side length of the photos can also be understood as the overlapping part between the photos under the same route, and the geometrical schematic diagram of the overlapping part is shown in FIG. 4. In an example, the vertical direction overlapping ratio is 70% to 80%, or the value may be adjusted according to actual needs, assuming that the vertical direction overlapping ratio is set to Pv, then in order to meet the overlapping ratio at this Pv value, the height difference between two adjacent layers of shooting heights should be h, then the number Pix _ Num _ v of vertical direction pixels and the Size Pix _ Size of each pixel are obtained between the heights of two adjacent marked feature points, d is the distance from the unmanned aerial vehicle to the surface of the building, and assuming that the focal length of a camera lens used for shooting a picture on the unmanned aerial vehicle is f, the sub-layer height h at the vertical direction overlapping ratio Pv may be calculated by using formula (1):
h＝(1-Pv)*Pix_Size*Pix_Num_v*d/f (1)
as shown in fig. 4, assuming that the calculated height of a sublayer is H under the set vertical direction overlap ratio Pv, first, it is determined whether a sublayer needs to be inserted between two adjacent heights H1 and H2, and if the height difference l between H1 and H2 is greater than H, a sublayer with a height H can be inserted under the height of H1-H; if l-H > H still remains after insertion of a sublayer, then further insertion of a sublayer at a height of H1-2H can be continued until each layer height is not greater than the calculated sublayer height H.
By the method for interpolating the sub-layers, when the user manually marks the feature points at each height in the early stage, the user does not need to mark many feature points, only needs to roughly mark some feature points with the number of layers, and then judges whether the sub-layers need to be interpolated according to the sub-layer heights calculated under the condition of setting the overlapping rate in the vertical direction, so that the number of the layers is further refined.
In an example, the step of acquiring the preset shooting distance may be: the unmanned aerial vehicle flies to a certain preset shooting height, and the distance between the marked feature point and the surface of the building is obtained and used as a preset shooting distance. As an example, the marked feature points may be obtained by: the marked feature point is the location on the user's click on the photo. For example, a user clicks on a display screen of the terminal to select a feature point position, and presses a click key, so that the horizontal distance from the feature point position to the surface of the building is the preset shooting distance. For another example: in this example, the coordinates in the input position data of the building may be input by inputting position data of the building, the position data including coordinates corresponding to points on the building, and the position of the feature point may be selected based on coordinate information in the position data of the building. In another example, the preset photographing distance may be set in other manners, such as: before the unmanned aerial vehicle flies to the preset shooting height, a user can set a shooting distance, for example, the shooting distance is set to be 10 meters away from the surface of a building, then after the unmanned aerial vehicle flies to the position, with the preset shooting height, of 10 meters away from the surface of the building, the user shoots a picture and sends the shot picture to the user, the user judges whether the set shooting distance is appropriate according to the resolution of the shot picture, if the resolution of the picture is low and the definition of the picture does not meet the ideal requirement, the set shooting distance is over large, the shooting distance is reset, and for example, the shooting distance is updated to be 6 meters. In this way, a suitable recording distance can be found which enables the resolution of the recorded pictures to be satisfactory.
Since the preset shooting distance can be selected by the user, the initially selected shooting distance may not be a proper shooting distance, and if the unmanned aerial vehicle is far from the surface of the building during flight, the shot pictures are not clear enough. In one example, after the obtaining the preset shooting distance and the plurality of different preset shooting heights, the method further includes: and determining whether to reacquire a new shooting distance according to the resolution of the picture shot by the unmanned aerial vehicle at the preset shooting height. In the embodiment, after a user initially sets a shooting distance, the unmanned aerial vehicle flies to the position first, a picture shot at the position is sent to the user, the user determines whether the set shooting distance is appropriate according to the resolution of the picture at the position, and if the shooting distance is too large, the user can adjust the shooting distance by himself and reset the shooting distance. By using the adjusting mode for multiple times, a user can be ensured to set a proper shooting distance, the finally determined shooting distance is used as a preset shooting distance, and the preset shooting distance cannot be changed in the process of marking the feature points and generating the surrounding route.
In one example, the resolution of the picture is obtained by the shooting distance calculation, and since the lens parameters (e.g., focal length) of the used shooting device are all available, the resolution of the picture taken at the shooting position can be calculated according to the distance from the shooting position to the surface of the building (i.e., the preset shooting distance). In other examples, the photo resolution includes: the resolution of the photographs carried in the photographs sent by the unmanned aerial vehicle. In this example, a photo may be sent to the user after a photo is taken at a certain position by the unmanned aerial vehicle, and the user may directly obtain the resolution of the photo from the received photo because the sent photo contains the information of the resolution of the photo.
In one example, the preset photographing interval is not less than a preset safety distance. When the unmanned aerial vehicle takes an aerial photo of a building and flies, a certain safety distance is required to be kept between the unmanned aerial vehicle and the building, and the unmanned aerial vehicle cannot be too close to the building, so that the safety distance can be considered when the preset shooting distance is determined, the preset shooting distance is not smaller than the safety distance, and if the preset shooting distance is found to be too small and smaller than the safety distance, the shooting distance is reset. For example, when the user initially sets the shooting distance, in order to make the resolution of the shot picture higher, the shooting distance is set too small, resulting in that the unmanned aerial vehicle is too close to the building surface while flying, in which case the safe flight of the unmanned aerial vehicle cannot be ensured, and therefore the shooting distance may be increased, and the preset shooting distance may be increased to a value not less than the safe distance, based on the safe distance at which the unmanned aerial vehicle is flying.
In one example, the safe distance includes: and measuring the obtained safe distance by a distance measuring device or artificially observing the obtained safe distance. For example: the distance measuring device loaded on the unmanned aerial vehicle can measure the safe distance, and after the distance measuring device measures the obtained safe distance, the safe distance is sent to a user, or the user can directly observe whether the distance from the unmanned aerial vehicle to a building is greater than the safe distance or not on a used terminal display screen.
Here, the process of generating the surrounding route may be further described in detail, and since the above method is to perform layering dotting at different preset shooting altitudes and separately calculate a route radius for each layer, the unmanned aerial vehicle first flies to an initial preset altitude, generates a surrounding trajectory at the current altitude after completing marking the feature point and calculating the route radius at the preset altitude, then updates to another preset altitude, and continues to complete steps of marking the feature point and calculating the route radius, and generates an updated surrounding trajectory at the altitude. For example, it is assumed that the order of marking feature points of the unmanned aerial vehicle is defined from top to bottom, for example, the feature points are marked from the highest position of a building, each time the feature point marking at one height is completed, the unmanned aerial vehicle descends by a certain height, the feature points continue to be marked at the height after the unmanned aerial vehicle descends, the height of each descent can be a preset fixed height, each layer of feature points are marked according to the principle that the height is equal to the height and uniformly descends, the height can also be any height automatically descended by a user, the distance of each descent can be different, and the application is not limited. If the characteristic points are marked uniformly according to equal heights, the descending height is set to be l, after the unmanned aerial vehicle marks the characteristic points at the height H1, the route radius of the current height is calculated, a surrounding track is generated at the height H1, then whether the current height of the unmanned aerial vehicle from the ground is larger than the height l (namely, whether H1 is larger than l) is judged, if H1 is larger than l, the unmanned aerial vehicle descends by the height l, the characteristic points are marked continuously at the descending height H2 (namely, H1-l), the route radius at H2 is calculated, and the surrounding track at the height H2 is generated. If H1 < l, the unmanned aerial vehicle does not descend any more, and the process of manually marking the feature points is completed.
And when the feature point marking and the route radius calculation are completed for all the preset heights, synthesizing the surrounding tracks generated under each preset height into a complete surrounding route, wherein the surrounding routes are layered surrounding tracks.
In correspondence with the foregoing embodiment of a method for determining a surrounding route, the present application further provides an embodiment of an apparatus for determining a surrounding route, as shown in fig. 5, which is a schematic diagram of an apparatus for determining a surrounding route, including: a processor 501 and a memory 502;
the memory 502 is used to store executable instructions;
the processor 501 is configured to:
acquiring a preset shooting distance and a plurality of different preset shooting heights;
determining route radiuses of different preset shooting heights according to the preset shooting distance, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distance when the preset shooting heights are different;
and generating a surrounding route according to the route radiuses of the preset shooting heights.
In one embodiment, the resolution of the pictures taken by the unmanned aerial vehicle along the surrounding route is the same at different preset shooting heights.
In one embodiment, before the processor 501 generates a surrounding route according to route radii of a plurality of the preset shooting altitudes, the processor is further configured to:
determining whether a sublayer is inserted between two adjacent preset shooting heights according to the set overlapping rate in the vertical direction;
if so, calculating the height of the sub-layer according to the overlapping rate in the vertical direction, inserting the sub-layer with the height being the height of the sub-layer between two adjacent preset shooting heights by using an interpolation method, and calculating the route radius of each sub-layer.
In one embodiment, the step of acquiring the preset shooting distance by the processor 501 includes:
and when the unmanned aerial vehicle flies to a preset shooting height, acquiring the distance from the marked characteristic point to the surface of the building as a preset shooting distance.
In one embodiment, the feature points are user clicks on a location on the photograph, or coordinates in the entered location profile of the building.
In one embodiment, after acquiring the preset shooting distance, the processor 501 is further configured to: and determining whether to reacquire a new shooting distance according to the resolution of the picture shot by the unmanned aerial vehicle at the preset shooting height.
In one embodiment, the photo resolution includes: the processor 501 calculates the resolution of the obtained picture according to the preset shooting distance, or the resolution of the picture carried in the picture sent by the unmanned aerial vehicle.
In one embodiment, the preset shooting distance is not less than a preset safety distance.
In one embodiment, the safe distance comprises: the processor 501 measures the calculated safe distance through a distance measuring device, or measures the safe distance obtained through artificial observation.
The implementation processes of the functions and actions of the units of the device are specifically described in the implementation processes of the corresponding steps in the method, and are not described herein again. For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
An exemplary embodiment of the present invention further shows an aerial photography method applied to an unmanned aerial vehicle, where a specific flowchart is shown in fig. 6:
step S601: receiving a preset shooting distance and a plurality of different preset shooting heights sent by a terminal;
step S602: flying to the preset shooting height, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distances when the unmanned aerial vehicle is at different preset shooting heights;
step S603: and taking pictures along a surrounding route at a plurality of preset shooting heights.
According to the aerial photography method, the unmanned aerial vehicle receives a preset shooting distance and a plurality of preset shooting heights sent by a terminal, flies to one of the preset shooting heights according to the plurality of different received preset shooting heights, and flies to a position which is far away from the surface of a building and is the received preset shooting distance under the shooting height.
In step S603, after the surrounding route is generated in the terminal for determining the surrounding route, the terminal sends the surrounding route to the unmanned aerial vehicle, and the unmanned aerial vehicle flies along the surrounding route according to the received surrounding route and takes a picture.
In one example, the resolution of the pictures taken by the unmanned aerial vehicle is the same at different preset shooting heights. After the unmanned aerial vehicle receives the preset shooting intervals, the distance between the unmanned aerial vehicle and the surface of the building is kept to be the preset shooting intervals when each preset shooting height is reached, and therefore the resolution of the pictures shot at each preset shooting height is the same.
And after the unmanned aerial vehicle receives the flight control command and flies above the building, starting the RTK mode to execute the aerial photography task. An RTK (real Time kinematic) technology is a real-Time dynamic positioning technology based on a carrier phase observation value, and after an RTK mode is started, a three-dimensional positioning result of a measurement station in an appointed coordinate system can be obtained in real Time, and the accuracy is very high and can reach centimeter level.
By the aerial photographing method in the embodiment, for buildings with inconsistent upper and lower widths, the radii of routes flown by the unmanned aerial vehicle at different heights are different, but the distance from the unmanned aerial vehicle to the surface of the building is the same at each position of the surrounding route, so that the resolution of photographed photos can be kept consistent when the unmanned aerial vehicle flies along the generated surrounding route to perform aerial photographing tasks.
In one example, after receiving the preset shooting distance and the plurality of different preset shooting heights sent by the terminal, the method further includes the steps of: receiving the height of the sub-layer sent by the terminal, and flying to a sub-layer shot picture with the height being the height of the sub-layer; and the sub-layer height is obtained by calculating according to a set overlapping rate in the vertical direction after the terminal generates a surrounding route according to the route radii of the plurality of preset shooting heights. For example: if the unmanned aerial vehicle flies according to the round route in the above-described aerial photographing method, the photographed photograph may not cover the entire building surface, and thus the flight trajectory at the time of aerial photographing may be refined, that is, a sub-layer is interpolated in the round route. When the unmanned aerial vehicle receives the sub-layer height sent by the terminal, the unmanned aerial vehicle flies to a sub-layer shot picture with the height being the sub-layer height; and the sub-layer height is obtained by calculating according to a set overlapping rate in the vertical direction after the terminal generates a surrounding route according to the route radii of the plurality of preset shooting heights. In the embodiment, when a terminal of the surrounding route is determined to analyze the surrounding route generated by manually marking the feature points, and the picture shot under the surrounding route is considered not to meet the set vertical direction overlapping rate, the interpolated sub-layer height is calculated according to the set vertical direction overlapping, and the sub-layer is inserted into the surrounding route generated by manually marking the feature points, so that the surrounding route is further refined, the refined surrounding route can meet the set vertical direction overlapping rate, namely, the aerial photography task is executed according to the refined surrounding route, and the shot picture can ensure to cover the whole building surface. When the unmanned aerial vehicle receives the refined surrounding route, flying along the refined surrounding route and executing an aerial photography task.
In one example, after the unmanned aerial vehicle flies to the preset shooting height, the method further comprises the following steps: sending the shot picture to a terminal; and if the shooting distance reset by the terminal is received, flying to the position of the reset shooting distance to shoot the picture and sending the picture to the terminal. For example: after the unmanned aerial vehicle flies to a certain preset shooting height, photos are shot at a position away from the building surface by a preset shooting distance, the photos are sent to the terminal, the terminal finds that the definition of the photos is not ideal after receiving the photos, the resolution ratio does not meet the requirements, and then the shooting distance is reset. When the unmanned aerial vehicle receives the command of updating the shooting distance, the unmanned aerial vehicle flies to the position which is away from the surface of the building and is the reset shooting distance, and the photo is shot again and sent to the terminal.
In one example, the unmanned aerial vehicle includes resolution information of the photo in the photo sent to the terminal, and after the user receives the photo through the terminal, the user can directly read the resolution of the photo from a resolution information center in the photo and judge whether the resolution of the photo meets the user requirement.
Corresponding to the foregoing embodiment of an aerial photography method, the present application further provides an embodiment of an unmanned aerial vehicle, as shown in fig. 7, which is a schematic structural diagram of an unmanned aerial vehicle, including: a wireless communication device 701, a flight control device 702, and a pan-tilt 703;
the pan/tilt head 703 is used for carrying camera equipment;
the wireless communication device 701 is used for establishing a wireless channel with a terminal, and the unmanned aerial vehicle 702 performs data transmission by using the wireless channel;
the flight control device 702 is configured to receive a preset shooting distance sent by a terminal and a plurality of different preset shooting heights; controlling an unmanned aerial vehicle to fly to the preset shooting height, wherein when the unmanned aerial vehicle is at different preset shooting heights, the distances from the unmanned aerial vehicle to the surface of a building are the preset shooting distances; and controlling the unmanned aerial vehicle to take pictures by the camera equipment carried by the cloud deck 703 along the surrounding route at the preset shooting heights.
In this embodiment, the interconnection relationship of each unit portion is as follows: the flight control device 702 is connected with the wireless communication device 701, the wireless communication device 701 receives a flight control command through an established wireless channel, and then the flight control command is sent to the flight control device 702, and the flight control device 702 controls and executes the corresponding flight control command. In addition, the wireless communication device 701 is further connected with the cloud deck 703, the cloud deck 703 is provided with the shooting device 7031, and the cloud deck 703 can ensure that the shooting device is in a stable shooting position and a good shooting angle in the flight process, so that the situation that the shot pictures shake in the flight process to cause unclear pictures can be prevented.
In one example, when the unmanned aerial vehicle is at different preset shooting heights, the resolution of pictures shot by the camera equipment carried by the tripod head is the same. For example: the unmanned aerial vehicle executes an aerial photography task along the surrounding route generated by the surrounding route determining method, and the cloud deck 703 can automatically adjust the shooting angle at each position along the surrounding route, so that the shooting angle of the carried shooting device is a horizontal shooting angle.
In an example, after the flight control device 702 receives the preset shooting distance and the plurality of different preset shooting heights sent by the terminal, it is further configured to: receiving the height of a sub-layer sent by the terminal, and controlling the unmanned aerial vehicle to fly to a sub-layer shot picture with the height being the height of the sub-layer; and the sub-layer height is obtained by calculating according to a set overlapping rate in the vertical direction after the terminal generates a surrounding route according to the route radii of the plurality of preset shooting heights. For example: if the unmanned aerial vehicle executes the aerial photography task according to the surrounding route determined by the artificially marked characteristic points, the shot picture can not cover the whole outer surface of the building, at the moment, the surrounding route can be further refined to ensure enough vertical coverage, in this case, the control terminal may calculate the sub-layer height from the set vertical direction coverage, then inserting a plurality of sub-layers with the height of the sub-layer into the initial surrounding route generated by manually marking the characteristic points, the refined sublayer information and the refined surrounding route are sent to the unmanned aerial vehicle 70 through a wireless channel, the unmanned aerial vehicle 70 receives the corresponding instruction through the wireless channel established by the wireless communication device 701, the flight control device 702 controls the unmanned aerial vehicle to fly to a position corresponding to the sub-layer height, and the aerial photography task is continuously executed along the refined surrounding route. The specific implementation manner of calculating the height of the sub-layer and inserting the sub-layer by the terminal according to the set coverage rate in the vertical direction may refer to the above corresponding contents, which are not described herein again.
In one example, the unmanned aerial vehicle further comprises a map transmission device 704, as shown in fig. 8, the map transmission device 704 is connected with the wireless communication device 701 and the pan/tilt head 703, and is used for transmitting pictures. When a shooting device carried by the cradle head 703 needs to send a corresponding photo to the control terminal, the photo is sent to the image transmission device 704, and after the image transmission device 704 receives the photo, the photo is sent to the control terminal through the wireless channel established by the wireless communication device 701. After the control terminal receives the photo sent by the unmanned aerial vehicle, if the shooting distance is determined to be adjusted again according to the resolution information of the photo, the control terminal sends a shooting distance to the unmanned aerial vehicle again, the unmanned aerial vehicle flies to the position corresponding to the updated shooting distance, and after the photo is shot again, the photo is sent to the control terminal by the image transmission device 704 until the resolution of the photo meets the requirement.
In one example, the mapping apparatus 704 sends the captured photo including the photo resolution to the terminal through the wireless channel.
The implementation processes of the functions and the effects of the devices of the unmanned aerial vehicle are specifically described in the implementation processes of the corresponding steps in the method, and are not described herein again. For each embodiment, since it basically corresponds to the method embodiment, the relevant points can be referred to the partial description of the method embodiment. The embodiments described above are merely illustrative and can be understood and implemented by those skilled in the art without inventive effort.
An exemplary embodiment of the present invention also shows an unmanned aerial vehicle system including an unmanned aerial vehicle and a terminal for determining a surrounding route, wherein a block diagram of an interaction between the unmanned aerial vehicle and the terminal is shown in fig. 9;
the terminal sends a preset shooting distance and a plurality of different preset shooting heights to the unmanned aerial vehicle (S901), so that the unmanned aerial vehicle flies to the preset shooting heights (S902), wherein the distances from the unmanned aerial vehicle to the surface of a building are the preset shooting distances when the preset shooting heights are different;
the unmanned aerial vehicle sends the pictures taken at the preset shooting height to the terminal (S903);
step S904, the terminal determines route radiuses of different preset shooting heights according to the preset shooting distance, and the terminal generates a surrounding route; and sending the surrounding route to the unmanned aerial vehicle (S905) so that the unmanned aerial vehicle takes a picture along the surrounding route (S906).
In one embodiment, the resolution of the pictures taken by the unmanned aerial vehicle along the surrounding route is the same at different preset shooting heights.
In one embodiment, after the terminal generates the surrounding route, the terminal further performs the steps of:
determining whether a sublayer is inserted between two adjacent preset shooting heights according to a set vertical direction overlapping rate, if so, calculating the height of the sublayer according to the vertical direction overlapping rate, and sending the height of the sublayer to the unmanned aerial vehicle;
and after receiving the sub-layer height sent by the terminal, the unmanned aerial vehicle flies to a sub-layer shot picture with the height being the sub-layer height.
In one embodiment, after the unmanned aerial vehicle takes the picture along the surrounding route, the unmanned aerial vehicle further comprises sending the taken picture to the terminal, and the terminal receives the taken picture and obtains the picture resolution.
In one embodiment, the photo resolution includes: the terminal calculates the obtained picture resolution according to a preset shooting distance, or the picture resolution carried in the picture sent to the terminal by the unmanned aerial vehicle.
In this example, the terminal is represented as a schematic configuration of the remote control 101 in the figure, as an example. The structure diagram of the unmanned aerial vehicle system is shown in fig. 10, the interaction between the unmanned aerial vehicle and the terminal for determining the surrounding route in the unmanned aerial vehicle system establishes information transmission in a wireless communication mode, the system comprises the unmanned aerial vehicle 100 and a remote controller 101, a wireless communication device 1001 of the unmanned aerial vehicle 100 is connected with a wireless communication device 1012 of the remote controller 101, the remote controller 101 sends a control instruction to the unmanned aerial vehicle 100 through a wireless channel established by the wireless communication device, and the unmanned aerial vehicle 100 receives the control instruction, executes the corresponding instruction, and sends a shot photo to the remote controller 101 through the wireless channel established by the wireless communication device. When the unmanned aerial vehicle flies to a position away from the surface of the building by a preset shooting distance, a user presses the shooting control component 1014 on the remote controller 101, the unmanned aerial vehicle 100 receives a shooting instruction and then shoots a picture, the picture is sent to the remote controller 101 through the image transmission device 1004, and the user controls and checks the received picture through the view finding operation component 1013 on the display screen of the remote controller. As an example, the shooting control unit 1014, the flight control unit 1014, and the framing operation unit 1013 may implement their respective functions by using an APP.
To explain and explain the technical solution in this application more intuitively, taking a building in the shape of "spring bamboo shoot" as shown in fig. 11A as an example, if this building is aerial-photographed by using the prior art surround-flight method, the surrounding route of the unmanned aerial vehicle is as shown in fig. 11A, in the position where the "spring bamboo shoot" building is near the top, the photographing position of the unmanned aerial vehicle is relatively far from the building surface, and in the middle-lower part of the "spring bamboo shoot" building, the photographing position of the unmanned aerial vehicle is relatively close to the building surface, which results in that in the position where the building is near the top, the resolution of the photographed is small, and the resolution of the photographed is large in the middle-lower part of the building.
And the building is aerial-photographed by using the method for determining the surrounding route and the aerial photographing method, the surrounding route of the unmanned aerial vehicle is shown in fig. 11B, and the specific process is as follows:
firstly, selecting a central axis of a 'spring bamboo shoot' building as a reference line position, assuming that the height of the building is H, setting 9 preset shooting heights of H1-H9 shown in FIG. 11B to calculate a route radius, if the sequence of marking feature points is specified from top to bottom, firstly flying the unmanned aerial vehicle to a position with a height of H1 and a distance of d from the surface of the 'spring bamboo shoot' building, shooting a picture and sending the shot picture to a remote control terminal used by a user, observing the picture definition on a display screen of the remote control terminal by the user, finding that the picture definition is not ideal enough, then properly reducing the shooting distance, enabling the unmanned aerial vehicle to receive the updated shooting distance, flying to the updated shooting position to shoot the picture and sending the shot picture to the remote control terminal again, and when the picture resolution acquired by the user from the remote control terminal meets the requirement on the picture definition, the click key is pressed here to mark the feature point. If the shooting distance is too small and is smaller than the safety distance required to be kept in the flight process of the unmanned aerial vehicle, the positions of the feature points can be marked again, and the flight safety of the unmanned aerial vehicle is ensured. When the resolution of the pictures shot by the unmanned aerial vehicle meets the requirement and the distance between the unmanned aerial vehicle and the surface of the building of the 'spring bamboo shoot' also meets the requirement of the safety distance, the distance from the unmanned aerial vehicle to the surface of the building of the 'spring bamboo shoot' at the moment is set as a shooting distance D, and under each preset shooting height, the distance between the unmanned aerial vehicle and the surface of the building is ensured to be the shooting distance D.
After the unmanned aerial vehicle marks the feature points at the height H1 and calculates the route radius at the height H1, the remote control terminal generates a surrounding track at the height H1, then updates the preset shooting height to H2 and sends a flight instruction to the unmanned aerial vehicle, the unmanned aerial vehicle flies to the height H2 after receiving the updated shooting height H2, the step of marking the feature points is repeated, and the remote control terminal generates the surrounding track at the height H2. And repeating the steps in sequence to generate the surrounding tracks of the 9 preset shooting heights H1-H9.
Before the remote control terminal generates a complete surrounding route according to the layered surrounding tracks, whether sub-layers need to be inserted between the layered surrounding tracks can be judged. First, a vertical direction overlap ratio is set to 70%, and then the sublayer height calculated according to the above-described formula (1) is H, that is, if the vertical direction overlap ratio of 70% is to be satisfied, each layer should be H in photographing height, and if H1-H2> H, then between the heights H1 and H2, thinned sublayers are inserted. In fact, in the process of actually using manual dotting by a user, generally, in order to reduce the workload of marking feature points, the number of the selected preset shooting heights is small, and the height of each layer is generally greater than the calculated sub-layer height h, so that in most cases, the surrounding track generated by manual dotting can be refined by a sub-layer interpolation method. Assuming that the layered surrounding track after the sub-layers are interpolated is shown in fig. 11C, the remote control terminal generates a complete surrounding route according to the surrounding track in fig. 11C and sends the surrounding route to the unmanned aerial vehicle, and the unmanned aerial vehicle executes the aerial photography task along the surrounding route.
When the unmanned aerial vehicle takes an aerial photograph along the surrounding route generated by the method, no matter which height the photo is taken at, the distance between the photo and the surface of the building of the spring bamboo shoot is always kept at D, so that the resolution of the photo is consistent, and the problem that the resolution of the photo taken at different heights is different in the prior art is solved. In addition, due to the adoption of the method of the interpolation sublayer, a user does not need to have particularly large workload when manually marking the feature points, only needs to roughly mark the feature points at a plurality of preset shooting heights to generate the surrounding track, and then further refines the surrounding track through the interpolation sublayer so as to generate a refined complete surrounding route.
While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. In other instances, features described in connection with one embodiment may be implemented as discrete components or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.
Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In some cases, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.
Thus, particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. Further, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (33)
1. A method for determining a surrounding route, which is applied to a terminal, is characterized in that the method comprises the following steps:
acquiring a preset shooting distance and a plurality of different preset shooting heights;
determining route radiuses of different preset shooting heights according to the preset shooting distance, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distance when the preset shooting heights are different;
and generating a surrounding route according to the route radiuses of the preset shooting heights.
2. The method for determining a surrounding route according to claim 1, wherein the resolution of the pictures taken by the unmanned aerial vehicle along the surrounding route is the same at different preset shooting heights.
3. The method for determining a surrounding route according to claim 1, wherein before the generating of the surrounding route according to the route radii of the plurality of preset shooting heights, the method further comprises the steps of:
determining whether a sublayer is inserted between two adjacent preset shooting heights according to the set overlapping rate in the vertical direction;
if so, calculating the height of the sub-layer according to the overlapping rate in the vertical direction, inserting the sub-layer with the height being the height of the sub-layer between two adjacent preset shooting heights by using an interpolation method, and calculating the route radius of each sub-layer.
4. The method for determining a circular course according to claim 1, wherein the step of obtaining the preset shooting distance comprises:
and when the unmanned aerial vehicle flies to a preset shooting height, acquiring the distance from the marked characteristic point to the surface of the building as a preset shooting distance.
5. A method for determining a round route according to claim 4, characterized in that the marked feature points are the user clicks on the location on the photo or the coordinates in the entered location data of the building.
6. The method for determining a surrounding route according to claim 1, wherein after the obtaining of the preset shot distance and the plurality of different preset shot heights, the method further comprises: and determining whether to reacquire a new shooting distance according to the resolution of the picture shot by the unmanned aerial vehicle at the preset shooting height.
7. The method of determining a surrounding route of claim 2, wherein the photo resolution comprises: and calculating the obtained picture resolution according to the preset shooting distance or the picture resolution carried in the pictures sent by the unmanned aerial vehicle.
8. The method for determining a surrounding route according to claim 1, wherein the preset shot distance is not less than a preset safety distance.
9. The method of determining a surrounding route of claim 8, wherein the safe distance comprises: and measuring the obtained safe distance by a distance measuring device or artificially observing the obtained safe distance.
10. A terminal for determining a surrounding route, wherein the terminal is used for an unmanned aerial vehicle to determine the surrounding route, and the terminal comprises: a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring a preset shooting distance and a plurality of different preset shooting heights;
determining route radiuses of different preset shooting heights according to the preset shooting distance, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distance when the preset shooting heights are different;
and generating a surrounding route according to the route radiuses of the preset shooting heights.
11. The terminal for determining a surrounding route according to claim 10, wherein the resolution of the pictures taken by the unmanned aerial vehicle along the surrounding route is the same at different preset shooting heights.
12. The terminal for determining a surrounding route according to claim 10, wherein before the processor generates a surrounding route according to route radii of a plurality of the preset shooting heights, the terminal is further configured to:
determining whether a sublayer is inserted between two adjacent preset shooting heights according to the set overlapping rate in the vertical direction;
if so, calculating the height of the sub-layer according to the overlapping rate in the vertical direction, inserting the sub-layer with the height being the height of the sub-layer between two adjacent preset shooting heights by using an interpolation method, and calculating the route radius of each sub-layer.
13. The terminal for determining a surrounding route according to claim 10, wherein the step of the processor obtaining the preset shooting distance comprises:
and when the unmanned aerial vehicle flies to a preset shooting height, acquiring the distance from the marked characteristic point to the surface of the building as a preset shooting distance.
14. The terminal for determining a roundabout according to claim 13, wherein the feature point is a position on a photo clicked by a user or a coordinate in the inputted position data of the building.
15. The terminal for determining a surrounding route according to claim 10, wherein the processor is further configured to, after obtaining the preset shot distance: and determining whether to reacquire a new shooting distance according to the resolution of the picture shot by the unmanned aerial vehicle at the preset shooting height.
16. The terminal for determining a surrounding route according to claim 11, wherein the photo resolution comprises: the processor calculates the obtained picture resolution according to the preset shooting distance or the picture resolution carried in the pictures sent by the unmanned aerial vehicle.
17. The terminal for determining a surrounding route according to claim 10, wherein the preset shot distance is not less than a preset safety distance.
18. The terminal for determining a surrounding route according to claim 17, wherein the safe distance comprises: the processor measures and calculates the obtained safe distance through the distance measuring device or obtains the safe distance through artificial observation.
19. An aerial photography method applied to an unmanned aerial vehicle, characterized by comprising the following steps:
receiving a preset shooting distance and a plurality of different preset shooting heights sent by a terminal;
flying to the preset shooting height, wherein the distances from the unmanned aerial vehicle to the surface of the building are the preset shooting distances when the unmanned aerial vehicle is at different preset shooting heights;
and taking pictures along a surrounding route at a plurality of preset shooting heights.
20. The aerial photography method of claim 19, wherein the resolution of the photographs taken is the same at different preset photography heights.
21. The aerial photography method of claim 19, wherein after receiving the preset shooting distance sent by the terminal and the plurality of different preset shooting heights, further comprising the steps of:
receiving the height of the sub-layer sent by the terminal, and flying to a sub-layer shot picture with the height being the height of the sub-layer; and the sub-layer height is obtained by calculating according to a set overlapping rate in the vertical direction after the terminal generates a surrounding route according to the route radii of the plurality of preset shooting heights.
22. The aerial photography method of claim 19, further comprising, after flying to the preset shooting height, the steps of:
sending the shot picture to a terminal;
and if the shooting distance reset by the terminal is received, flying to the position of the reset shooting distance to shoot the picture and sending the picture to the terminal.
23. An aerial photography method according to claim 22, wherein the sending of the taken photograph to the terminal includes a photograph resolution.
24. An unmanned aerial vehicle, comprising: the system comprises a wireless communication device, a flight control device and a holder;
the holder is used for carrying camera equipment;
the wireless communication device is used for establishing a wireless channel with a terminal, and the unmanned aerial vehicle utilizes the wireless channel for data transmission;
the flight control device is used for receiving a preset shooting distance and a plurality of different preset shooting heights sent by the terminal; controlling an unmanned aerial vehicle to fly to the preset shooting height, wherein when the unmanned aerial vehicle is at different preset shooting heights, the distances from the unmanned aerial vehicle to the surface of a building are the preset shooting distances; and controlling the unmanned aerial vehicle to take pictures by the camera equipment carried by the holder along the surrounding route under the plurality of preset shooting heights.
25. The unmanned aerial vehicle of claim 24, wherein the resolution of the pictures taken by the camera equipment carried by the pan/tilt/zoom head is the same for different preset shooting heights of the unmanned aerial vehicle.
26. The UAV of claim 24, wherein the flight control device is further configured to, after receiving the preset shooting interval and the plurality of different preset shooting heights sent by the terminal: receiving the height of a sub-layer sent by the terminal, and controlling the unmanned aerial vehicle to fly to a sub-layer shot picture with the height being the height of the sub-layer; and the sub-layer height is obtained by calculating according to a set overlapping rate in the vertical direction after the terminal generates a surrounding route according to the route radii of the plurality of preset shooting heights.
27. The UAV of claim 24 further comprising a map rendering device;
the image transmission device is used for sending the shot photos to the terminal through the wireless channel;
and if the flight control device receives the shooting distance reset by the terminal, the flight control device controls the unmanned aerial vehicle to fly to the position of the reset shooting distance to shoot a picture and the picture is sent to the terminal by the picture transmission device.
28. The UAV of claim 27 wherein the mapping means sends the captured image to the terminal via the wireless channel including image resolution.
29. An unmanned aerial vehicle system, comprising: the system comprises an unmanned aerial vehicle and a terminal for determining a surrounding route;
the terminal sends a preset shooting interval and a plurality of different preset shooting heights to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies to the preset shooting heights, wherein the distances from the unmanned aerial vehicle to the surface of a building are the preset shooting intervals when the preset shooting heights are different;
the terminal determines different route radiuses of the preset shooting height according to the preset shooting distance, generates a surrounding route and sends the surrounding route to the unmanned aerial vehicle, and the unmanned aerial vehicle is enabled to shoot pictures along the surrounding route.
30. The UAV system of claim 29, wherein the resolution of photographs taken by the UAV along the circumnavigate line is the same at different pre-set capture altitudes.
31. The UAV system of claim 29 wherein, after the terminal generates a surrounding route, further performing the steps of:
determining whether a sublayer is inserted between two adjacent preset shooting heights according to a set vertical direction overlapping rate, if so, calculating the height of the sublayer according to the vertical direction overlapping rate, and sending the height of the sublayer to the unmanned aerial vehicle;
and after receiving the sub-layer height sent by the terminal, the unmanned aerial vehicle flies to a sub-layer shot picture with the height being the sub-layer height.
32. The UAV system of claim 29, wherein the UAV further comprises sending the captured picture to the terminal after the UAV captures the picture along the surrounding route, the terminal receiving the captured picture and obtaining a picture resolution.
33. The UAV system of claim 32 wherein the photo resolution comprises: the terminal calculates the obtained picture resolution according to a preset shooting distance, or the picture resolution carried in the picture sent to the terminal by the unmanned aerial vehicle.
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