CN113223141A - Circular ring type inclined shooting method and system - Google Patents
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Abstract
The invention discloses a circular ring type inclined shooting method and a circular ring type inclined shooting system, wherein the method comprises the following steps: acquiring a shooting area, and calculating four to rectangle of the shooting area; acquiring the height of the unmanned aerial vehicle, and setting an outward-extending rectangle; generating a flight path of the unmanned aerial vehicle according to the outward-extended rectangle of the shooting area, wherein the flight path comprises a translation path and a circular path; performing oblique shooting according to the flight path of the unmanned aerial vehicle; the captured data is used for three-dimensional model reconstruction and orthoimage generation. The method and the system adopt a circular ring type oblique photography mode to reconstruct the three-dimensional model, and can obliquely shoot the ground at a plurality of angles, thereby enriching the information of the three-dimensional model reconstruction image.
Description
Technical Field
The invention relates to the field of three-dimensional model reconstruction, in particular to a circular ring type oblique shooting method and a circular ring type oblique shooting system.
Background
In the prior art, the oblique photography three-dimensional model reconstruction can observe a three-dimensional model reconstruction object from multiple directions, can show more image information of the three-dimensional model reconstruction object, and is widely applied to the construction of three-dimensional digital cities at present. However, in the conventional oblique photography method, a plurality of sensors are needed, and the ground objects are shot from a vertical angle and four different oblique angles respectively.
Disclosure of Invention
One of the purposes of the invention is to provide a circular ring type oblique shooting method and a circular ring type oblique shooting system, wherein the method and the system adopt a circular ring type oblique shooting mode to reconstruct a three-dimensional model, and can shoot the ground obliquely at a plurality of angles, so that the information of the three-dimensional model reconstruction image can be enriched.
Another object of the present invention is to provide a circular ring type oblique photographing method and system, which perform photographing for three-dimensional model reconstruction in a manner that circular rings are mutually covered, wherein each circular ring is photographed on the basis of the previous circular ring, so that a large photographing hole in the conventional oblique photographing can be effectively avoided, and a coverage area for three-dimensional model reconstruction can be effectively guaranteed.
The invention also aims to provide a circular ring type inclined shooting method and a circular ring type inclined shooting system.
Another object of the present invention is to provide a circular ring type oblique photographing method and system which can acquire image information of a photographing region more stereoscopically by setting a photographing route to be extended outward.
In order to achieve at least one of the above objects, the present invention further provides a circular ring type inclination photographing method, the method comprising the steps of:
acquiring a shooting area, and calculating four to rectangle of the shooting area;
acquiring the height of the unmanned aerial vehicle, and setting an outward-extending rectangle;
generating a flight path of the unmanned aerial vehicle according to the outward-extended rectangle of the shooting area, wherein the flight path comprises a translation path and a circular path;
performing oblique shooting according to the flight path of the unmanned aerial vehicle;
and using the shot data to establish three-dimensional model reconstruction and orthoimage generation.
According to one preferred embodiment of the invention, unmanned aerial vehicle parameters and flight parameters are preset, the unmanned aerial vehicle parameters comprise an unmanned aerial vehicle model, an unmanned aerial vehicle flight height h and a pan-tilt angle alpha, the flight parameters comprise a circular ring radius R, a circular ring overlap ratio beta, and a circular arc angle omega of a current shooting point and a next point, wherein the circular ring overlap ratio beta is set to be RCand/R and Rc are the lengths of a straight line connected with the centers of the two adjacent intersected circular rings and the length of the overlapping part of the intersection points of the two circular rings.
According to another preferred embodiment of the invention, the flight shooting method of the unmanned aerial vehicle on the extended rectangle is as follows:
the unmanned aerial vehicle is controlled to fly to a circular path of the outward-extending rectangle, the end point of the outward-extending rectangle is used as the circle center to execute single circular path flight operation by using a preset radius R, and meanwhile, shooting areas in an inclined mode is conducted.
According to another preferred embodiment of the present invention, the method for shooting the flight of the unmanned aerial vehicle on the extended rectangle further comprises:
and calculating the circle center position of the adjacent circular path on the outward-expanded edge according to the circular overlap rate beta, determining the circular path of the next adjacent circular path, controlling the unmanned aerial vehicle to move along a transverse tangent to the adjacent circular path from the top tangent point of the current circular path after the shooting of the current circular path is finished, moving to the top tangent point of the next circular path, further sequentially executing the flight operation of the adjacent circular path, and simultaneously shooting the shooting area in an inclined manner.
According to another preferred embodiment of the present invention, the method for shooting the flight of the unmanned aerial vehicle on the extended rectangle further comprises:
the unmanned aerial vehicle flies along a preset flying path from left to right, the endpoint of the upper left corner of the external rectangle is the center of the initial circular path, when the current circular path of the unmanned aerial vehicle does not intersect with the outward-extended rectangle, and the last circular path intersects with the outward-extended rectangle, then vertical downward adjacent ring route is generated, unmanned aerial vehicle is controlled to move L length from the rightmost tangent point of the current ring route to the rightmost tangent point of the next adjacent ring along the longitudinal tangent line downwards to fly the ring route, unmanned aerial vehicle is further controlled to sequentially execute the flying shooting of the adjacent ring route with the ring overlapping rate beta from right to left until the ring route and the left side of the externally-expanded rectangle do not have an intersection, a winding ring shooting route is formed, and the winding ring shooting route is further executed until the adjacent two ring routes and the externally-expanded rectangle do not have an intersection.
According to another preferred embodiment of the invention, the unmanned aerial vehicle is controlled to perform winding circular path inclined shooting in an outward-extended rectangular range in sequence to form a rectangular shooting group frame for three-dimensional model reconstruction.
According to another preferred embodiment of the invention, the extending distance L of the extending rectangle is calculated according to the preset holder angle alpha and the flying height H of the unmanned aerial vehicleW(ii) a Wherein L isWAnd (H/tan (alpha))/2, and generating an external expansion rectangle according to the external expansion distance.
According to another preferred embodiment of the present invention, a yaw angle ω is preset, and the number a of the shooting points is set on the circular path according to the yaw angle ω, wherein the number a of the shooting points is 360 °/ω, and the number of the central angles between the adjacent shooting points and the connecting line of the centers of the circles is the same.
According to another preferred embodiment of the present invention, the flying of the translation paths is performed between two tangent points of the same tangent line of the adjacent circles, each translation path flies for a length of L, wherein L ═ R (1- β) + R, until the circle path and the outward-extended rectangle do not intersect, the winding circle path is sequentially performed back and forth between the outward-extended sides on both sides for shooting, so that the flying circles fill the outward-extended rectangle, and the images shot by the circles not intersecting the shooting area are removed.
In order to achieve at least one of the above objects, the present invention further provides a circular tilt photographing system, which employs the above circular tilt photographing method.
Drawings
FIG. 1 is a schematic flow chart of a circular tilt-shooting method according to the present invention;
FIG. 2 is a schematic diagram showing the path of two adjacent shot rings in the present invention;
FIG. 3 is a schematic diagram showing the construction of the expanded rectangle according to the present invention;
fig. 4 shows a schematic diagram of a shooting circuit on an outward-extended rectangle.
Wherein,
four to rectangle-1, shooting area-2, circular path-3, outward-extended rectangle-4, circular path tangent-5 and tangent point-6.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
Referring to fig. 1-4, the present invention discloses a circular tilt photographing method and system, which delineates an area to be reconstructed by a three-dimensional model through a computer, wherein the photographing area may be an irregular figure, and the photographing area may be displayed on a map. Further, a four-to-rectangle shape of the shooting area is calculated by the computer, and it should be noted that four sides of the four-to-rectangle are tangent sides of the shooting area in the due north direction, the due south direction, the due west direction and the due east direction.
When driving unmanned aerial vehicle and shooing, unmanned aerial vehicle parameter and flight parameter need be preset, wherein unmanned aerial vehicle parameter includes: the model of the unmanned aerial vehicle, the flying height H of the unmanned aerial vehicle, the angle alpha of the holder, and the parameters such as the mass, the maximum flying speed and the maximum deflection angle of the unmanned aerial vehicle can be obtained according to the model of the unmanned aerial vehicle. The flight parameters comprise a circular radius R, a circular overlapping rate beta and a yaw angle omega of a current shooting point and a next shooting point, wherein the shooting points are arranged on a circular ring, the circular ring is a flight path of the unmanned aerial vehicle, the circular ring is generally called a circular path, and the unmanned aerial vehicle is controlled in a remote control mode to complete circular path flight with the radius R on an extended rectangle. The unmanned aerial vehicle flight height can be set to be 1-1500 meters, the holder angle alpha can be set to be-90 degrees to-30 degrees, preferably alpha is-45 degrees, the circle radius R is set to be 10-150 meters, the circle overlap rate beta can be set to be 0-80 percent, preferably the circle overlap rate beta is 45 degrees, the yaw angle omega can be set to be 10 degrees to 30 degrees, preferably the yaw angle omega is 24 degrees
In order to clearly shoot the side image of the edge part of the shooting area, the invention further provides the circular ring type inclined shooting method, the outward expansion edge of each outward expansion rectangle and the corresponding tangent edge of the four-to-rectangle are parallel to each other and have equal outward expansion distance LWWherein L isWIs a set value, where LWH is the height of the drone and alpha is the pan-tilt angle, (H/tan (alpha))/2.
Specifically, position information of four tangent edges of the four to rectangle is obtained, an outward-expanding rectangle is arranged according to the four tangent edges, the outward-expanding rectangle is respectively provided with four corresponding outward-expanding edges, the four outward-expanding edges and the four corresponding tangent edges of the rectangle form outward-expanding areas, the unmanned aerial vehicle is controlled to fly to a northwest corner inflection point of the outward-expanding rectangle (the azimuth words, east, south, west and north are respectively corresponding right, lower, left and upper in the drawing), the unmanned aerial vehicle is controlled to start to execute R as a circular path with a radius from the northwest corner inflection point as the center of the circular path and perform inclined shooting, after the unmanned aerial vehicle finishes a flight inclined shooting task of a single circular path, the unmanned aerial vehicle moves to the east direction along the outward-expanding edge of the outward-expanding rectangle by a preset translation distance L, wherein the translation distance L is R (1-beta) + R, and the moving end point is used as the starting point of the next circular path to execute circular path and inclined shooting, encircle a week after the flight to the most top point of current ring route, this point also is the tangent point on the tangent line between the adjacent ring route simultaneously to the tangent line of adjacent ring route is on a parallel with adjacent outer expanding rectangle limit, and unmanned aerial vehicle moves to the tangent point at adjacent ring top from left right side turn along the tangent line from adjacent ring tangent point, further circulates the flight route of carrying out above-mentioned ring route, until last ring route with outer expanding does not have the intersection between the rectangle, and control unmanned aerial vehicle turns to and moves by north to south along the outer expanding limit on right side. It should be noted that the steering angle is 90 °, and the steering is performed according to the flight line of the circular path, rather than directly. The specific characteristics are as follows: if the current flying circular path and the externally-expanded rectangle are not intersected and the last circular path and the externally-expanded rectangle are intersected, the current circular path is a steering circular path, after the unmanned aerial vehicle finishes the flying of the current circular path, the unmanned aerial vehicle turns and flies for 90 degrees along the circular path from the uppermost tangent point of the current circular path and then reaches the rightmost tangent point of the current circular path, the unmanned aerial vehicle moves for L length along the right tangent line of the extension direction of the externally-expanded edge line segment on the right side of the externally-expanded rectangle at the rightmost tangent point, the rightmost tangent point of the next adjacent circular path is reached, the flying circular path with the radius of R is further executed, the unmanned aerial vehicle flies to the lowest tangent point of the next circular path after flying for one circle, the unmanned aerial vehicle further moves from right to left along the lower tangent line connecting the adjacent circular paths to further circularly fly and fly the circular path and the straight line segment, and the translation straight line sections on the upper line and the lower line of each meandering line are parallel to the corresponding upper outward-expanding edge and the lower outward-expanding edge of the outward-expanding rectangle, and the translation straight line sections on the left side and the right side of the meandering line are parallel to each other. Until the flared region is filled with a circular path. And eliminating circular paths without intersection between the circular paths and the shooting areas through system setting, and simultaneously deleting the shot data of the eliminated circular paths.
Specifically, the method comprises the following steps: the unmanned aerial vehicle camera shooting method comprises the steps of taking an inflection point of an outward-expanded side of an outward-expanded rectangle as the circle center of a circular ring path, taking the inflection point as the end point of the outward-expanded side, enabling the circular ring path and the outward-expanded rectangle to have an intersection point, controlling the unmanned aerial vehicle to take the intersection point as a shooting starting point, taking a preset radius R as a circular ring to carry out circular ring shooting as a flight path, wherein the unmanned aerial vehicle camera has a certain inclination angle when shooting downwards, and inclining towards a shooting area at the inclination angle, so that the unmanned aerial vehicle camera carries out inclined shooting on a single circular ring path.
Further, after the unmanned aerial vehicle performs the inclined shooting of the single circular ring path, the unmanned aerial vehicle continues to perform the shooting of the next adjacent circular ring path according to a circular ring overlapping rate β, which is the overlapping degree between the adjacent circular rings, wherein β ═ RC/R，RCThe line segment of the circle centers of two adjacent circular rings and the line segment of the intersection point of the two circular rings. In one preferred embodiment of the present invention, in order to reduce the number of shots, when the unmanned aerial vehicle performs flight shooting on the circular path, the yaw angle is the yaw angle of the unmanned aerial vehicle between adjacent shooting points, the number a of shooting points on the circular path is performed, and the number a of shooting points can be calculated as 360 °/ω according to the preset yaw angle ω. And the degree of an included angle between the adjacent shooting points and a line connecting the circle centers of the circle paths is the preset yaw angle omega. Make unmanned aerial vehicle evenly distributed shoot some on the ring route. What need explain is because shoot the even and ring of point and shoot, consequently can make the camera on the unmanned aerial vehicle to the shooting regional shooting can show the specific line of target area or target object better, can acquire clearer, accurate three-dimensional model reconstruction model and orthophoto through the processing to shooting data.
The method comprises the steps of acquiring shooting data of four to rectangular flight paths and shooting data of an outward-extended rectangular flight path, and establishing a three-dimensional model reconstruction model and an orthoimage by taking the two shooting data as a basis. The method for establishing the orthoimage is also the prior art, the texture of the three-dimensional model reconstructed model object established by the unique shot data is clearer, meanwhile, the shot data of the traditional oblique shooting is reduced, and the shooting effect is improved.
In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section, and/or installed from a removable medium. The computer program performs the above-described functions defined in the method of the present application when executed by a Central Processing Unit (CPU). It should be noted that the computer readable medium mentioned above in the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wire segments, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless section, wire section, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
It will be understood by those skilled in the art that the embodiments of the present invention described above and illustrated in the accompanying drawings are given by way of illustration only and not by way of limitation, the objects of the invention having been fully and effectively achieved, the functional and structural principles of the invention having been shown and described in the embodiments, and that the embodiments of the invention may be varied or modified in many ways without departing from said principles.
Claims (10)
1. A circular ring type inclined shooting method is characterized by comprising the following steps:
acquiring a shooting area, and calculating four to rectangle of the shooting area;
acquiring the height of the unmanned aerial vehicle, and setting an outward-extending rectangle;
generating a flight path of the unmanned aerial vehicle according to the outward-extended rectangle of the shooting area, wherein the flight path comprises a translation path and a circular path;
performing oblique shooting according to the flight path of the unmanned aerial vehicle;
and using the shot data to establish three-dimensional model reconstruction and orthoimage generation.
2. The circular ring type oblique shooting method according to claim 1, wherein unmanned aerial vehicle parameters and flight parameters are preset, the unmanned aerial vehicle parameters comprise an unmanned aerial vehicle model, an unmanned aerial vehicle flight height h and a pan-tilt angle α, the flight parameters comprise a circular ring radius R, a circular ring overlap ratio β, and a circular arc angle ω of a current shooting point and a next point, and the circular ring overlap ratio β is set to R ═ RCand/R and Rc are the lengths of a straight line connected with the centers of the two adjacent intersected circular rings and the length of the line at the overlapped part of the intersection points of the two circular rings.
3. The circular ring type oblique shooting method according to claim 2, wherein the flight shooting method of the unmanned aerial vehicle on the extended rectangle is as follows:
the unmanned aerial vehicle is controlled to fly to a circular path of the outward-extending rectangle, the end point of the outward-extending rectangle is used as the circle center to execute single circular path flight operation by using a preset radius R, and meanwhile, shooting areas in an inclined mode is conducted.
4. The circular ring type oblique photographing method of claim 3, wherein the flying photographing method of the unmanned aerial vehicle on the extended rectangle further comprises:
calculating the circle center position of the adjacent circular path on the outward-expanding edge according to the circular overlap rate beta, determining the circular path of the next adjacent circular path, controlling the unmanned aerial vehicle to move along a transverse tangent line tangent to the adjacent circular path from the top tangent point of the current circular path after the shooting of the current circular path is completed, moving to the top tangent point of the next circular path, further sequentially executing the flight operation of the adjacent circular path, and shooting the shooting area in an inclined mode.
5. The circular ring type oblique photographing method according to claim 4, wherein the flying photographing method of the unmanned aerial vehicle on the extended rectangle further comprises:
unmanned aerial vehicle turns right along the flight path flight of predetermineeing from a left side to the upper left corner extreme point that expands the rectangle outward is initial ring route centre of a circle, current ring route and the outer rectangle that expands of unmanned aerial vehicle do not have the intersection, and last ring route with the outer rectangle that expands exists the intersection, then generate vertical decurrent adjacent ring route, control unmanned aerial vehicle follows current ring route rightmost tangent point and moves L length down along longitudinal tangent line and carries out the flight of ring route to next adjacent ring rightmost tangent point, further control unmanned aerial vehicle carries out the flight of adjacent ring route of ring overlap ratio beta from right to left in proper order and shoots, do not have the intersection until ring route and the outer limit that expands of rectangle left side outward, form winding's ring and shoot the route, further carry out winding's ring and shoot the route until adjacent two ring routes with the outer rectangle does not have the intersection.
6. The circular ring type oblique shooting method according to claim 1, wherein the unmanned aerial vehicle is controlled to perform winding circular ring path oblique shooting in an outward-expanding rectangular range in sequence and then used for three-dimensional model reconstruction.
7. The circular ring type inclination shooting method according to claim 2, wherein the outward expansion distance L is calculated according to a preset pan-tilt angle α and the flying height H of the unmanned aerial vehicleW(ii) a Wherein L isWAnd (H/tan (alpha))/2), and generating an outward expansion rectangle according to the outward expansion distance.
8. The circular ring type oblique photographing method according to claim 2, wherein a yaw angle ω is preset, and a number a of photographing points is set on a circular ring path according to the yaw angle ω, wherein the number a of photographing points is 360 °/ω, and the number of central angles between adjacent photographing points and a connecting line of centers of circles is the same.
9. The circular ring type oblique photographing method according to claim 5, wherein a translation path is flown between two tangent points of the same tangent of adjacent circular rings, each translation path has a length of L, wherein L ═ R (1- β) + R, until the circular path and the outward-extended rectangle do not intersect, the winding circular path is sequentially performed back and forth between the outward-extended edges at two sides for photographing, so that the flying circular ring is filled with the outward-extended rectangle, and images photographed by circular rings which do not intersect with the photographing region are removed.
10. A circular inclination photographing system, wherein the system adopts a circular inclination photographing method according to any one of claims 1 to 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115499596A (en) * | 2022-11-18 | 2022-12-20 | 北京中科觅境智慧生态科技有限公司 | Method and device for processing image |
| CN117470199A (en) * | 2023-12-27 | 2024-01-30 | 天津云圣智能科技有限责任公司 | Swing photography control method and device, storage medium and electronic equipment |
| CN117470199B (en) * | 2023-12-27 | 2024-03-15 | 天津云圣智能科技有限责任公司 | Swing photography control method and device, storage medium and electronic equipment |
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| CN113223141B (en) | 2022-10-25 |
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