CN114020029B - Automatic generation method and device of aerial route for cluster and related components - Google Patents
Automatic generation method and device of aerial route for cluster and related components Download PDFInfo
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Abstract
The invention discloses an automatic generation method and device of an aerial route for a cluster and a related component. The method comprises the steps of obtaining flight routes of an unmanned aerial vehicle cluster under a performance coordinate system from a pre-edited script; setting an aerial photographing coordinate system based on a preset photographing direction, and converting a flight path of the unmanned aerial vehicle cluster under the performance coordinate system into a flight path of the unmanned aerial vehicle cluster under the aerial photographing coordinate system; acquiring a lens field angle of the aerial photographing machine, and traversing and calculating positions of the aerial photographing machine at all moments in an aerial photographing coordinate system based on a flight path of the unmanned aerial vehicle cluster in the aerial photographing coordinate system; and converting the positions of the aerial photographing machine at all moments in the aerial photographing coordinate system to the positions of the aerial photographing machine at all moments in the performance coordinate system to obtain an aerial photographing air route of the aerial photographing machine. The method enables the aerial camera to fly along the generated flight line, avoids errors caused by manual control of the aerial camera, keeps the shot unmanned aerial vehicle cluster in the center of the picture, and ensures the integrity of the shot picture.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an automatic generation method and device of an aerial route for a cluster and related components.
Background
Now, an unmanned aerial vehicle, i.e., an unmanned aerial vehicle, is an unmanned aerial vehicle operated by using a radio remote control device and a corresponding program, and due to rapid development of unmanned aerial vehicle technology in recent years, the unmanned aerial vehicle has been widely applied to various fields.
In a commercial aerial photography scene such as an unmanned aerial vehicle light show, an unmanned aerial vehicle cluster flies along a preset flight line, aerial photography personnel manually control an aerial photography machine (an aerial photography unmanned aerial vehicle) to perform tracking shooting on the unmanned aerial vehicle cluster, and due to the fact that the unmanned aerial vehicle light show is long in preparation time, repeated shooting cannot be conducted for many times, so that the aerial photography of the unmanned aerial vehicle can be completed under one or two shooting occasions, and the operation difficulty of the aerial personnel is high; meanwhile, the flight routes and angles shot at each time are inconsistent and even have great differences, so that the aerial camera is difficult to control to shoot the unmanned aerial vehicle cluster.
Disclosure of Invention
The invention aims to provide an automatic generation method, device and related components of an aerial photography route for a cluster, and aims to solve the problems that the existing aerial photography machine operated manually to shoot an unmanned aerial vehicle cluster has poor shooting effect and can not ensure the integrity of shot pictures.
In order to solve the technical problems, the invention aims to realize the following technical scheme: provided is an automatic generation method of an aerial route for a cluster, which comprises the following steps:
acquiring a flight path of an unmanned aerial vehicle cluster in a performance coordinate system from a pre-edited script, wherein the flight path of the unmanned aerial vehicle cluster in the performance coordinate system is a flight path point of each unmanned aerial vehicle at all moments in the performance coordinate system;
setting an aerial photographing coordinate system based on a preset photographing direction, and converting a flight line of the unmanned aerial vehicle cluster under the performance coordinate system into a flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system, wherein the flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system is a flight navigation point of each unmanned aerial vehicle at all moments under the aerial photographing coordinate system;
acquiring a lens field angle of the aerial camera, and traversing and calculating positions of the aerial camera at all moments in an aerial coordinate system based on a flight path of the unmanned aerial vehicle cluster in the aerial coordinate system to enable the unmanned aerial vehicle cluster to be located in the center of a picture of the aerial camera;
and converting the positions of the aerial photographing machine at all moments in the aerial photographing coordinate system to the positions of the aerial photographing machine at all moments in the performance coordinate system to obtain an aerial photographing route of the aerial photographing machine.
In addition, another object of the present invention is to provide an automatic generation apparatus for an aerial route for a cluster, including:
the acquisition unit is used for acquiring a flight path of the unmanned aerial vehicle cluster in the performance coordinate system from the pre-edited script, wherein the flight path of the unmanned aerial vehicle cluster in the performance coordinate system is a flight path point of each unmanned aerial vehicle at all moments in the performance coordinate system;
the primary conversion unit is used for setting an aerial photographing coordinate system based on a preset photographing direction and converting a flight line of the unmanned aerial vehicle cluster under the performance coordinate system into a flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system, wherein the flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system is a flight navigation point of each unmanned aerial vehicle at all moments under the aerial photographing coordinate system;
the calculation unit is used for acquiring a lens field angle of the aerial camera, and traversing and calculating positions of the aerial camera at all moments in an aerial coordinate system based on a flight path of the unmanned aerial vehicle cluster in the aerial coordinate system, so that the unmanned aerial vehicle cluster is positioned in the center of a picture of the aerial camera;
and the secondary conversion unit is used for converting the positions of the aerial photographing machine at all moments in the aerial photographing coordinate system to the positions of the aerial photographing machine at all moments in the performance coordinate system to obtain an aerial photographing route of the aerial photographing machine.
In addition, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method for automatically generating an aerial route for a cluster according to the first aspect when executing the computer program.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the method for automatically generating an aerial route for a cluster according to the first aspect.
The embodiment of the invention discloses an automatic generation method, a device and related components of an aerial route for a cluster, wherein the method comprises the following steps: acquiring a flight path of an unmanned aerial vehicle cluster in a performance coordinate system from a pre-edited script, wherein the flight path of the unmanned aerial vehicle cluster in the performance coordinate system is a flight path point of each unmanned aerial vehicle at all moments in the performance coordinate system; setting an aerial photographing coordinate system based on a preset photographing direction, and converting a flight line of the unmanned aerial vehicle cluster under the performance coordinate system into a flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system, wherein the flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system is a flight navigation point of each unmanned aerial vehicle at all moments under the aerial photographing coordinate system; acquiring a lens field angle of the aerial camera, and traversing and calculating positions of the aerial camera at all moments in an aerial coordinate system based on a flight path of the unmanned aerial vehicle cluster in the aerial coordinate system to enable the unmanned aerial vehicle cluster to be located in the center of a picture of the aerial camera; and converting the positions of the aerial photographing machine at all moments in the aerial photographing coordinate system to the positions of the aerial photographing machine at all moments in the performance coordinate system to obtain an aerial photographing route of the aerial photographing machine. According to the method, the aerial route of the aerial camera is automatically generated, so that the aerial camera can automatically fly along the generated aerial route, errors caused by manual control of the aerial camera are avoided, the aerial route of the automatically generated aerial camera can always keep the shot unmanned aerial vehicle cluster in the center of the picture, and the completeness of the shot picture is further ensured.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an automatic generation method of an aerial route for a cluster according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a shooting direction and an unmanned aerial vehicle in a performance coordinate system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an included angle between a shooting direction and an x coordinate axis in a performance coordinate system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a performance coordinate system and an aerial coordinate system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an aerial photography direction in an aerial photography coordinate system according to an embodiment of the present invention;
fig. 6 is a schematic structural view of an unmanned aerial vehicle cluster and a lens field angle provided in an embodiment of the present invention;
FIG. 7 is a schematic block diagram of an automatic aerial route generation apparatus for a cluster according to an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a computer device provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention 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 be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
Referring to fig. 1, fig. 1 is a schematic flow chart of an automatic generation method of an aerial route for a cluster according to an embodiment of the present invention;
as shown in fig. 1, the method includes steps S101 to S104.
S101, acquiring a flight path of an unmanned aerial vehicle cluster in a performance coordinate system from a pre-edited script, wherein the flight path of the unmanned aerial vehicle cluster in the performance coordinate system is a flight path point of each unmanned aerial vehicle at all moments in the performance coordinate system;
s102, setting an aerial photographing coordinate system based on a preset photographing direction, and converting a flight line of the unmanned aerial vehicle cluster under the performance coordinate system into a flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system, wherein the flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system is a flight navigation point of each unmanned aerial vehicle at all moments under the aerial photographing coordinate system;
s103, acquiring a lens field angle of the aerial camera, and traversing and calculating positions of the aerial camera at all moments in an aerial coordinate system based on a flight path of the unmanned aerial vehicle cluster in the aerial coordinate system to enable the unmanned aerial vehicle cluster to be located in the center of a picture of the aerial camera;
and S104, converting the positions of the aerial photographing machine at all moments in the aerial photographing coordinate system to the positions of the aerial photographing machine at all moments in the performance coordinate system to obtain an aerial photographing air route of the aerial photographing machine.
In this embodiment, in a commercial scene such as a lighting show performance of an unmanned aerial vehicle, an unmanned aerial vehicle in a cluster of unmanned aerial vehicles performs according to a pre-edited script (also called a dance) which includes a flight waypoint p of the cluster of unmanned aerial vehicles for performingxyz[i][T]Wherein p isxyz[i][T]The spatial positions of the ith unmanned aerial vehicle at all times T in the performance coordinate system are represented, and with reference to fig. 2, it should be noted that i is 1, 2, and 3 … … n, i is used to represent the number of the unmanned aerial vehicle in the unmanned aerial vehicle cluster, and x, y, and z respectively represent three coordinate axes in the performance coordinate system, where x coordinate axis and y coordinate axis represent horizontal coordinate axes in the performance coordinate system, and z coordinate axis represents a height coordinate axis in the performance coordinate system.
For example, the 1 st drone takes off at the origin position under the coordinate system of the performance, i.e. the first flight waypoint is p000[1][1]Then after 10s, the positions of the x coordinate axis, the y coordinate axis and the z coordinate axis of the unmanned aerial vehicle in the performance coordinate system are respectively x1＝100、y1100 and z120, the flight point is p10010020[1][10]Wherein x is1For the distance between the position of the unmanned aerial vehicle and the origin under the x-axis coordinate system, the same principle can be known, y1Is the distance between the position of the unmanned aerial vehicle and the origin under the y-axis coordinate system, z1For the distance between the position and the origin of the unmanned aerial vehicle under the z-axis coordinate system。
In an actual scene, the aerial photo machine can make corresponding movement along with the movement of the unmanned aerial vehicle cluster, and in the prior art, the movement of the aerial photo machine is controlled manually, so that part of unmanned aerial vehicles in the unmanned aerial vehicle cluster are easily lost, namely part of unmanned aerial vehicles can disappear in the picture range of the aerial photo machine, and the integrity of the shot picture is damaged, so in the embodiment, an aerial photo coordinate system x 'y' z 'is set according to the shooting direction of the aerial photo machine, the direction of the performance unmanned aerial vehicle looking at the aerial photo machine is taken as the x' direction, and the aerial photo coordinate system is coincided with the origin of the performance coordinate system, and meanwhile, as shown in fig. 3 and 4, the positions of the aerial photo coordinate system and the performance coordinate system have one shooting angle
And deviation, in order to calculate the position of the aerial photography machine conveniently, converting the flight route of the unmanned aerial vehicle cluster under the performance coordinate system into the flight route of the unmanned aerial vehicle cluster under the aerial photography coordinate system.
In a specific embodiment, the step S102 includes:
s10, calculating the flight path of the unmanned plane cluster under the aerial photographing coordinate system according to the following formula:
p′z[i][t]＝pz[i][t]
wherein x, y and z respectively represent three coordinate axes under the performance coordinate system, x ', y ' and z ' respectively represent three coordinate axes under the aerial photography coordinate system,
denotes an angle p 'between the imaging direction and the x coordinate axis'x[i][t]、p′y[i][t]、p′z[i][t]Respectively represent the ith unmanned planePosition on the x ', y ', z ' axes at time t, px[i][t]、py[i][t]、pz[i][t]Respectively showing the position of the ith unmanned aerial vehicle on an x coordinate axis, a y coordinate axis and a z coordinate axis at the moment t.
With reference to fig. 5, by the above calculation, the flight path of the unmanned aerial vehicle cluster in the performance coordinate system can be quickly converted into the flight path of the unmanned aerial vehicle cluster in the aerial coordinate system.
In order to make the unmanned aerial vehicle cluster in the center of the picture of the aerial camera, thereby ensuring the integrity of the shot picture, in an embodiment, the step S103 includes:
s20, calculating the position of the aerial camera on the z' coordinate axis at the t moment under the aerial coordinate system according to the following formula:
wherein n is the total number of unmanned aerial vehicles in the unmanned aerial vehicle cluster;
s21, calculating the position of the aerial camera at the t moment on the y' coordinate axis under the aerial coordinate system according to the following formula:
in this embodiment, to make the captured performing drone cluster appear at the center of the aerial image of the aerial camera, the aerial camera should be as high as the center position of the drone cluster, and the position of the aerial camera on the z ' coordinate axis of the aerial camera in the aerial coordinate system at the time t is calculated by the calculation formula of step S20, that is, at the time t, the position of the aerial camera on the z ' coordinate axis of the aerial coordinate system is equal to the average value of the positions of the drone cluster on the z ' coordinate axis in the aerial coordinate system, for example, the drone cluster has 4 drones, and the positions of the four drones numbered with i being 1, 2, 3, and 4 on the z ' coordinate axis of the aerial coordinate system at the time t being 10S are p 'z[1][10]＝100、p′z[2][10]＝200、p′z[3][10]＝300、p′z[4][10]400, the position c ' of the aerial camera on the z ' coordinate axis when t is 10s is obtained in the aerial photographing coordinate system at the moment 'z[10]It should be noted that, in the present embodiment, the length unit of each coordinate axis of the aerial photography coordinate system and the performance coordinate system is set to be meter.
Similarly, the formula in step S21 is used to calculate the position of the aerial camera on the y 'coordinate axis at the time t of the aerial camera in the aerial coordinate system, that is, at the time t, the position of the aerial camera on the y' coordinate axis in the aerial coordinate system is equal to the average value of the positions of the unmanned aerial vehicle cluster on the y 'coordinate axis in the aerial coordinate system, for example, 4 unmanned aerial vehicles are shared by the unmanned aerial vehicle cluster, and the positions of the four unmanned aerial vehicles numbered 1, 2, 3 and 4 on the y' coordinate axis in the aerial coordinate system are p 'when t is 10S'y[1][10]＝100、p′y[2][10]＝200、p′y[3][10]＝300、p′y[4][10]400, the position c ' of the aerial camera on the y ' coordinate axis when t is 10s is obtained in the aerial photographing coordinate system 'y[10]＝250。
With reference to fig. 6, in this embodiment, the step S103 further includes:
s30, acquiring a lens field angle theta of the aerial camera;
s31, calculating the offset of the unmanned aerial vehicle cluster on the x' coordinate axis under the aerial photography coordinate system:
wherein, | y ' | represents the length of the unmanned aerial vehicle cluster on the y ' coordinate axis under the aerial photography coordinate system, and | y ' | is calculated according to the following formula:
wherein,
respectively represents the maximum of the unmanned plane cluster on the y' coordinate axis at the t moment under the aerial photography coordinate systemA value and a minimum value;
s32, calculating the position of the aerial camera on the x' coordinate axis at the time t under the aerial coordinate system according to the following formula:
in order to ensure that the unmanned aerial vehicle cluster for shooting performance is full of the whole shooting picture and has better shooting effect, therefore, the aerial camera needs to be close to the performance unmanned aerial vehicle cluster in the x' direction under the aerial photographing coordinate system as much as possible, meanwhile, in order to reduce the situation that part of the performance unmanned aerial vehicles are lost in the shot picture, the aerial camera cannot be too close to the unmanned aerial vehicle cluster in the x' direction under the aerial photographing coordinate system, therefore, the field angle of the camera lens of the aerial camera completely covers the unmanned aerial vehicle cluster in the y ' direction under the aerial photographing coordinate system, so that the coordinate of the aerial camera in the x ' direction under the aerial photographing coordinate system needs to be shifted by a distance of delta x ' on the basis of the central point coordinate of the unmanned aerial vehicle cluster, namely, at the time t, the position of the aerial photography machine on the x 'coordinate axis under the aerial photography coordinate system is equal to the average value of the positions of the unmanned aerial vehicle cluster on the x' coordinate axis under the aerial photography coordinate system plus the minimum offset value.
For example, the lens field angle θ of the aerial camera is 120 °, four performing drones with numbers i being 1, 2, 3, and 4 form a performing drone cluster, and when t is 10s, i is 1 and i is 4, the two drones are farthest apart in the position interval on the y ' coordinate axis in the aerial coordinate system, that is, the two drones are farthest apart in the position interval on the y ' coordinate axis in the aerial coordinate system in the performing drone array at that time, for example, the positions of the two drones are p 'y[1][100]＝100、p′y[4][100]300, the length | y ' | of the unmanned aerial vehicle cluster on the y ' coordinate axis in the aerial coordinate system is 200, and the length | y ' | is obtained according to the format in step S31
Four unmanned aerial vehicles numbered according to the numbers of i-1, 2, 3 and 4 are respectively p ' in positions on x ' coordinate axis in aerial photographing coordinate system when t is 10s 'x[1][10]＝100、p′x[2][10]＝110、p′x[3][10]＝120、p′x[4][10]130, the position of the aerial camera on the x' coordinate axis when t is 10s under the aerial coordinate system at this time
In one embodiment, the step S104 includes:
s40, converting the positions of the aerial camera at all moments in the aerial photographing coordinate system to the positions at all moments in the performance coordinate system according to the following formula:
cz[t]＝c′z[t]；
and converting the aerial photography coordinate system x ' y ' z ' back to the performance coordinate system xyz, namely the inverse process of the coordinate rotation in the step S10, calculating the positions of the aerial photography machine in the aerial photography coordinate system at each moment of the unmanned aerial vehicle cluster one by one through the steps, and converting the positions of the aerial photography machine at all moments in the aerial photography coordinate system to the positions of the aerial photography machine at all moments in the performance coordinate system to obtain the aerial photography route of the aerial photography machine.
In an embodiment, the step S104 further includes:
s50, converting the positions of the aerial photographing machine at all times under the performance coordinate system into corresponding longitude and latitude according to the following formula:
clon＝Olon+X
clat＝Olat+Y
wherein, clon、clatRespectively representing the longitude and latitude, O, of the aerial cameralon、OlatRespectively representing the longitude and latitude of the origin of the performance coordinate system, X representing the position of the X coordinate axis of the aerial camera in the performance coordinate system, and Y representing the position of the aerial camera in the performance coordinate systemThe position of the lower y coordinate axis.
Converting coordinates under the performance coordinate system into longitude and latitude to obtain a flight route, for example, expressing X direction and Y direction under the performance coordinate system as east direction and north direction respectively, setting a flight performance takeoff position as an origin of the performance coordinate system, and converting the performance unmanned aerial vehicle cluster into longitude and latitude from the performance coordinate system by the same method, so that the configuration of the performance unmanned aerial vehicle cluster and the configuration of the aerial photography unmanned aerial vehicle at the origin position are the same, namely longitude c of the aerial photography machinelonFor the origin longitude O of the coordinate system of the performancelonAdding the position of X coordinate axis in the performance coordinate system, and similarly, the latitude c of the aerial cameralatFor the latitude O of the origin of the coordinate system of the performancelatPlus the position of the Y coordinate axis in the performance coordinate system.
By the automatic aerial route generation method, the aerial route of the aerial camera is automatically generated, so that the aerial camera can automatically fly along the generated aerial route, errors caused by manual control of the aerial camera are avoided, the aerial route of the automatically generated aerial camera can always keep the shot unmanned aerial vehicle cluster in the center of the picture, and the completeness of the shot picture is further guaranteed.
The embodiment of the invention also provides an automatic aerial route generation device for the cluster, which is used for executing any embodiment of the automatic aerial route generation method for the cluster. Specifically, referring to fig. 7, fig. 7 is a schematic block diagram of an automatic aerial route generation device for a cluster according to an embodiment of the present invention.
As shown in fig. 7, the automatic generation apparatus 500 for aerial route for a cluster includes:
an obtaining unit 501, configured to obtain, from a pre-edited scenario, a flight path of a cluster of unmanned aerial vehicles in a performance coordinate system, where the flight path of the cluster of unmanned aerial vehicles in the performance coordinate system is a flight path point of each unmanned aerial vehicle at all times in the performance coordinate system;
a primary conversion unit 502, configured to set an aerial photography coordinate system based on a preset shooting direction, and convert a flight line of the unmanned aerial vehicle cluster in the performance coordinate system into a flight line of the unmanned aerial vehicle cluster in the aerial photography coordinate system, where the flight line of the unmanned aerial vehicle cluster in the aerial photography coordinate system is a flight waypoint of each unmanned aerial vehicle at all times in the aerial photography coordinate system;
the calculating unit 503 is configured to obtain a lens field angle of the aerial camera, and traverse and calculate positions of the aerial camera at all times in an aerial coordinate system based on a flight path of the unmanned aerial vehicle cluster in the aerial coordinate system, so that the unmanned aerial vehicle cluster is located in the center of a picture of the aerial camera;
the secondary conversion unit 504 is used for converting the positions of the aerial camera at all moments in the aerial photographing coordinate system to the positions of the aerial camera at all moments in the performance coordinate system to obtain an aerial photographing route of the aerial camera;
the device is through the automatic airline of taking photo by plane of generating the aircraft of taking photo by plane for the aircraft of taking photo by plane can be automatic along the airline of taking photo by plane of generating and fly, avoids the error that manual control aircraft of taking photo by plane caused, and the airline of taking photo by plane of automatic generation can remain the unmanned aerial vehicle cluster of being shot at picture central authorities all the time, and then has guaranteed the integrality of shooting the picture.
In a specific embodiment, the primary converting unit 502 includes:
a sub-calculation unit: calculating the flight path of the unmanned plane cluster under the aerial photographing coordinate system according to the following formula:
p′z[i][t]＝pz[i][t]
wherein x, y and z respectively represent three coordinate axes under the performance coordinate system, x ', y ' and z ' respectively represent three coordinate axes under the aerial photography coordinate system,
denotes an angle p 'between the imaging direction and the x coordinate axis'x[i][t]、p′y[i][t]、p′z[i][t]Respectively represents the position of the ith unmanned aerial vehicle on an x ' coordinate axis, a y ' coordinate axis and a z ' coordinate axis at the moment t, px[i][t]、py[i][t]、pz[i][t]Respectively showing the position of the ith unmanned aerial vehicle on an x coordinate axis, a y coordinate axis and a z coordinate axis at the moment t.
Through the sub-computing unit, the flight line of the unmanned aerial vehicle cluster under the performance coordinate system can be quickly converted into the flight line of the unmanned aerial vehicle cluster under the aerial photo coordinate system.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The automatic aerial route generation device for the cluster described above may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 8.
Referring to fig. 8, fig. 8 is a schematic block diagram of a computer device according to an embodiment of the present invention. The computer device 1100 is a server, and the server may be an independent server or a server cluster including a plurality of servers.
Referring to fig. 8, the computer device 1100 includes a processor 1102, memory and network interface 1105 connected by a system bus 1101, where the memory may include non-volatile storage media 1103 and internal memory 1104.
The non-volatile storage medium 1103 may store an operating system 11031 and computer programs 11032. The computer program 11032, when executed, may cause the processor 1102 to perform a method of automatically generating aerial routes for a cluster.
The processor 1102 is configured to provide computing and control capabilities that support the operation of the overall computing device 1100.
The internal memory 1104 provides an environment for running a computer program 11032 in the non-volatile storage medium 1103, which computer program 11032, when executed by the processor 1102, may cause the processor 1102 to perform an automatic generation method of an aerial route for a cluster.
The network interface 1105 is used for network communications, such as to provide for the transmission of data information. Those skilled in the art will appreciate that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration associated with aspects of the present invention and is not intended to limit the computing device 1100 to which aspects of the present invention may be applied, and that a particular computing device 1100 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
Those skilled in the art will appreciate that the embodiment of a computer device illustrated in fig. 8 does not constitute a limitation on the specific construction of the computer device, and that in other embodiments a computer device may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components. For example, in some embodiments, the computer device may only include a memory and a processor, and in such embodiments, the structures and functions of the memory and the processor are consistent with those of the embodiment shown in fig. 8, and are not described herein again.
It should be appreciated that in embodiments of the present invention, the Processor 1102 may be a Central Processing Unit (CPU), and the Processor 1102 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In another embodiment of the invention, a computer-readable storage medium is provided. The computer readable storage medium may be a non-volatile computer readable storage medium. The computer readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the method for automatically generating an aerial route for a cluster of an embodiment of the present invention.
The storage medium is an entity and non-transitory storage medium, and may be various entity storage media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, devices and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. An automatic generation method of aerial route for cluster is characterized by comprising the following steps:
acquiring a flight path of an unmanned aerial vehicle cluster in a performance coordinate system from a pre-edited script, wherein the flight path of the unmanned aerial vehicle cluster in the performance coordinate system is a flight path point of each unmanned aerial vehicle at all moments in the performance coordinate system;
setting an aerial photographing coordinate system based on a preset photographing direction, and converting a flight line of the unmanned aerial vehicle cluster under the performance coordinate system into a flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system, wherein the flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system is a flight navigation point of each unmanned aerial vehicle at all moments under the aerial photographing coordinate system;
acquiring a lens field angle of the aerial camera, and traversing and calculating positions of the aerial camera at all moments in an aerial coordinate system based on a flight path of the unmanned aerial vehicle cluster in the aerial coordinate system to enable the unmanned aerial vehicle cluster to be located in the center of a picture of the aerial camera;
converting the positions of the aerial photographing machine at all moments in an aerial photographing coordinate system to the positions of the aerial photographing machine at all moments in a performance coordinate system to obtain an aerial photographing route of the aerial photographing machine;
wherein, the converting the flight route of the unmanned aerial vehicle cluster in the performance coordinate system into the flight route of the unmanned aerial vehicle cluster in the aerial coordinate system comprises:
calculating the flight path of the unmanned plane cluster under the aerial photographing coordinate system according to the following formula:
p′z[i][t]＝pz[i][t]
wherein x, y and z respectively represent three coordinate axes under the performance coordinate system, x ', y ' and z ' respectively represent three coordinate axes under the aerial photography coordinate system,
denotes an angle p 'between the imaging direction and the x coordinate axis'x[i][t]、p′y[i][t]、p′z[i][t]Respectively represents the position of the ith unmanned aerial vehicle on an x ' coordinate axis, a y ' coordinate axis and a z ' coordinate axis at the moment t, and px[i][t]、py[i][t]、pz[i][t]Respectively representing the position of the ith unmanned aerial vehicle on an x coordinate axis, a y coordinate axis and a z coordinate axis at the moment t;
calculating the position of the aerial camera on the z' coordinate axis at the time t under the aerial photographing coordinate system according to the following formula:
wherein n is the total number of unmanned aerial vehicles in the unmanned aerial vehicle cluster;
the position on the y' coordinate axis at the time t of the aerial camera in the aerial coordinate system is calculated according to the following formula:
the method comprises the following steps of obtaining a lens field angle of an aerial photography machine, traversing and calculating positions of the aerial photography machine at all moments under an aerial photography coordinate system based on a flight path of the unmanned aerial vehicle cluster under the aerial photography coordinate system, and further comprising:
acquiring a lens field angle theta of the aerial photographing machine;
calculating the offset of the unmanned aerial vehicle cluster on an x' coordinate axis under an aerial photographing coordinate system:
wherein, | y ' | represents the length of the unmanned aerial vehicle cluster on the y ' coordinate axis under the aerial photography coordinate system, and | y ' | is calculated according to the following formula:
wherein,
respectively representing the maximum value and the minimum value of the unmanned aerial vehicle cluster on a y' coordinate axis at the time t under an aerial photography coordinate system;
calculating the position of the aerial camera on the x' coordinate axis at the time t under the aerial coordinate system according to the following formula:
the step of converting the positions of the aerial photographing machine at all moments under the aerial photographing coordinate system to the positions of the aerial photographing machine at all moments under the performance coordinate system to obtain the aerial photographing route of the aerial photographing machine comprises the following steps:
converting the positions of the aerial camera at all moments in the aerial photographing coordinate system to the positions at all moments in the performance coordinate system according to the following formula:
cZ[t]＝c′z[t]。
2. the method for automatically generating an aerial route for a cluster according to claim 1, wherein the converting the positions of the aerial camera at all times in the aerial coordinate system to the positions at all times in the performance coordinate system to obtain the aerial route of the aerial camera further comprises:
converting the positions of the aerial photographing machine at all times under the performance coordinate system into corresponding longitudes and latitudes according to the following formula:
clon＝Olon+X
clat＝Olat+Y
wherein, clon、clatRespectively representing the longitude and latitude, O, of the aerial cameralon、OlatRespectively representing the longitude and latitude of an origin of a performance coordinate system, X representing the position of an X coordinate axis of the aerial camera in the performance coordinate system, and Y representing the position of a Y coordinate axis of the aerial camera in the performance coordinate system.
3. An automatic generation device of aerial route for cluster is characterized by comprising:
the acquisition unit is used for acquiring a flight path of the unmanned aerial vehicle cluster in the performance coordinate system from the pre-edited script, wherein the flight path of the unmanned aerial vehicle cluster in the performance coordinate system is a flight path point of each unmanned aerial vehicle at all moments in the performance coordinate system;
the primary conversion unit is used for setting an aerial photographing coordinate system based on a preset photographing direction and converting a flight line of the unmanned aerial vehicle cluster under the performance coordinate system into a flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system, wherein the flight line of the unmanned aerial vehicle cluster under the aerial photographing coordinate system is a flight navigation point of each unmanned aerial vehicle at all moments under the aerial photographing coordinate system;
the calculation unit is used for acquiring a lens field angle of the aerial photography machine, traversing and calculating positions of the aerial photography machine at all moments under an aerial photography coordinate system based on a flight path of the unmanned aerial vehicle cluster under the aerial photography coordinate system, and enabling the unmanned aerial vehicle cluster to be located in the center of a picture of the aerial photography machine;
the secondary conversion unit is used for converting the positions of the aerial photographing machine at all moments in an aerial photographing coordinate system to the positions of the aerial photographing machine at all moments in a performance coordinate system to obtain an aerial photographing route of the aerial photographing machine;
wherein, the primary conversion unit comprises the following units:
the first sub-calculation unit is used for calculating the flight line of the unmanned aerial vehicle cluster under the aerial coordinate system according to the following formula:
p′z[i][t]＝pz[i][t]
wherein x, y and z respectively represent three coordinate axes under the performance coordinate system, x ', y ' and z ' respectively represent three coordinate axes under the aerial photography coordinate system,
denotes an angle p 'between the imaging direction and the x coordinate axis'x[i][t]、p′y[i][t]、p′z[i][t]Respectively represents the position of the ith unmanned aerial vehicle on an x ' coordinate axis, a y ' coordinate axis and a z ' coordinate axis at the moment t, and px[i][t]、py[i][t]、pz[i][t]Respectively representing the position of the ith unmanned aerial vehicle on an x coordinate axis, a y coordinate axis and a z coordinate axis at the moment t;
the calculation unit comprises the following units:
the second sub-calculation unit is used for calculating the position of the aerial camera on the z' coordinate axis at the time t under the aerial photographing coordinate system according to the following formula:
wherein n is the total number of unmanned aerial vehicles in the unmanned aerial vehicle cluster;
the third sub-calculation unit is used for calculating the position of the aerial camera on the y' coordinate axis at the t moment under the aerial photographing coordinate system according to the following formula:
the acquiring field angle unit is used for acquiring a lens field angle theta of the aerial camera;
a fourth sub-calculation unit, configured to calculate an offset of the unmanned aerial vehicle cluster on an x' coordinate axis in an aerial coordinate system:
wherein, | y ' | represents the length of the unmanned aerial vehicle cluster on the y ' coordinate axis under the aerial photography coordinate system, and | y ' | is calculated according to the following formula:
wherein,
respectively representing the maximum value and the minimum value of the unmanned aerial vehicle cluster on a y' coordinate axis at the time t under an aerial photography coordinate system;
the fifth sub-calculation unit is used for calculating the position of the aerial camera on the x' coordinate axis at the time t under the aerial photographing coordinate system according to the following formula:
the secondary conversion unit comprises the following units:
a sixth sub-calculation unit, configured to convert the positions of the aerial camera at all times in the aerial photographing coordinate system to the positions at all times in the performance coordinate system according to the following formula:
cZ[t]＝c′z[t]。
4. a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method for automatic generation of aerial routes for a cluster according to any of claims 1 to 2 when executing the computer program.
5. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out the method of automatic generation of aerial routes for a cluster according to any one of claims 1 to 2.
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