CN114138014B - Unmanned aerial vehicle control method, device, equipment and storage medium for land survey - Google Patents
Unmanned aerial vehicle control method, device, equipment and storage medium for land survey Download PDFInfo
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- CN114138014B CN114138014B CN202111410663.7A CN202111410663A CN114138014B CN 114138014 B CN114138014 B CN 114138014B CN 202111410663 A CN202111410663 A CN 202111410663A CN 114138014 B CN114138014 B CN 114138014B
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- 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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C11/04—Interpretation of pictures
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Abstract
The application relates to a control method, a device, equipment and a storage medium for a unmanned aerial vehicle for land survey, wherein the method is applied to the unmanned aerial vehicle, the unmanned aerial vehicle comprises a camera, and the method comprises the following steps: after a survey instruction is acquired, acquiring initial coordinate information in a preset coordinate information base; flying to an initial coordinate place with the same longitude data, latitude data and altitude data corresponding to the initial coordinate information, controlling a camera to take a picture, and storing the shot picture information corresponding to the place to be surveyed into a preset picture information base; comparing an actual pixel value corresponding to the picture information with a preset standard pixel value; if the pixel value corresponding to the picture information is smaller than the preset standard pixel value, the camera is controlled to shoot again until the pixel value corresponding to the shot picture information is not smaller than the standard pixel value. The application has the technical effects that: unmanned aerial vehicle can be automatic carry out the inspection to the picture information of taking, labour saving and time saving.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle control method, device, equipment and storage medium for land survey.
Background
Land planning refers to long-term arrangement of reasonable use of land according to the prospect and the requirement of economic development in a country or a certain area. The method aims to ensure that the land utilization can meet the requirements of proportional development of various departments of national economy. The planning is based on the distribution and configuration conditions of the existing natural resources, technical resources and human resources, so that the land is fully and effectively utilized, and the waste caused by human factors is avoided.
With the development of unmanned aerial vehicle technology, in the process of land planning, a method of unmanned aerial vehicle high-altitude shooting is generally adopted to rapidly obtain data such as land appearance and topography to be surveyed, so that staff can plan the land to be surveyed further, and the land surveying efficiency is improved.
In carrying out the present application, the inventors have found that at least the following problems exist in this technique: for subsequent land planning, after the unmanned aerial vehicle shoots the land map to be surveyed, the shot pictures need to be checked manually, the pictures reaching the specified pixels are screened out, and the regions corresponding to the pictures which do not reach the standard are re-shot, so that time and labor are wasted.
Disclosure of Invention
In order to solve the problems that the photographed pictures need to be checked manually and a plurality of photographing are needed, the application provides an unmanned aerial vehicle control method, device and equipment for land surveying and a storage medium.
In a first aspect, the present application provides an unmanned aerial vehicle control method for land survey, which adopts the following technical scheme: the method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises a camera, and the method comprises the following steps:
when a survey instruction is acquired, acquiring initial coordinate information in a preset coordinate information base, wherein the initial coordinate information comprises longitude data, latitude data and altitude data of a place to be surveyed;
flying to an initial coordinate place with the same longitude data, latitude data and altitude data corresponding to the initial coordinate information, controlling a camera to take a picture, and storing the shot picture information corresponding to the place to be surveyed into a preset picture information base;
comparing the actual pixel value corresponding to the picture information with a preset standard pixel value;
and if the pixel value corresponding to the picture information is smaller than the preset standard pixel value, controlling the camera to shoot again until the pixel value corresponding to the shot picture information is not smaller than the standard pixel value.
According to the technical scheme, after receiving a survey instruction, the unmanned aerial vehicle acquires initial coordinate information in a preset coordinate information base, flies to an initial coordinate place which is the same as longitude data, latitude data and altitude data in the initial coordinate information, controls a camera to photograph the initial coordinate place, stores photograph-acquired picture information into the preset picture information base, and judges whether the pixel value of the picture information is smaller than a preset standard pixel value; if yes, the camera is controlled to shoot again until the pixel value corresponding to the shot picture information is larger than the preset standard pixel value. The unmanned aerial vehicle can automatically detect the pixel value corresponding to the shot image information, so that the possibility that the shot picture needs to be manually detected and shot for many times is reduced, and time and labor are saved.
Preferably, the controlling the camera to shoot again includes:
acquiring the shooting times of a camera;
comparing the shooting times of the camera with preset limiting shooting times;
if the shooting times of the camera are not less than the preset limiting shooting times, storing initial coordinate information into a preset problem coordinate library;
Acquiring subsequent coordinate information in a preset coordinate information base, wherein the subsequent coordinate information comprises longitude data, latitude data and altitude data corresponding to a subsequent to-be-surveyed place;
the fly is carried out to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information;
if the shooting times of the camera are smaller than the preset shooting times, the camera is controlled to shoot again.
Through the technical scheme, when the unmanned aerial vehicle controls the camera to shoot the coordinate place again, the times that the camera shoots are obtained, the times that the camera shoots are compared with the preset limiting shooting times, if the times that the camera shoots are not less than the preset limiting shooting times, the subsequent coordinate information in the coordinate information base is obtained, the subsequent coordinate place corresponding to the subsequent coordinate information is shot firstly according to the subsequent coordinate information, the possibility that the unmanned aerial vehicle shoots the coordinate place with the actual pixel value lower than the standard pixel value, corresponding to the shot picture, in the process of shooting the picture is reduced, and therefore the shooting efficiency of the unmanned aerial vehicle is improved.
Preferably, the unmanned aerial vehicle includes a vibration sensor, and further includes, after the pixel value corresponding to the picture information is smaller than a preset standard pixel value:
acquiring vibration data collected by a vibration sensor, wherein the vibration data comprises an actual vibration value obtained by real-time measurement;
comparing an actual vibration value corresponding to vibration data collected by the vibration sensor with a preset standard vibration value;
if the vibration data is larger than a preset standard vibration value, storing the picture information and coordinate information corresponding to the picture information into a preset vibration problem database;
acquiring subsequent coordinate information in a preset coordinate information base;
and the fly goes to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information.
Through the technical scheme, when the pixel value corresponding to the picture information shot by the unmanned aerial vehicle is detected to be lower than the preset pixel standard value, vibration data collected by the vibration sensor are acquired, the actual vibration value corresponding to the vibration data is judged to be compared with the preset standard vibration value, if the actual vibration value corresponding to the vibration data is larger than the preset standard vibration value, subsequent coordinate information in the coordinate information base is acquired, the subsequent coordinate information is shot firstly according to the subsequent coordinate information in a flying mode to the subsequent coordinate place, when the unmanned aerial vehicle vibrates in the picture shooting process to cause the picture to be too low, the unmanned aerial vehicle directly goes to the next coordinate place to shoot, and shooting efficiency is improved.
Preferably, after the storing the picture information corresponding to the shot specified location in the preset picture information base, the method further includes:
comparing the brightness value corresponding to the picture information with a preset standard brightness value;
if the brightness value corresponding to the picture information is larger than a preset standard brightness value;
and storing the picture information and the coordinate information corresponding to the picture information into a preset brightness problem database.
According to the technical scheme, after shot picture information corresponding to a place to be surveyed is stored to preset picture information, comparing a brightness value corresponding to the picture information with a preset standard brightness value, and if the brightness value corresponding to the picture information is larger than the preset standard brightness value, storing the picture information into a preset brightness problem database; the ability of unmanned aerial vehicle discernment picture information has been promoted, and partial area luminance in the picture information has been reduced and is too high, and then influences the possibility of the survey effect in corresponding coordinate place to unmanned aerial vehicle's survey effect has been promoted.
Preferably, after the luminance value corresponding to the picture information is greater than the preset standard luminance value, the method includes:
acquiring an altitude adjustment value in a preset altitude adjustment library;
The elevation adjustment value is raised, the coordinate information corresponding to the raised coordinate information is modified coordinate information, longitude data and latitude data corresponding to the modified coordinate information and the initial coordinate information are the same, and the elevation data corresponding to the modified coordinate information is equal to the initial elevation data plus the elevation adjustment value;
controlling a camera to take a picture and acquiring corresponding altitude correction picture information;
comparing the brightness value corresponding to the altitude correction picture information with a preset standard brightness value;
judging whether the brightness value corresponding to the altitude correction picture information is larger than a preset standard brightness value or not;
if the brightness problem is larger than the preset brightness problem, storing the picture information and the modified coordinate information into the brightness problem database;
otherwise, acquiring subsequent coordinate information in a coordinate information base;
and the fly goes to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information.
According to the technical scheme, after the brightness value corresponding to the picture information is larger than the preset standard brightness value, the altitude adjustment value in the preset altitude adjustment library is obtained, the unmanned aerial vehicle ascends the altitude adjustment value, then the camera is controlled to shoot again and obtain altitude correction picture information, and the brightness value corresponding to the altitude correction picture information is compared with the preset standard brightness value; if the brightness value corresponding to the altitude correction picture information is larger than the preset standard brightness value, storing the altitude correction picture information into a preset brightness problem database; otherwise, acquiring the subsequent coordinate information in the coordinate information base, and flying to the subsequent coordinate place corresponding to the subsequent coordinate information. When the brightness value corresponding to the picture information is larger than the preset standard brightness value, the unmanned aerial vehicle is controlled to rise to the preset altitude adjustment value, light reflection caused by environmental factors such as glass and lakes is reduced, the possibility of overhigh brightness of the picture information is further caused, and the intelligent degree of the unmanned aerial vehicle when the overhigh brightness of the picture information is detected is improved.
Preferably, the method further comprises:
after obtaining picture information corresponding to ending coordinate information in the coordinate information base, the ending coordinate information comprises longitude data, latitude data and altitude data of a survey place;
acquiring problem coordinate information stored in the brightness problem database and the vibration problem database;
storing the problem coordinate information into a preset checking coordinate information base;
flight to the test coordinate location with the same longitude data, latitude data and altitude data corresponding to the problem coordinate information;
controlling a camera to take a picture and acquiring inspection picture information;
and storing the inspection picture information into a preset inspection picture database.
Through the technical scheme, after the unmanned aerial vehicle finishes the picture collection of all corresponding coordinate information in the coordinate information base, the coordinate positions with problems in brightness and vibration in the unmanned aerial vehicle survey process are summarized and stored in the preset inspection coordinate information base, the unmanned aerial vehicle flies to the corresponding problem coordinate positions in the inspection coordinate information base respectively, a camera is controlled to inspect and shoot the problem coordinate positions, and the pictures obtained by shooting are stored in the preset inspection picture database. The possibility that the picture information corresponding to the problem coordinate location is problematic due to the influence of the time factor is reduced, and therefore the effective degree of obtaining the picture during unmanned aerial vehicle exploration is improved.
Preferably, if the brightness value corresponding to the picture information is greater than a preset standard brightness value, the method includes:
acquiring a highlight region with a brightness value larger than a standard brightness value corresponding to the picture information;
acquiring coordinate information corresponding to the picture information;
acquiring corresponding other picture information according to the coordinate information;
judging whether the brightness value of the highlight region corresponding to other picture information is smaller than the standard brightness value;
if yes, replacing the highlight region corresponding to the picture information with the highlight region corresponding to other picture information.
According to the technical scheme, the brightness value corresponding to the picture information is larger than the preset standard brightness value, the coordinate information corresponding to the picture is obtained by obtaining the highlight region with the brightness value larger than the preset standard brightness value in the picture, the brightness of the highlight region corresponding to other pictures in the corresponding coordinate place is inquired, the part, with the brightness value of the highlight region corresponding to the other pictures lower than the preset standard value, is extracted, and the extracted highlight region is replaced to the highlight region corresponding to the picture information. The unmanned aerial vehicle can replace pictures with brightness values higher than preset standard brightness values in a picture synthesis mode, so that the unmanned aerial vehicle can timely acquire required survey information according to different pictures, and the unmanned aerial vehicle's survey efficiency is improved.
In a second aspect, the present application provides an unmanned aerial vehicle control device for land survey, which adopts the following technical scheme: the device comprises:
according to the technical scheme, after receiving a survey instruction, the unmanned aerial vehicle acquires initial coordinate information in a preset coordinate information base, flies to an initial coordinate place which is the same as longitude data, latitude data and altitude data in the initial coordinate information, controls a camera to photograph the initial coordinate place, stores photograph-acquired picture information into the preset picture information base, and judges whether the pixel value of the picture information is smaller than a preset standard pixel value; if yes, the camera is controlled to shoot again until the pixel value corresponding to the shot picture information is larger than the preset standard pixel value. The unmanned aerial vehicle can automatically detect the pixel value corresponding to the shot image information, so that the possibility that the shot picture needs to be manually detected and shot for many times is reduced, and time and labor are saved.
In a third aspect, the present application provides a computer device, which adopts the following technical scheme: comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and executing a drone control method for land surveying as any one of the above.
According to the technical scheme, after receiving a survey instruction, the unmanned aerial vehicle acquires initial coordinate information in a preset coordinate information base, flies to an initial coordinate place which is the same as longitude data, latitude data and altitude data in the initial coordinate information, controls a camera to photograph the initial coordinate place, stores photograph-acquired picture information into the preset picture information base, and judges whether the pixel value of the picture information is smaller than a preset standard pixel value; if yes, the camera is controlled to shoot again until the pixel value corresponding to the shot picture information is larger than the preset standard pixel value. The unmanned aerial vehicle can automatically detect the pixel value corresponding to the shot image information, so that the possibility that the shot picture needs to be manually detected and shot for many times is reduced, and time and labor are saved.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical solutions: a computer program is stored that can be loaded by a processor and that performs any of the above-described drone control methods for land surveys.
According to the technical scheme, after receiving a survey instruction, the unmanned aerial vehicle acquires initial coordinate information in a preset coordinate information base, flies to an initial coordinate place which is the same as longitude data, latitude data and altitude data in the initial coordinate information, controls a camera to photograph the initial coordinate place, stores photograph-acquired picture information into the preset picture information base, and judges whether the pixel value of the picture information is smaller than a preset standard pixel value; if yes, the camera is controlled to shoot again until the pixel value corresponding to the shot picture information is larger than the preset standard pixel value. The unmanned aerial vehicle can automatically detect the pixel value corresponding to the shot image information, so that the possibility that the shot picture needs to be manually detected and shot for many times is reduced, and time and labor are saved.
In summary, the present application includes at least one of the following beneficial technical effects:
1. after receiving a survey instruction, the unmanned aerial vehicle acquires initial coordinate information in a preset coordinate information base, flies to an initial coordinate place which is the same as longitude data, latitude data and altitude data in the initial coordinate information, controls a camera to photograph the initial coordinate place, stores photograph-acquired picture information in the preset picture information base, and judges whether a pixel value of the picture information is smaller than a preset standard pixel value or not; if yes, the camera is controlled to shoot again until the pixel value corresponding to the shot picture information is larger than the preset standard pixel value. The unmanned aerial vehicle can automatically detect the pixel value corresponding to the shot image information, so that the possibility that the shot picture needs to be detected manually and shot for multiple times is reduced, and time and labor are saved;
2. and extracting the part of the highlight region corresponding to the other pictures, the brightness value of which is lower than the preset standard value, by inquiring the brightness of the highlight region corresponding to the other pictures of the corresponding coordinate place, and replacing the extracted highlight region to the highlight region corresponding to the picture information. The unmanned aerial vehicle can replace pictures with brightness values higher than preset standard brightness values in a picture synthesis mode, so that the unmanned aerial vehicle can timely acquire required survey information according to different pictures, and the unmanned aerial vehicle's survey efficiency is improved.
Drawings
Fig. 1 is a flow chart of a method of drone control for land surveying in an embodiment of the present application.
Fig. 2 is a schematic diagram for showing picture composition in an embodiment of the application.
Fig. 3 is a schematic structural view of a control device for a unmanned aerial vehicle for land survey in an embodiment of the present application.
Fig. 4 is a schematic structural view of a control device for a unmanned aerial vehicle for land survey in an embodiment of the present application.
Reference numerals: 301. the coordinate information acquisition module; 302. a picture shooting and storing module; 303. picture pixel comparison module; 304. a picture pixel updating module; 401. a shooting frequency limiting module; 402. a vibration data comparison module; 403. picture brightness comparison module; 404. an altitude data adjustment module; 405. a problem coordinate checking module; 406. the highlight region replaces the module.
Detailed Description
The application is described in further detail below with reference to fig. 1-4.
The embodiment of the application discloses an unmanned aerial vehicle control method for land survey, which can be applied to aerial survey equipment such as unmanned aerial vehicles. The unmanned aerial vehicle comprises a camera and is used for shooting pictures of a survey site; a large number of sensors can also exist in the unmanned aerial vehicle and are used for collecting various data of the unmanned aerial vehicle; the unmanned aerial vehicle is also provided with a control chip, a communication component and a storage, wherein the control chip can be used for information acquisition and information comparison peer-to-peer operation, the storage can be used for storing data required in the processing process and generated data, and the communication component can be used for transmitting the data in the processing process. In this embodiment, the execution main body is taken as a control chip, the control object is taken as an example of the unmanned aerial vehicle, and the detailed description of the scheme is performed by controlling the unmanned aerial vehicle to survey the land, and other cases are similar to the detailed description, and the detailed description is omitted.
The process flow shown in fig. 1 will be described in detail with reference to the specific embodiments, and the following may be included:
s10, receiving a survey instruction sent by a worker, and acquiring initial coordinate information in a preset coordinate information base.
The correspondence between the survey location and the coordinate information may be stored in the memory in advance, as shown in table 1.
TABLE 1
The initial coordinate information comprises longitude data, latitude data and altitude data of the first survey point; the staff is connected with the communication component of the unmanned aerial vehicle through the intelligent terminals such as mobile phones or computers and the like and the communication means such as Bluetooth or wireless and the like, and then sends the survey instruction to the control chip.
S11, flying to an initial coordinate place, and controlling the camera to shoot.
The unmanned aerial vehicle flies to the initial coordinate place through the positioning component, wherein the initial coordinate place is a coordinate place with the same longitude data, latitude data and altitude data corresponding to the initial coordinate information, and the unmanned aerial vehicle is provided with the Beidou GPS positioning component. After the initial coordinate place is reached, the control chip controls the camera to shoot to obtain initial picture information, and the control chip stores the initial picture information in a preset picture information base. The correspondence between the picture information and the coordinate location in the picture information base is shown in table 2.
TABLE 2
S12, comparing the actual pixel value corresponding to the picture information with a preset standard pixel value.
The quality of the pictures shot by the unmanned aerial vehicle is improved by controlling the shot picture information through comparison. For example, when the preset standard pixel value is 1000 ten thousand pixels and the photographed picture pixel is 800 ten thousand pixels, step S13 is executed, and when the photographed picture is 1100 ten thousand pixels, the subsequent coordinate information in the preset coordinate information base is obtained.
S13, controlling the unmanned aerial vehicle to shoot again.
When the actual pixel value corresponding to the shot picture information is lower than the preset standard pixel value, the camera is controlled to shoot again until the actual pixel value corresponding to the shot picture information is greater than the preset standard pixel value.
In one embodiment, the number of shots of the drone is limited considering that the drone may repeat shooting at the same location.
Before the unmanned aerial vehicle controls the camera to shoot again, acquiring shooting times of the camera, comparing the shooting times of the camera with preset limiting shooting times, and if the shooting times are not less than the limiting shooting times, controlling the camera to stop shooting and go to next coordinate information to shoot; and if the number of times of shooting is smaller than the limit shooting number, controlling the camera to shoot again. For example, the preset limiting shooting times are 3 times, when the unmanned aerial vehicle has been shot for 2 times at the first survey point at present, and the pixel values of the picture information shot for two times are lower than the preset standard pixel value, the camera is controlled to shoot for the third time; and if the unmanned aerial vehicle has been shot for 3 times at the first survey point, controlling the unmanned aerial vehicle to go to the second survey point for shooting. The possibility that the unmanned aerial vehicle repeatedly performs shooting operation at one survey point all the time is reduced, and therefore shooting efficiency of the unmanned aerial vehicle is improved.
In one embodiment, the pixel value corresponding to the picture information is affected when the unmanned aerial vehicle is in the vibration state, and the vibration state of the unmanned aerial vehicle is detected
The unmanned aerial vehicle is provided with a vibration sensor, when the actual pixel value corresponding to the picture information obtained by shooting is smaller than a preset standard pixel value, vibration data collected by the vibration sensor are obtained, the vibration data comprise the actual vibration value of the actual measurement unmanned aerial vehicle, the actual vibration value corresponding to the vibration data is compared with the preset standard vibration value, if the actual setting value is larger than the preset standard vibration value, the unmanned aerial vehicle is controlled to directly go to a follow-up survey place for shooting, and the shot picture information and the corresponding coordinate information are stored in a preset vibration problem database; otherwise, controlling the unmanned aerial vehicle to shoot again. For example, a preset standard vibration value is set to be 10, the unmanned aerial vehicle shoots at a first survey point at present to obtain first picture information, and if the actual vibration value detected by the vibration sensor is 8, the camera is controlled to continue shooting; if the actual vibration value detected by the vibration sensor is 12, the first picture information and the first survey point are stored in a vibration problem database, and the unmanned aerial vehicle is controlled to go to the second survey point. When unmanned aerial vehicle is in the state of rocking, can lead to the pixel value that the photo was shot to receive the influence, consequently when detecting unmanned aerial vehicle vibration data anomaly, directly go to next survey place to unmanned aerial vehicle's shooting efficiency has been promoted.
In one embodiment, the image information with too high brightness value may affect the surveying effect of the unmanned aerial vehicle, and the brightness state of the unmanned aerial vehicle is detected.
After the control chip obtains the picture information shot by the camera, the control chip compares the brightness value corresponding to the shot picture information with a preset standard brightness value, if the brightness value corresponding to the picture information is larger than the standard brightness value, the picture information and the coordinate information corresponding to the picture information are stored in a preset brightness problem database, and if the brightness value corresponding to the picture information is not larger than the preset standard brightness value, the picture information is stored in the preset picture information database. For example, if the standard brightness value is set to 100 and the brightness value corresponding to the picture information shot by the unmanned aerial vehicle at the second survey point is 113, the picture information and the second survey point are stored in the brightness problem database; and if the brightness value corresponding to the picture information is 80, storing the picture information into a picture information base.
It is worth mentioning that after detecting that the brightness value corresponding to the picture information is greater than the preset standard brightness value, acquiring an altitude adjustment value in a preset altitude adjustment library, raising the altitude of the altitude adjustment value, controlling the camera to shoot again, comparing the brightness value corresponding to the shot altitude correction picture information with the preset standard brightness value, and if the brightness value corresponding to the altitude correction picture information is greater than the preset standard brightness value, storing the altitude correction picture information and the corresponding correction coordinate information into a brightness problem database; the longitude data and the latitude data of the coordinate information corresponding to the corrected coordinate information and the picture information are the same, and the altitude data corresponding to the corrected coordinate information is equal to the altitude data of the coordinate information corresponding to the picture information plus the altitude adjustment value; and if the brightness value corresponding to the altitude correction picture information is smaller than the preset standard brightness value, storing the altitude correction picture information into a picture information base.
For example, longitude data, latitude data and altitude data corresponding to the picture information are 119 degrees east longitude and 32 degrees north latitude, the altitude is 100 meters, the altitude adjustment value in an altitude adjustment library is 1 meter, the preset standard brightness value is 5, the brightness value corresponding to the picture information is 10, the unmanned aerial vehicle is controlled to ascend by 1 meter, the corresponding correction coordinate information is 119 degrees east longitude and 32 degrees north latitude and the altitude is 101 meters, the camera is controlled to shoot again, and if the obtained brightness value corresponding to the altitude correction picture information is 3, the altitude correction picture information is stored in a picture information library; and if the brightness value corresponding to the obtained altitude correction picture information is 7, storing the correction coordinate information and the altitude correction picture information into a brightness problem database. The influence of environmental factors such as glass and lakes is reduced, so that the possibility that the brightness of shot picture information is too high due to the fact that light is just reflected to the lens of the camera is solved, the reflection problem of the light is avoided through adjusting the height, and the surveying effect of the unmanned aerial vehicle is improved.
In one embodiment, taking into account that the unmanned aerial vehicle is not easy to repeatedly shoot after surveying, the shot picture information is integrated as much as possible, and when the brightness value corresponding to the picture information is greater than the preset standard brightness value, the pictures are synthesized.
When the control chip detects that the brightness value corresponding to the picture information is larger than the preset standard brightness value, the control chip acquires a highlight region with the brightness value corresponding to the picture information larger than the preset standard brightness value, acquires coordinate information corresponding to the picture information, inquires other picture information corresponding to the coordinate information according to the coordinate information, and judges whether the brightness value of the highlight region corresponding to the other picture information is larger than the preset standard brightness value or not, if so, other pictures are selected; if not, the highlight region corresponding to the picture information is replaced by the highlight region corresponding to other picture information. For example, as shown in fig. 2, the a region in the picture information 1 is a highlight region, and the B region in the picture information 2 is a corresponding highlight region; if the brightness value of the B area of the picture information 2 is not smaller than the preset standard brightness value, selecting other pictures; if the brightness value of the B region of the picture information 2 is smaller than the preset standard brightness value, the A region in the picture information 1 is replaced by the B region in the picture information 2. The investigation effect of the picture information in the brightness problem library is improved, and under the condition that the unmanned aerial vehicle cannot carry out secondary shooting, the investigation effect of the unmanned aerial vehicle is improved through the synthesis of the existing pictures.
It should be noted that when the brightness values corresponding to the highlight areas of other pictures are all larger than the preset standard brightness value, the replacement is not performed; after finding that the brightness value of the highlight region corresponding to one picture is smaller than the preset standard brightness value, replacing the highlight region corresponding to the picture information with the highlight region corresponding to other picture information, and not comparing the brightness values of the highlight regions of other pictures.
In one embodiment, after the detection is completed, the coordinate locations within the problem library are captured twice.
After the unmanned aerial vehicle finishes shooting all coordinates in the coordinate information base, acquiring problem coordinate information stored in the brightness problem database and the vibration problem database, storing the problem coordinate information into a preset inspection coordinate information base, wherein the problem coordinate information comprises longitude data, latitude data and altitude data, the unmanned aerial vehicle sequentially flies to a problem coordinate place corresponding to the problem coordinate information, shooting, and storing the shot inspection picture information into the preset inspection picture database. The influence of different time periods on the shooting of the unmanned aerial vehicle is reduced, such as the direct sunlight angle of early morning and evening, wind level and the like, the clarity of the shooting of the unmanned aerial vehicle is improved, and therefore the surveying effect of the unmanned aerial vehicle is improved.
For example, the unmanned aerial vehicle is provided with 5 survey points, after the shooting of 5 survey points is completed, wherein the brightness value of the picture information corresponding to the second survey point is too high, the actual vibration value of the unmanned aerial vehicle at the fourth survey point is too large, the unmanned aerial vehicle acquires the coordinate information corresponding to the second survey point and the fourth survey point, flies to the second survey point and shoots, stores the detected picture information obtained by shooting into a preset detected picture database, flies to the fourth survey point and repeats the steps until all coordinates in the detected coordinate information database obtain the corresponding detected picture information. The influence of different time periods on the shooting of the unmanned aerial vehicle is reduced, meanwhile, the coordinate location with problems is checked and shot, the possibility of error of picture information corresponding to the coordinate location with problems is reduced, and therefore the surveying effect of the unmanned aerial vehicle is improved.
The implementation principle of the embodiment of the application is as follows: the method comprises the steps that a worker sends a survey starting instruction, an unmanned aerial vehicle obtains coordinate information in a preset coordinate information base respectively, a camera is controlled to shoot according to the coordinate information, after shooting is completed, a pixel value corresponding to picture information obtained through shooting is compared with a preset standard pixel value, when the pixel value corresponding to the picture information is lower than the standard pixel value, whether an actual vibration value of the unmanned aerial vehicle is larger than the preset standard vibration value is judged, and if the actual vibration value of the unmanned aerial vehicle is larger than the preset standard vibration value, the unmanned aerial vehicle is controlled to directly go to a subsequent coordinate place to shoot; if the number of times of shooting is not greater than the preset number of times, controlling the unmanned aerial vehicle to shoot again, and going to the subsequent coordinate place.
When the pixel value corresponding to the shot picture information is not smaller than the standard pixel value, comparing the brightness value of the picture information, if the brightness value corresponding to the picture information is larger than the preset standard brightness value, controlling the unmanned aerial vehicle to rise by the preset altitude adjustment value, shooting again, and if the brightness value corresponding to the picture information shot for the second time is still larger than the standard brightness value, controlling the unmanned aerial vehicle to go to a subsequent coordinate place; after shooting is completed, acquiring a highlight region of the picture information, acquiring highlight regions of other pictures corresponding to the picture, and if the brightness value corresponding to the highlight region of the other pictures is smaller than a preset standard brightness value, replacing the highlight region corresponding to the picture information with the highlight region corresponding to the other pictures; otherwise, no replacement is performed.
After the photographing of all the coordinate points is completed, the coordinate points where the brightness and vibration are problematic are checked and photographed.
Based on the method, the embodiment of the application also discloses an unmanned aerial vehicle control device for land survey.
As shown in fig. 3, the apparatus comprises the following modules:
the method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises a camera, and the device comprises:
the coordinate information acquisition module 301 is configured to acquire initial coordinate information in a preset coordinate information base after acquiring a survey instruction, where the initial coordinate information includes longitude data, latitude data, and altitude data of a location to be surveyed;
The picture shooting and storing module 302 is used for flying to an initial coordinate place with the same longitude data, latitude data and altitude data corresponding to the initial coordinate information, controlling a camera to shoot, and storing shot picture information corresponding to a place to be surveyed into a preset picture information base;
a picture pixel comparison module 303, configured to compare an actual pixel value corresponding to the picture information with a preset standard pixel value;
and the picture pixel updating module 304 is configured to control the camera to take the picture again if the pixel value corresponding to the picture information is smaller than the preset standard pixel value, until the pixel value corresponding to the shot picture information is not smaller than the standard pixel value.
Optionally, as shown in fig. 4, the apparatus further includes:
the shooting frequency limiting module 401 is configured to control the camera to perform shooting again, and includes: acquiring the shooting times of a camera; comparing the shooting times of the camera with preset limiting shooting times; if the shooting times of the camera are not less than the preset limiting shooting times, storing initial coordinate information into a preset problem coordinate library; acquiring subsequent coordinate information in a preset coordinate information base, wherein the subsequent coordinate information comprises longitude data, latitude data and altitude data corresponding to a subsequent to-be-surveyed place; the fly is carried out to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information; if the shooting times of the camera are smaller than the preset shooting times, the camera is controlled to shoot again.
The vibration data comparison module 402 is configured to be used for an unmanned aerial vehicle, and further includes: acquiring vibration data collected by a vibration sensor, wherein the vibration data comprises actual vibration values obtained by implementing measurement; comparing an actual vibration value corresponding to vibration data collected by the vibration sensor with a preset standard vibration value; if the vibration data is larger than a preset standard vibration value, storing the picture information and coordinate information corresponding to the picture information into a preset vibration problem database; acquiring subsequent coordinate information in a preset coordinate information base; and the fly goes to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information.
The picture brightness comparison module 403 is configured to store picture information corresponding to a shot specified location in a preset picture information base, and further includes: comparing the brightness value corresponding to the picture information with a preset standard brightness value; if the brightness value corresponding to the picture information is larger than the preset standard brightness value; and storing the picture information and the coordinate information corresponding to the picture information into a preset brightness problem database.
The altitude data adjustment module 404 is configured to, after the luminance value corresponding to the picture information is greater than the preset standard luminance value, include: acquiring an altitude adjustment value in a preset altitude adjustment library; rising the elevation adjustment value to a modified coordinate place corresponding to modified coordinate information, wherein the longitude data and the latitude data corresponding to the modified coordinate information and the initial coordinate information are the same, and the elevation data corresponding to the modified coordinate information is equal to the initial elevation data plus the elevation adjustment value; controlling a camera to take a picture and acquiring corresponding altitude correction picture information; comparing the brightness value corresponding to the altitude correction picture information with a preset standard brightness value; judging whether the brightness value corresponding to the altitude correction picture information is larger than a preset standard brightness value or not; if the brightness problem is larger than the preset brightness problem, storing the picture information and the modified coordinate information into a brightness problem database; otherwise, acquiring subsequent coordinate information in a coordinate information base; and the fly goes to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information.
A problem coordinate checking module 405, configured to, after acquiring picture information corresponding to end coordinate information in the coordinate information base, end coordinate information including longitude data, latitude data, and altitude data of a survey location; acquiring problem coordinate information stored in a brightness problem database and a vibration problem database; storing the problem coordinate information into a preset checking coordinate information base; flight to the test coordinate location with the same longitude data, latitude data and altitude data corresponding to the problem coordinate information; controlling a camera to take a picture and acquiring inspection picture information; storing the inspection picture information into a preset inspection picture database; acquiring next coordinate information in the checking coordinate library; and the fly goes to the next coordinate place with the same longitude data, latitude data and altitude data corresponding to the next coordinate information.
The highlight region replacement module 406 is configured to, if a brightness value corresponding to the picture information is greater than a preset standard brightness value, include: acquiring a highlight region with a brightness value larger than a standard brightness value corresponding to the picture information; acquiring coordinate information corresponding to the picture information; acquiring corresponding other picture information according to the coordinate information; judging whether the brightness value of the highlight region corresponding to other picture information is smaller than the standard brightness value; if yes, replacing the highlight region corresponding to the picture information with the highlight region corresponding to other picture information.
The embodiment of the application also discloses computer equipment.
In particular, the computer device comprises a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and executing the above-described drone control method for land surveying.
The embodiment of the application also discloses a computer readable storage medium.
In particular, the computer readable storage medium stores a computer program that can be loaded by a processor and that performs a drone control method for land surveying as described above, the computer readable storage medium comprising, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (8)
1. A method of unmanned aerial vehicle survey land control for land survey, the method being applied to an unmanned aerial vehicle, the unmanned aerial vehicle including a camera, the method comprising:
when a survey instruction is acquired, acquiring initial coordinate information in a preset coordinate information base, wherein the initial coordinate information comprises longitude data, latitude data and altitude data of a place to be surveyed;
flying to an initial coordinate place with the same longitude data, latitude data and altitude data corresponding to the initial coordinate information, controlling a camera to take a picture, and storing the shot picture information corresponding to the place to be surveyed into a preset picture information base;
comparing the actual pixel value corresponding to the picture information with a preset standard pixel value;
if the pixel value corresponding to the picture information is smaller than the preset standard pixel value, controlling the camera to shoot again until the pixel value corresponding to the shot picture information is not smaller than the standard pixel value;
After the picture information corresponding to the shot appointed place is stored in a preset picture information base, the method further comprises the following steps:
comparing the brightness value corresponding to the picture information with a preset standard brightness value;
if the brightness value corresponding to the picture information is larger than a preset standard brightness value;
storing the picture information and the coordinate information corresponding to the picture information into a preset brightness problem database;
after the brightness value corresponding to the picture information is greater than the preset standard brightness value, the method comprises the following steps:
acquiring an altitude adjustment value in a preset altitude adjustment library;
rising an elevation adjustment value, wherein the elevation adjustment value is located in modified coordinate information after rising, longitude data and latitude data corresponding to the modified coordinate information and the initial coordinate information are the same, and elevation data corresponding to the modified coordinate information is equal to the initial elevation data plus the elevation adjustment value;
controlling a camera to take a picture and acquiring corresponding altitude correction picture information;
comparing the brightness value corresponding to the altitude correction picture information with a preset standard brightness value;
judging whether the brightness value corresponding to the altitude correction picture information is larger than a preset standard brightness value or not;
if the brightness problem is larger than the preset brightness problem, storing the picture information and the modified coordinate information into the brightness problem database;
Otherwise, acquiring subsequent coordinate information in a coordinate information base;
and the fly goes to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information.
2. The method of claim 1, wherein the controlling the camera to take the photograph again comprises:
acquiring the shooting times of a camera;
comparing the shooting times of the camera with preset limiting shooting times;
if the shooting times of the camera are not less than the preset limiting shooting times, storing initial coordinate information into a preset problem coordinate library;
acquiring subsequent coordinate information in a preset coordinate information base, wherein the subsequent coordinate information comprises longitude data, latitude data and altitude data corresponding to a subsequent to-be-surveyed place;
the fly is carried out to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information;
if the shooting times of the camera are smaller than the preset shooting times, the camera is controlled to shoot again.
3. The method according to claim 2, wherein the unmanned aerial vehicle includes a vibration sensor, and further comprising, after the pixel value corresponding to the picture information is smaller than a preset standard pixel value:
Acquiring vibration data collected by a vibration sensor, wherein the vibration data comprises an actual vibration value obtained by real-time measurement;
comparing an actual vibration value corresponding to vibration data collected by the vibration sensor with a preset standard vibration value;
if the vibration data is larger than a preset standard vibration value, storing the picture information and coordinate information corresponding to the picture information into a preset vibration problem database;
acquiring subsequent coordinate information in a preset coordinate information base;
and the fly goes to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information.
4. The method according to claim 1, wherein the method further comprises:
after obtaining picture information corresponding to ending coordinate information in the coordinate information base, the ending coordinate information comprises longitude data, latitude data and altitude data of a survey place;
acquiring problem coordinate information stored in the brightness problem database and the vibration problem database;
storing the problem coordinate information into a preset checking coordinate information base;
flight to the test coordinate location with the same longitude data, latitude data and altitude data corresponding to the problem coordinate information;
Controlling a camera to take a picture and acquiring inspection picture information;
and storing the inspection picture information into a preset inspection picture database.
5. The method according to claim 1, wherein if the luminance value corresponding to the picture information is greater than a preset standard luminance value, the method comprises:
acquiring a highlight region with a brightness value larger than a standard brightness value corresponding to the picture information;
acquiring coordinate information corresponding to the picture information;
acquiring corresponding other picture information according to the coordinate information;
judging whether the brightness value of the highlight region corresponding to other picture information is smaller than the standard brightness value;
if yes, replacing the highlight region corresponding to the picture information with the highlight region corresponding to other picture information.
6. An unmanned aerial vehicle control device for land survey, characterized in that the device is applied to unmanned aerial vehicle, and unmanned aerial vehicle includes the camera, the device includes:
the coordinate information acquisition module (301) is used for acquiring initial coordinate information in a preset coordinate information base after acquiring a survey instruction, wherein the initial coordinate information comprises longitude data, latitude data and altitude data of a place to be surveyed;
the image shooting and storing module (302) is used for flying to an initial coordinate place with the same longitude data, latitude data and altitude data corresponding to the initial coordinate information, controlling a camera to shoot, and storing shot image information corresponding to a place to be surveyed into a preset image information base;
A picture pixel comparison module (303) for comparing an actual pixel value corresponding to the picture information with a preset standard pixel value;
the picture pixel updating module (304) is used for controlling the camera to shoot again if the pixel value corresponding to the picture information is smaller than the preset standard pixel value until the pixel value corresponding to the shot picture information is not smaller than the standard pixel value;
the picture brightness comparison module (403) is configured to store the picture information corresponding to the shot specified location into a preset picture information base, and then further includes:
comparing the brightness value corresponding to the picture information with a preset standard brightness value;
if the brightness value corresponding to the picture information is larger than a preset standard brightness value;
storing the picture information and the coordinate information corresponding to the picture information into a preset brightness problem database;
the altitude data adjustment module (404) is configured to, after the luminance value corresponding to the picture information is greater than a preset standard luminance value, include:
acquiring an altitude adjustment value in a preset altitude adjustment library;
rising an elevation adjustment value, wherein the elevation adjustment value is located in modified coordinate information after rising, longitude data and latitude data corresponding to the modified coordinate information and the initial coordinate information are the same, and elevation data corresponding to the modified coordinate information is equal to the initial elevation data plus the elevation adjustment value;
Controlling a camera to take a picture and acquiring corresponding altitude correction picture information;
comparing the brightness value corresponding to the altitude correction picture information with a preset standard brightness value;
judging whether the brightness value corresponding to the altitude correction picture information is larger than a preset standard brightness value or not;
if the brightness problem is larger than the preset brightness problem, storing the picture information and the modified coordinate information into the brightness problem database;
otherwise, acquiring subsequent coordinate information in a coordinate information base;
and the fly goes to the subsequent coordinate place with the same longitude data, latitude data and altitude data corresponding to the subsequent coordinate information.
7. A computer device comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing the method according to any of claims 1 to 5.
8. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any one of claims 1 to 5.
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