CN114565725A - Reverse modeling method for three-dimensional scanning target area of unmanned aerial vehicle, storage medium and computer equipment - Google Patents
Reverse modeling method for three-dimensional scanning target area of unmanned aerial vehicle, storage medium and computer equipment Download PDFInfo
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Abstract
The invention discloses a method for reverse modeling of a three-dimensional scanning target area of an unmanned aerial vehicle, which comprises the following steps: arranging markers according to the characteristic information of the target area and preset distances; shooting the area where the marker is located through the unmanned aerial vehicle, and setting the flight height of the unmanned aerial vehicle according to the overlapping rate of the images of the marker in shooting; setting a flight line of the unmanned aerial vehicle according to the marker; the unmanned aerial vehicle carries out shooting and recording integral information according to the flight route and the flight height; and establishing a model according to the overall information. The invention can shorten the time for collecting and arranging large-area measurement work data, shorten the measurement time, save labor, solve the problems of conversion from field measurement results to electronic data and model establishment, greatly improve the efficiency compared with the traditional data measurement method, accurately and quickly submit the results, and simultaneously ensure the timeliness and visualization of the data.
Description
Technical Field
The invention relates to the field of construction site topographic survey; in particular to a method, a storage medium and computer equipment for reverse modeling of a three-dimensional scanning target area of an unmanned aerial vehicle.
Background
The topographic survey and drawing work plays an indispensable role in engineering construction planning work and is an indispensable part in the construction process.
Traditional topography mapping survey work adopts the total powerstation to measure coordinate, elevation, needs the other station of special messenger to carry out data record simultaneously, and traditional square grid method measurement elevation fineness is not high, and the special position such as pit that the manpower can not be surveyed measures the degree of difficulty great, need to use CAD software to follow the manual input coordinate point data of order after the measurement is accomplished, wastes time and energy. When the construction site area is large, the difficulty in rapidly collecting site data is very high, so that an efficient and simple measuring method is needed.
Along with the development of unmanned aerial vehicle science and technology, unmanned aerial vehicle's application also riches gradually. In the field of engineering construction, the application of the unmanned aerial vehicle also needs to be expanded, which is one of the directions studied by engineering technicians at present.
Disclosure of Invention
The invention provides a method for reverse modeling of a three-dimensional scanning target area of an unmanned aerial vehicle, a storage medium and computer equipment, which can improve the problems of conversion of field measurement results into electronic data and model establishment. The specific technical scheme is as follows.
According to one aspect of the application, a method for reverse modeling of a three-dimensional scanning target area of an unmanned aerial vehicle is provided, and the method comprises the following steps:
arranging markers according to the characteristic information of the target area and a preset distance;
shooting the area where the marker is located through the unmanned aerial vehicle, and setting the flight height of the unmanned aerial vehicle according to the overlapping rate of the images of the marker in shooting;
setting a flight line of the unmanned aerial vehicle according to the marker;
the unmanned aerial vehicle carries out shooting and recording integral information according to the flight route and the flight height;
and establishing a model according to the overall information.
Further, the setting of the flight path of the unmanned aerial vehicle according to the marker comprises:
and obtaining the position of each marker and the boundary outline of the target area, and generating the flight route according to the position of the marker and the boundary outline.
Further, the making a video recording of the area where the marker is located through the unmanned aerial vehicle includes: setting the shooting angle of the unmanned aerial vehicle to be vertical downward;
the according to the marker sets up unmanned aerial vehicle's flight line, includes:
after the first flight of the unmanned aerial vehicle for shooting according to the flight route is finished, adjusting and generating a second flight route according to the environmental factors, so that the unmanned aerial vehicle can execute second flight according to the second flight route.
Further, the obtaining the position of each marker and the boundary profile of the target region includes:
and obtaining marker information by carrying out image processing on the image shot by the marker, carrying out edge-merging calculation on the marker information, traversing and judging whether any one of the marker information has another marker information outside the preset distance and the preset angle, and combining data containing the marker information to form the boundary appearance of the target area.
Further, the setting of the flying height of the unmanned aerial vehicle according to the overlapping rate of the images of the markers in the image capturing includes:
shooting an area where any one marker is located at least three times through the unmanned aerial vehicle, carrying out image processing on the image shot by the marker to obtain at least three subarea image information, and setting the real-time flight height of the unmanned aerial vehicle in real time according to the overlapping rate of the information in the subarea image information;
wherein the information overlap ratio is greater than or equal to 50%.
Further, the setting of the flight path of the unmanned aerial vehicle according to the marker comprises:
acquiring the marker information, the characteristic information of the target area, the boundary appearance of the target area and the real-time flight height, and generating a flight line of the unmanned aerial vehicle;
wherein the marker information includes a position of the marker and an area where the marker is located.
Further, the establishing a model according to the flight path, the flight altitude and the overall information recorded by the camera includes:
and processing the whole information, setting the processing precision of the whole information to generate a result file, and generating the aerial photography data into an orthoimage in the result file.
Further, still include:
converting the result file into a data file and an image file and then generating an identifiable sorting file; generating a three-dimensional model through the recognizable collation file;
wherein, the dot-taking interval is set to be 1-5 m during conversion.
According to another aspect of the application, a storage medium has stored thereon a computer program which, when executed by a processor, implements the method of any of the above.
According to another aspect of the application, a computer device comprises a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, the processor implementing the method of any one of the above when executing the computer program.
In summary, the beneficial technical effects of the invention are as follows:
the invention introduces a method for scanning terrain by using an unmanned aerial vehicle, completing terrain data acquisition, and then performing data processing and conversion into a three-dimensional model through a computer, which is an efficient and simple measurement and drawing method and is also an exploration for the application field of the unmanned aerial vehicle and efficient measurement work. The design principle is to reduce the time for measuring mass terrain and ground objects to the maximum extent and solve the technical problems of time and labor consumption and low data accuracy of large-area field measurement in the current construction measurement work. Through the reverse modeling of unmanned aerial vehicle three-dimensional scanning topography, the time of large tracts of land measurement work data acquisition arrangement has been shortened, shorten measuring time, use manpower sparingly, solved the difficult problem that the field measurement achievement is to the conversion of electronic data and model establishment, compare in traditional measured data's way, raise the efficiency greatly to can be accurate quick submit the achievement, can also guarantee the timeliness and the visualization of data simultaneously, be the effective means that engineering project mastered the field site condition fast.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic diagram of a method for reverse modeling of a three-dimensional scanning target area of a drone provided by an embodiment of the present application.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
As shown in fig. 1, in some realizable embodiments provided by the present invention, there is provided a method for reverse modeling of a three-dimensional scanning target area of a drone, comprising:
arranging markers according to the characteristic information of the target area and a preset distance;
shooting the area where the marker is located through the unmanned aerial vehicle, and setting the flight height of the unmanned aerial vehicle according to the overlapping rate of the images of the marker in shooting;
setting a flight line of the unmanned aerial vehicle according to the marker;
the unmanned aerial vehicle carries out shooting and recording integral information according to the flight route and the flight height;
and establishing a model according to the overall information.
In some realizable embodiments provided by the present invention, the markers are arranged according to the characteristic information of the target area by a preset distance, which can be understood as that after the characteristic information about the target area is obtained by using an unmanned aerial vehicle through image pickup or through manual operation, the characteristic information is collected and sorted, and then the positions of the markers on the target area are arranged through the characteristic information; in the embodiment of the invention, the characteristic information of the target area can comprise longitude and latitude information of the target area, ground information of the target area, whether the target area has a slope, whether the ground of the target area is dry ground, whether the target area has excessive covering objects, what the most prominent color is required when the target area is observed downwards at high altitude and the like, and corresponding markers can be arranged according to the characteristic information, so that the markers can be clearly captured and shot by the unmanned aerial vehicle; in the embodiment of the invention, according to the measurement results provided by a surveying and mapping institute and the characteristic information of the target area, markers are arranged at a plurality of places where the target area is located, for example, the markers are uniformly distributed in the target area and are arranged at intervals of 500m, broken stones are fixed on a hardened pavement at the positions to form 10cm wide and 3m long cross-shaped markers, and black paint is sprayed to prevent rain wash and vehicle rolling fading so as to be clearly observed during aerial photography.
In some practical embodiments provided by the present invention, the unmanned aerial vehicle is used to photograph the area where the marker is located, and the flying height of the unmanned aerial vehicle is set according to the overlapping rate of the images of the marker in photographing, which can be understood as that after the working personnel controls the unmanned aerial vehicle to fly to a certain flying height, the unmanned aerial vehicle photographs and identifies any marker in the target area, after the intelligent system in the unmanned aerial vehicle or the intelligent cloud system connected to the unmanned aerial vehicle obtains the information of the marker, the marker is identified, so that the unmanned aerial vehicle obtains the preliminary outline characteristic information of the marker, after the unmanned aerial vehicle obtains the preliminary outline characteristic information of the marker, when the unmanned aerial vehicle flies in the target area, the other markers can be identified quickly, and at the same time, in order to ensure the identification accuracy of the marker, therefore, the flying height of the unmanned aerial vehicle needs to be adjusted to ensure that a high-resolution image can be ensured for the graph of the marker in the shooting process, so that the system can identify the marker in the image, therefore, when the unmanned aerial vehicle shoots one of the markers, the overlapping rate calculation is carried out on at least three images shot by the marker through calculation, and the flying height when the overlapping rate passes is set as the flying height of the marker; the overlap ratio can be understood as that when the areas where the markers are located are shot at different heights, whether the areas where the markers are located have repeated shooting contents is judged, the repeated contents are the repetition ratio, the repetition ratio is kept at the same level under the condition that high resolution can be guaranteed, and the height at the moment is set as the flight height.
In some realizable embodiments provided by the invention, the flight route of the unmanned aerial vehicle is set according to the markers, which can be understood as that a plurality of markers are arranged in the target area, and in order to avoid the situation that the unmanned aerial vehicle repeatedly shoots the markers to cause information errors, the unmanned aerial vehicle needs to have a route, so that the unmanned aerial vehicle cannot repeatedly shoot the markers, and therefore, in the working process of the unmanned aerial vehicle, when the unmanned aerial vehicle shoots according to the route, the unmanned aerial vehicle can quickly shoot, and the redundancy of data is reduced.
In some practical embodiments provided by the present invention, the integral information recorded by the unmanned aerial vehicle through shooting according to the flight path and the flight altitude may be understood as that, after the unmanned aerial vehicle obtains the flight path and the flight altitude information, the unmanned aerial vehicle can perform global shooting on the target area according to the flight path and the flight altitude adjusted in real time, and record the shooting data of the target area and arrange the recorded integral information, and of course, the integral information recorded by shooting can be updated into the intelligent cloud system in real time, or the integral information can be directly connected with the terminal, and the integral information is represented on the terminal after being processed.
In some practical embodiments provided by the present invention, the modeling based on the overall information may be understood as analyzing and processing the overall information by using a terminal, collecting and organizing data required for modeling, and processing the data into a three-dimensional model corresponding to the target area in a data processing system.
In some realizable embodiments provided by the present invention, said setting a flight path of said drone according to said marker, includes: obtaining the position of each marker and the boundary outline of the target area, and generating the flight route according to the position of the marker and the boundary outline; the unmanned aerial vehicle can be understood as being provided with a plurality of markers in the target area, wherein the unmanned aerial vehicle needs to identify and shoot all the markers, and meanwhile, in the shooting process of the markers, because the positions of the markers in the shot images are generally the central positions in the shooting process, the boundary outline of the target area needs to be used for limiting the flying area of the unmanned aerial vehicle, so that the situation that the unmanned aerial vehicle flies away from the target area to search for the markers in the marker identifying process and the unmanned aerial vehicle drifts is avoided; therefore, a corresponding course of the unmanned aerial vehicle needs to be generated according to the position of the marker and the boundary outline of the target area.
In some practical embodiments provided by the present invention, the taking a picture of the area where the marker is located by the unmanned aerial vehicle includes: setting the shooting angle of the unmanned aerial vehicle to be vertical downward; it can be understood that in the process that the unmanned aerial vehicle navigates according to the flight line and the flight altitude, the shooting angle of the unmanned aerial vehicle needs to be set to be vertical downward, the problem of the overlapping rate of images caused by shooting at multiple angles is avoided, the unmanned aerial vehicle is inaccurate in positioning, the collected shooting overall information cannot cover the whole target area, and the condition of data omission is generated.
In some realizable embodiments provided by the present invention, said setting a flight path of said drone according to said marker, includes: after the unmanned aerial vehicle finishes the first flight according to the flight route makes a video recording, according to environmental factor adjustment generates the second flight route, makes unmanned aerial vehicle carry out the second flight according to the second flight route, can understand, in order to guarantee the accuracy of the whole information of listing of making a video recording, through after carrying out the first flight according to the route and making a video recording, according to the data information that the in-process of making a video recording analyzed, adjust unmanned aerial vehicle's flight route and flight height, form the second flight route, carry out the second flight simultaneously and make a video recording, compare the whole information of gathering with making a video recording of flying many times and carry out the analysis, form final required whole information for establish the model. For example, the unmanned aerial vehicle takes pictures according to a designed route, the camera is adjusted to be-90 degrees and vertically faces downwards during shooting, the overlapping rate of adjacent aerial pictures is ensured to be more than 50 percent, objects in a field to be measured at least appear on 3 pictures, and shooting points are increased if necessary. After shooting a single route, the unmanned aerial vehicle turns 180 degrees and then shoots back and forth along a set route.
In some practical embodiments provided by the present invention, the obtaining the position of each marker and the boundary outline of the target area includes obtaining marker information by performing image processing on an image captured by the marker, performing edge-merging calculation on the marker information, traversing and judging whether there is another marker information outside the preset distance and the preset angle in any marker information, and combining data containing the marker information to form the boundary outline of the target area, which can be understood as calculating the boundary outline of the target area according to the identification of the marker in the process of the unmanned aerial vehicle shooting according to the flight line and the flight height, where the position of the marker can be calibrated by performing image processing, and simultaneously calculating whether there is another marker outside each angle of the preset distance, if there is one of the angles without the marker, the region of the angle range is set as a part of the boundary outline, and the boundary outline of the target region is formed by collecting a plurality of regions of such angle ranges.
In some realizable embodiments provided by the present invention, the setting of the flying height of the drone according to the overlap ratio of the images of the markers in the camera includes: shooting an area where any one marker is located at least three times through the unmanned aerial vehicle, carrying out image processing on the image shot by the marker to obtain at least three subarea image information, and setting the real-time flight height of the unmanned aerial vehicle in real time according to the overlapping rate of the information in the subarea image information; wherein the information overlap ratio is greater than or equal to 50%. In the embodiment of the present invention, the overlapping ratio is the similarity of information containing the same object in the image. When the unmanned aerial vehicle is at a certain height, the unmanned aerial vehicle can take a picture of the same marker for multiple times, then the overlapping rate is calculated according to the image information of the multiple-time picture taking, meanwhile, under the condition that a certain resolution ratio can be kept, the flying height of an image with high resolution ratio is selected as the flying height, the flying height can be adjusted in real time according to the picture taking conditions corresponding to different markers, so that the whole information recorded by the unmanned aerial vehicle is clear, the unmanned aerial vehicle can be conveniently modeled, and the error rate is reduced. For example, the arrangement needs to be performed according to the field area of the target area and the shape of the boundary outline, so that the overlapping rate of adjacent aerial photos is ensured to be larger than 50% (the route distance is determined according to the single photo shooting area of the unmanned aerial vehicle), the ground object needs to be measured to at least appear on 3 photos, the flying height is between 300 and 400m, the definition of the image is ensured, and the shooting efficiency is also ensured.
In some realizable embodiments provided by the present invention, said setting a flight path of said drone according to said marker, includes: acquiring the marker information, the characteristic information of the target area, the boundary appearance of the target area and the real-time flight height, and generating a flight line of the unmanned aerial vehicle; wherein the marker information includes a position of the marker and an area where the marker is located.
In some practical embodiments provided by the present invention, the modeling according to the flight path, the flight altitude, and the overall information included in the camera includes: and processing the whole information, setting the processing precision of the whole information to generate a result file, and generating the aerial photography data into an orthoimage in the result file.
In some realizable embodiments provided by the present invention, further comprising:
converting the result file into a data file and an image file and then generating an identifiable sorting file; generating a three-dimensional model through the recognizable collation file;
wherein, the dot-taking interval is set to be 1-5 m during conversion.
In the embodiment of the invention, the hardware of the invention is premised on an unmanned aerial vehicle with satellite positioning and pan-tilt-camera functions and a computer, and simultaneously needs the support of software, and the software needing to be applied comprises the following components: aerial photography processing software Pix4Dmap, topographic map processing software Global Mapper and modeling software Revit.
The specific implementation steps are as follows:
1. acquiring aerial images and data of the unmanned aerial vehicle;
1.1 known points are marked with crosses;
according to the measurement results provided by a surveying and mapping institute, 4 or more control points are guided and measured at the open place of a field hardened pavement, the control points are uniformly distributed in the field at intervals of 500m, broken stones are fixed on the hardened pavement at the place to form a cross mark with the width of 10cm and the length of 3m, and black paint is sprayed to prevent rainwater from washing and the vehicle from rolling and fading so as to be clearly observed during aerial photography.
1.2 setting a route;
shooting point location arrangement principle: the method needs to be set according to the area and the shape of the field, the overlapping rate of adjacent aerial photos is guaranteed to be larger than 50 percent (the route distance is determined according to the single photo shooting area of the unmanned aerial vehicle), the ground objects in the field need to be measured at least appear on 3 photos, the flying height is between 300 and 400m, the definition of the images is guaranteed, and the shooting efficiency is guaranteed.
1.3 correcting the positioning system of the unmanned aerial vehicle;
after the unmanned aerial vehicle is started, the mobile phone and the remote controller are connected, the remote controller is calibrated, an inertial navigation unit (IMU) is calibrated, and a compass is calibrated.
1.4 taking a picture;
the unmanned aerial vehicle shoots photos according to a designed route, the camera is adjusted to be-90 degrees and vertically downward when shooting, the overlapping rate of adjacent aerial photos is ensured to be more than 50 percent, objects in a field to be measured at least appear on 3 photos, and shooting points are increased when necessary. After shooting is finished on a single route, the unmanned aerial vehicle turns 180 degrees and then shoots back and forth along a set route.
2. Processing images and data;
2.1 software processing to generate an orthoimage;
2.1.1, importing the shot photos into aerial photography processing software.
2.2.2 setting options as aerial items, and setting image processing precision.
And 2.3, starting to process the image, and finding out an orthoimage which is suitable for the aerial photo in the result file after the software is operated.
2.4 result file export: elevation data dsm files, orthographic image tif files and point cloud las files.
3. Converting the file format;
elevation dsm data file → dxf image file → csv data file;
and opening the elevation dsm data file by using a Global Mapper, converting the elevation dsm data file into a dxf file, and setting a point taking interval (1-5 m) during conversion so as to avoid overlarge data volume. Opening the generated dxf file, and outputting the dxf file as a csv file which can be recognized by Revit; wherein m is in minutes;
4. generating a three-dimensional model;
creating a terrain by using Revit → importing a csv file → deleting error points → generating a model;
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Based on the method shown in fig. 1, correspondingly, the embodiment of the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for reverse modeling of the three-dimensional scanning target area of the unmanned aerial vehicle shown in the figure is implemented.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the implementation scenarios of the present application.
In an embodiment of the present invention, a computer device is provided, which includes a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, and is characterized in that when the processor executes the computer program, the method for reverse modeling of a three-dimensional scanning target area of a drone is implemented.
Based on the method shown in fig. 1, in order to achieve the above object, an embodiment of the present application further provides a computer device, which may be specifically a personal computer, a server, a network device, and the like, where the computer device includes a storage medium and a processor; a storage medium for storing a computer program; a processor for executing a computer program to implement the above-mentioned method for reverse modeling of the three-dimensional scanning target area of the unmanned aerial vehicle shown in fig. 1.
Optionally, the computer device may also include a user interface, a network interface, a camera, Radio Frequency (RF) circuitry, sensors, audio circuitry, a WI-FI module, and so forth. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., a bluetooth interface, a WI-FI interface), etc.
It will be appreciated by those skilled in the art that the present embodiment provides a computer device architecture that is not limiting of the computer device, and that may include more or fewer components, or some components in combination, or a different arrangement of components.
The storage medium may further include an operating system and a network communication module. An operating system is a program that manages and maintains the hardware and software resources of a computer device, supporting the operation of information handling programs and other software and/or programs. The network communication module is used for realizing communication among components in the storage medium and other hardware and software in the entity device.
Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be considered by those skilled in the art are intended to fall within the scope of the present application.
Claims (10)
1. A method for reverse modeling of a three-dimensional scanning target area of an unmanned aerial vehicle is characterized by comprising the following steps:
arranging markers according to the characteristic information of the target area and a preset distance;
shooting the area where the marker is located through the unmanned aerial vehicle, and setting the flight height of the unmanned aerial vehicle according to the overlapping rate of the images of the marker in shooting;
setting a flight line of the unmanned aerial vehicle according to the marker;
the unmanned aerial vehicle carries out shooting and recording integral information according to the flight route and the flight height;
and establishing a model according to the overall information.
2. The reverse modeling method of claim 1, wherein said setting a flight path of said drone according to said markers comprises:
and obtaining the position of each marker and the boundary outline of the target area, and generating the flight route according to the position of the marker and the boundary outline.
3. The reverse modeling method of claim 1, wherein said capturing an image of an area in which said marker is located by said drone comprises: setting the shooting angle of the unmanned aerial vehicle to be vertical downward;
set up the flight line of unmanned aerial vehicle according to the marker includes: after the first flight of the unmanned aerial vehicle for shooting according to the flight route is finished, adjusting and generating a second flight route according to the environmental factors, so that the unmanned aerial vehicle can execute second flight according to the second flight route.
4. The inverse modeling method of claim 2, wherein the obtaining the location of each of the markers and the boundary profile of the target region comprises:
and obtaining marker information by carrying out image processing on the image shot by the marker, carrying out edge-merging calculation on the marker information, traversing and judging whether any one of the marker information has another marker information outside the preset distance and the preset angle, and combining data containing the marker information to form the boundary appearance of the target area.
5. The reverse modeling method according to claim 3, wherein the setting of the flying height of the drone according to the overlap ratio of the images of the markers in the camera includes:
shooting an area where any one marker is located at least three times through the unmanned aerial vehicle, carrying out image processing on the image shot by the marker to obtain at least three subarea image information, and setting the real-time flight height of the unmanned aerial vehicle in real time according to the overlapping rate of the information in the subarea image information;
wherein the information overlap ratio is greater than or equal to 50%.
6. The reverse modeling method of claim 4, wherein said setting a flight path of said drone according to said markers comprises:
acquiring the marker information, the characteristic information of the target area, the boundary appearance of the target area and the real-time flight height, and generating a flight line of the unmanned aerial vehicle;
wherein the marker information includes a position of the marker and an area where the marker is located.
7. The reverse modeling method of claim 1, wherein the modeling based on the flight path, the altitude, and the camera-captured global information comprises:
and processing the whole information, setting the processing precision of the whole information to generate a result file, and generating the aerial photography data into an orthoimage in the result file.
8. The inverse modeling method of claim 6, further comprising:
converting the result file into a data file and an image file and then generating an identifiable sorting file; generating a three-dimensional model through the recognizable collation file;
wherein, the dot-taking interval is set to be 1-5 m during conversion.
9. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of any of claims 1 to 8.
10. A computer device comprising a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, characterized in that the processor implements the method of any one of claims 1 to 8 when executing the computer program.
Priority Applications (1)
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