CN115278074A - Unmanned aerial vehicle shooting method, device, equipment and storage medium based on parcel red line - Google Patents
Unmanned aerial vehicle shooting method, device, equipment and storage medium based on parcel red line Download PDFInfo
- Publication number
- CN115278074A CN115278074A CN202210886052.8A CN202210886052A CN115278074A CN 115278074 A CN115278074 A CN 115278074A CN 202210886052 A CN202210886052 A CN 202210886052A CN 115278074 A CN115278074 A CN 115278074A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- camera
- pitch angle
- theoretical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000004590 computer program Methods 0.000 claims description 23
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 8
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 abstract description 6
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
According to the unmanned aerial vehicle shooting method, the device, the equipment and the storage medium based on the red line of the parcel lands, the minimum circumscribed rectangle of each parcel land can be determined by obtaining the red line of the land used of each parcel land, the coordinates of the shooting points are determined by combining the limited flying height of the unmanned aerial vehicle and the preset initialization rule, and then the optimal unmanned aerial vehicle shooting scheme is generated according to the coordinates of the shooting points of all the parcel lands for shooting of the parcel lands, so that the shooting accuracy and efficiency are improved, the consistency of multi-time-phase image visual angles of the parcel lands is realized, and the monitoring of the parcel lands is facilitated.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle shooting, in particular to an unmanned aerial vehicle shooting method, device, equipment and storage medium based on land parcel red lines.
Background
Among the prior art, to each land parcel, need the manual work to control unmanned aerial vehicle and fly to land parcel top, manual adjustment unmanned aerial vehicle flying height and camera shooting angle shoot each land parcel current situation, errors such as missed shooting appear easily in this kind of artifical shooting mode, shoot inefficiency, when the multicycle is shot, the shooting point position and the camera shooting angle of unmanned aerial vehicle flight are different, lead to the multi-temporal image visual angle of land parcel inconsistent, are unfavorable for the control of land parcel.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle shooting method, device, equipment and storage medium based on parcel land redline, which can determine the minimum external rectangle of each parcel land by acquiring the land redline of each parcel land, determine the coordinates of shooting points by combining the flight limiting height of an unmanned aerial vehicle, and further generate an optimal unmanned aerial vehicle shooting scheme for shooting of the parcel land according to the coordinates of the shooting points of all the parcel lands, thereby improving the accuracy and efficiency of shooting, realizing the consistency of multi-time-phase image view angles of the parcel land and being beneficial to the monitoring of the parcel land.
In order to achieve the above object, an embodiment of the present invention provides an unmanned aerial vehicle shooting method for data land parcel red lines, including:
acquiring land red lines of each land of the area to be shot;
for each land parcel, determining a minimum bounding rectangle according to the red land line;
determining a course angle of the unmanned aerial vehicle and a theoretical pitch angle of the camera according to the minimum circumscribed rectangle based on a preset initialization rule;
calculating the theoretical altitude of the unmanned aerial vehicle according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance based on a preset photogrammetry collinear equation;
when the theoretical altitude falls within a preset reasonable flight altitude interval, setting the theoretical altitude as the target altitude of the unmanned aerial vehicle and the theoretical pitch angle of the camera as the target pitch angle;
based on a rear intersection principle, taking the middle point of the long side of the minimum circumscribed rectangle as a reference coordinate, and calculating coordinates of a shooting point according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle;
and generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel lands.
As an improvement of the above scheme, the preset initialization rule specifically includes:
based on the minimum external rectangle, determining that the long edge perpendicular to the minimum external rectangle is used as the course angle of the unmanned aerial vehicle, determining the pitch angle of a camera arranged on the unmanned aerial vehicle as a preset theoretical camera pitch angle, and setting the preset proportion threshold value of the minimum external rectangle beyond which the image coverage of the camera is set.
As an improvement of the above scheme, the method further comprises the following steps:
and when the theoretical altitude is larger than the maximum value in the reasonable flying altitude interval, taking the maximum value in the reasonable flying altitude interval as the target altitude, and gradually adjusting the pitch angle of the camera by a preset step length until the coverage range of the camera image exceeds the preset proportion threshold value of the minimum circumscribed rectangle to obtain the target pitch angle.
As an improvement of the above scheme, the method further comprises the following steps:
and when the theoretical flying height is smaller than the minimum value in the reasonable flying height interval, taking the minimum value in the reasonable flying height interval as a target height, and setting the theoretical pitch angle of the camera as a target pitch angle.
As an improvement of the above scheme, the generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel lands specifically includes:
and based on the ant colony algorithm, obtaining an optimal unmanned aerial vehicle aerial photographing scheme by taking the shortest flight path as a target function according to the coordinates of the photographing points of all the parcel lands.
In order to achieve the above object, an embodiment of the present invention further provides an unmanned aerial vehicle shooting device based on a red line of land parcel, including:
the land utilization red line acquisition module is used for acquiring a land utilization red line of each land of the area to be shot;
the external rectangle determining module is used for determining the minimum external rectangle according to the land utilization red line aiming at each land parcel;
the initial data determining module is used for determining the course angle of the unmanned aerial vehicle and the theoretical pitch angle of the camera according to the minimum external rectangle based on a preset initialization rule;
the theoretical altitude calculation module is used for calculating the theoretical altitude of the unmanned aerial vehicle according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance based on a preset photogrammetry collineation equation;
the target pitch angle determining module is used for setting the theoretical altitude as the target altitude of the unmanned aerial vehicle and the theoretical pitch angle of the camera as the target pitch angle when the theoretical altitude falls within a preset reasonable flight altitude interval;
the shooting point coordinate calculation module is used for calculating shooting point coordinates based on a rear intersection principle by taking the middle point of the long side of the minimum circumscribed rectangle as a reference coordinate according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle;
and the shooting scheme generating module is used for generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel.
As an improvement of the above scheme, the preset initialization rule specifically includes:
based on the minimum external rectangle, determining that the long edge perpendicular to the minimum external rectangle is used as an unmanned aerial vehicle course angle, determining a pitch angle of a camera arranged on the unmanned aerial vehicle as a preset camera theoretical pitch angle, and setting a preset proportion threshold value of the minimum external rectangle beyond which a camera image coverage range exceeds.
As an improvement of the above, the target pitch angle determination module is further configured to:
and when the theoretical altitude is larger than the maximum value in the reasonable flying altitude interval, taking the maximum value in the reasonable flying altitude interval as the target altitude, and gradually adjusting the pitch angle of the camera by a preset step length until the coverage range of the camera image exceeds the preset proportion threshold value of the minimum circumscribed rectangle to obtain the target pitch angle.
In order to achieve the above object, an embodiment of the present invention further provides a drone shooting device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor, when executing the computer program, implements the drone shooting method according to any one of the above embodiments.
In order to achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where the computer program, when running, controls a device on which the computer-readable storage medium is located to perform the unmanned aerial vehicle shooting method according to any one of the above embodiments.
Compared with the prior art, the unmanned aerial vehicle shooting method, the device, the equipment and the storage medium based on the land parcel red line provided by the embodiment of the invention determine the minimum circumscribed rectangle according to the land parcel red line by acquiring the land parcel red line of each land parcel of the area to be shot aiming at each land parcel; determining the course angle of the unmanned aerial vehicle and the theoretical pitch angle of the camera according to the minimum circumscribed rectangle based on a preset initialization rule; calculating the theoretical altitude of the unmanned aerial vehicle according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the pre-acquired camera parameters based on a preset photogrammetry collinear equation; when the theoretical altitude falls within a preset reasonable flight altitude interval, setting the theoretical altitude as the target altitude of the unmanned aerial vehicle and the theoretical pitch angle of the camera as the target pitch angle; based on a rear intersection principle, the middle point of the long side of the minimum circumscribed rectangle is used as a reference coordinate, shooting point coordinates are calculated according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle, and then an optimal unmanned aerial vehicle shooting scheme is generated according to the shooting point coordinates of all parcel places. According to the method and the device, the minimum circumscribed rectangle of each parcel is determined by obtaining the land red line of each parcel, the coordinates of the shooting points are determined by combining the flight limiting height of the unmanned aerial vehicle, and then the optimal unmanned aerial vehicle shooting scheme is generated according to the coordinates of the shooting points of all the parcels for shooting of the parcels, so that the accuracy and the efficiency of shooting are improved, the multiple time-phase images of the parcels are consistent in visual angle, and the monitoring of the parcels is facilitated.
Drawings
Fig. 1 is a flowchart of an unmanned aerial vehicle photographing method based on a red line of land parcel according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an unmanned aerial vehicle camera tilt shooting according to an embodiment of the present invention;
fig. 3 is a schematic view of a spatial relationship between a camera of an unmanned aerial vehicle and a shooting target according to an embodiment of the present invention;
fig. 4 is a schematic view of a flight path of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart of an unmanned aerial vehicle shooting method for a red line of land parcel according to an embodiment of the present invention is shown. The method comprises steps S11 to S17:
s11, obtaining land red lines of each land parcel of the area to be shot;
s12, determining a minimum circumscribed rectangle according to the ground utilization red line aiming at each land;
s13, determining a course angle of the unmanned aerial vehicle and a theoretical pitch angle of the camera according to the minimum circumscribed rectangle based on a preset initialization rule;
s14, calculating the theoretical altitude of the unmanned aerial vehicle according to the course angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the pre-acquired camera parameters based on a preset photogrammetric collinearity equation;
s15, when the theoretical altitude falls within a preset reasonable flight altitude interval, setting the theoretical altitude as the target altitude of the unmanned aerial vehicle and setting the theoretical pitch angle of the camera as the target pitch angle;
s16, based on a rear intersection principle, taking the middle point of the long side of the minimum circumscribed rectangle as a reference coordinate, and calculating coordinates of a shooting point according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle;
and S17, generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel.
Specifically, collecting land utilization red lines of all land parcels of the area to be shot; calculating the minimum circumscribed rectangle of the land utilization red line of each land parcel, and acquiring four corner point coordinates of the minimum circumscribed rectangle; according to the corner point coordinates of the minimum external rectangle, based on a preset initialization rule, calculating the theoretical flying height of the unmanned aerial vehicle according to the heading angle of the unmanned aerial vehicle and the theoretical camera pitch angle of a camera arranged on the unmanned aerial vehicle and based on a preset photogrammetry collineation equation, and according to the heading angle of the unmanned aerial vehicle, the theoretical camera pitch angle and camera parameters acquired in advance, limiting the flying height of the unmanned aerial vehicle in each flying area in advance, and when the calculated theoretical flying height is within a preset reasonable flying height interval, using the theoretical flying height as the target height of the unmanned aerial vehicle and using the theoretical camera pitch angle as the target pitch angle. Wherein, exemplarily, refer to the unmanned aerial vehicle camera tilt shooting schematic diagram shown in fig. 2, b in fig. 2 is the short side of the minimum circumscribed rectangle, and the specific calculation mode of the altitude of the unmanned aerial vehicle is:
assuming that the theoretical pitch angle Picth of the camera is known, the vertical field angle Vfouv of the camera is a known value, and the angle theta is calculated1、θ2：
According to the CMOS height CH, the cMOS width CW, the focal length f0The heading angle theta of the unmanned aerial vehicle, and the picture frame expansion coefficient k, wherein CH, CW, a, f0For known camera parameters, k =1.2, the shot point theoretical fly height H is calculated:
calculating the coordinates of the shooting points based on the rear intersection principle, referring to a space relation schematic diagram of the unmanned aerial vehicle camera and the shooting target shown in fig. 3, specifically calculating the coordinates of the shooting points as follows:
calculating the trapezoid height Ht of the ground covered by the photo:
calculating coordinates X, Y of the shooting point:
in the formula, X0 and Y0 are coordinates of the midpoint of the long side a of the circumscribed rectangle.
The method comprises the steps of determining the coordinates of the shooting points of all the parcel lands by adopting the calculation mode, generating an optimal unmanned aerial vehicle shooting scheme according to the coordinates of the shooting points of all the parcel lands, and navigating and shooting the parcel lands at the coordinates of the shooting points by the unmanned aerial vehicle according to the optimal unmanned aerial vehicle shooting scheme.
The unmanned aerial vehicle is manually operated to shoot, the shot is easy to miss the plot range and the shot is missed, the shooting efficiency is low, and during multi-period shooting, the flying shooting point position of the unmanned aerial vehicle is different from the shooting angle of a camera, so that the multi-temporal image visual angle of the shot plot is inconsistent, and monitoring and decision making of the post-land for related departments are inconvenient.
In an embodiment, the preset initialization rule specifically includes:
based on the minimum external rectangle, determining that the long edge perpendicular to the minimum external rectangle is used as an unmanned aerial vehicle course angle, determining a pitch angle of a camera arranged on the unmanned aerial vehicle as a preset camera theoretical pitch angle, and setting a preset proportion threshold value of the minimum external rectangle beyond which a camera image coverage range exceeds.
Specifically, in order to optimize the shooting presentation effect, the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the coverage range of the camera picture are initialized. Illustratively, the direction angle perpendicular to the long side of the rectangle is taken as the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera is-50 degrees, and the initial parameter is that the coverage range of the camera picture exceeds the rectangular area (the minimum circumscribed rectangle) by 20 percent. It should be noted that the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera, and the coverage area of the camera image are not limited to the above specific values, and can be adjusted according to actual requirements.
In one embodiment, further comprising:
and when the theoretical altitude is larger than the maximum value in the reasonable flying altitude interval, taking the maximum value in the reasonable flying altitude interval as a target altitude, and gradually adjusting the pitch angle of the camera by preset step length until the coverage range of the camera picture exceeds a preset proportion threshold (20%) of the minimum circumscribed rectangle to obtain the target pitch angle.
Illustratively, when the calculated theoretical flying height of the unmanned aerial vehicle is greater than the flying height limit of the unmanned aerial vehicle, the maximum value in the reasonable flying height interval is used as the target height, and at the moment, the coverage range of the camera frame cannot meet the original setting, so the pitch angle of the camera needs to be gradually adjusted by taking 1 ° as the step length until the coverage range of the camera frame exceeds 20% of the rectangular area, and the target pitch angle is obtained.
In one embodiment, the method further comprises:
and when the theoretical altitude is smaller than the minimum value in the reasonable flying altitude interval, taking the minimum value in the reasonable flying altitude interval as a target altitude, and setting the theoretical pitch angle of the camera as a target pitch angle.
Specifically, when the theoretical flying height is smaller than the minimum value in the reasonable flying height interval, the minimum value in the reasonable flying height interval is used as the target height, and the target height is larger than the theoretical flying height at the moment, so that the coverage range of the camera frame is larger than the original coverage range, the pitch angle of the camera does not need to be adjusted, and the theoretical pitch angle of the camera can be directly set as the target pitch angle.
It is worth noting that the minimum value in the reasonable flying height interval needs to be preset according to the height of the building on site.
In an embodiment, the generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all parcel lands in step S17 specifically includes:
and based on the ant colony algorithm, obtaining an optimal unmanned aerial vehicle aerial photographing scheme by taking the shortest flight path as a target function and according to the coordinates of the photographing points of all the parcel lands.
Specifically, according to the coordinates of the shooting points of all the parcel lands, the ant colony algorithm is applied to the waypoints to calculate the shortest flight path, the shortest flight path is derived to be the unmanned aerial vehicle flight path task, the flight path task is uploaded to the unmanned aerial vehicle flight control, and the autonomous shooting is executed, wherein specific flight paths can refer to a flight path schematic diagram shown in fig. 4.
Compared with the prior art, the unmanned aerial vehicle shooting method based on the red line of land parcel provided by the embodiment of the invention realizes the field automatic shooting of the unmanned aerial vehicle by automatically calculating the shooting point position and angle, improves the shooting efficiency, and avoids the phenomena of wrong shooting and missed shooting during manual shooting; an ant colony algorithm is used for calculating an optimal shooting path, so that the optimal flight path of the field unmanned aerial vehicle is realized; for plots with multi-stage shooting requirements, the consistency of the visual angles of images at all stages is ensured, and the readability and the synchronism of results are improved.
An embodiment of the present invention further provides an unmanned aerial vehicle shooting device for a red line of land parcel, including:
the land utilization red line acquisition module is used for acquiring a land utilization red line of each land of the area to be shot;
the external rectangle determining module is used for determining the minimum external rectangle according to the land utilization red line aiming at each land parcel;
the initial data determining module is used for determining the course angle of the unmanned aerial vehicle and the theoretical pitch angle of the camera according to the minimum external rectangle based on a preset initialization rule;
the theoretical altitude calculation module is used for calculating the theoretical altitude of the unmanned aerial vehicle according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance based on a preset photogrammetry collineation equation;
the target pitch angle determining module is used for setting the theoretical altitude as the target altitude of the unmanned aerial vehicle and the theoretical pitch angle of the camera as the target pitch angle when the theoretical altitude falls within a preset reasonable flight altitude interval;
the shooting point coordinate calculation module is used for calculating shooting point coordinates based on a rear intersection principle by taking the middle point of the long side of the minimum circumscribed rectangle as a reference coordinate according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle;
and the shooting scheme generating module is used for generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel.
In an embodiment, the preset initialization rule specifically includes:
based on the minimum external rectangle, determining that the long edge perpendicular to the minimum external rectangle is used as the course angle of the unmanned aerial vehicle, determining the pitch angle of a camera arranged on the unmanned aerial vehicle as a preset theoretical camera pitch angle, and setting the preset proportion threshold value of the minimum external rectangle beyond which the image coverage of the camera is set.
In one embodiment, the target pitch angle determination module is further configured to:
and when the theoretical altitude is larger than the maximum value in the reasonable flying altitude interval, taking the maximum value in the reasonable flying altitude interval as the target altitude, and gradually adjusting the pitch angle of the camera by a preset step length until the coverage range of the camera image exceeds the preset proportion threshold value of the minimum circumscribed rectangle to obtain the target pitch angle.
It should be noted that, for the specific working process of the unmanned aerial vehicle photographing device based on the parcel red line, reference may be made to the working process of the unmanned aerial vehicle photographing method based on the parcel red line in the foregoing embodiment, and details are not repeated herein.
Compared with the prior art, the unmanned aerial vehicle shooting device based on the red land for land parcel provided by the embodiment of the invention determines the minimum circumscribed rectangle according to the red land for land parcel by acquiring the red land for land parcel of each land parcel of the area to be shot; determining the course angle of the unmanned aerial vehicle and the theoretical pitch angle of the camera according to the minimum circumscribed rectangle based on a preset initialization rule; calculating the theoretical altitude of the unmanned aerial vehicle according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the pre-acquired camera parameters based on a preset photogrammetry collinear equation; when the theoretical altitude falls within a preset reasonable flight altitude interval, setting the theoretical altitude as the target altitude of the unmanned aerial vehicle and the theoretical pitch angle of the camera as the target pitch angle; based on a rear intersection principle, the middle point of the long side of the minimum circumscribed rectangle is used as a reference coordinate, shooting point coordinates are calculated according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle, and then an optimal unmanned aerial vehicle shooting scheme is generated according to the shooting point coordinates of all the parcel lands. According to the method and the device, the minimum circumscribed rectangle of each parcel is determined by obtaining the land red line of each parcel, the coordinates of the shooting points are determined by combining the flight limiting height of the unmanned aerial vehicle, and then the optimal unmanned aerial vehicle shooting scheme is generated according to the coordinates of the shooting points of all the parcels for shooting of the parcels, so that the accuracy and the efficiency of shooting are improved, the multiple time-phase images of the parcels are consistent in visual angle, and the monitoring of the parcels is facilitated.
An embodiment of the present invention further provides a parcel red line-based unmanned aerial vehicle photographing apparatus, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor executes the computer program to implement the steps in the above parcel red line-based unmanned aerial vehicle photographing method embodiment, such as steps S11 to S17 described in fig. 1; alternatively, the processor implements the functions of the modules in the above device embodiments when executing the computer program, for example, the red-line obtaining module.
Illustratively, the computer program may be partitioned into one or more modules, stored in the memory and executed by the processor, to implement the invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the parcel red line based drone shooting device. For example, the computer program may be divided into a plurality of modules, each module having the following specific functions:
the land utilization red line acquisition module is used for acquiring a land utilization red line of each land of the area to be shot;
the external rectangle determining module is used for determining the minimum external rectangle according to the land utilization red line aiming at each land parcel;
the initial data determining module is used for determining the course angle of the unmanned aerial vehicle and the theoretical pitch angle of the camera according to the minimum external rectangle based on a preset initialization rule;
the theoretical altitude calculation module is used for calculating the theoretical altitude of the unmanned aerial vehicle according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance based on a preset photogrammetry collineation equation;
the target pitch angle determining module is used for setting the theoretical altitude as the target altitude of the unmanned aerial vehicle and the theoretical pitch angle of the camera as the target pitch angle when the theoretical altitude falls within a preset reasonable flight altitude interval;
the shooting point coordinate calculation module is used for calculating shooting point coordinates based on a rear intersection principle by taking the middle point of the long side of the minimum circumscribed rectangle as a reference coordinate according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle;
and the shooting scheme generating module is used for generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel.
The specific working process of each module can refer to the working process of the unmanned aerial vehicle shooting device based on the red line of land parcel according to the embodiment, and is not described again here.
The unmanned aerial vehicle shooting device based on the parcel land red line can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The parcel red line based drone shooting device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the schematic is merely an example of a parcel red line based drone camera, and does not constitute a limitation on parcel red line based drone cameras, and may include more or fewer components than shown, or combine certain components, or different components, for example, the parcel red line based drone camera may also include input-output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center for the parcel red line based drone camera, with various interfaces and lines connecting the various parts of the overall parcel red line based drone camera.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the parcel red line-based drone photographing apparatus by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the operation of the drone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the integrated module of the unmanned aerial vehicle shooting device based on the parcel red line can be stored in a computer readable storage medium if the module is realized in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle shoots method based on land parcel red line which characterized in that includes:
acquiring land red lines of each land of the area to be shot;
determining a minimum bounding rectangle according to the ground utilization red line aiming at each land parcel;
determining a course angle of the unmanned aerial vehicle and a theoretical pitch angle of the camera according to the minimum circumscribed rectangle based on a preset initialization rule;
calculating the theoretical altitude of the unmanned aerial vehicle according to the course angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the pre-acquired camera parameters based on a preset photogrammetry collinearity equation;
when the theoretical flying height is within a preset reasonable flying height interval, setting the theoretical flying height as the target height of the unmanned aerial vehicle and the theoretical pitch angle of the camera as the target pitch angle;
based on a rear intersection principle, taking the middle point of the long side of the minimum circumscribed rectangle as a reference coordinate, and calculating coordinates of a shooting point according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle;
and generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel.
2. The unmanned aerial vehicle shooting method of claim 1, wherein the preset initialization rules specifically include:
based on the minimum external rectangle, determining that the long edge perpendicular to the minimum external rectangle is used as the course angle of the unmanned aerial vehicle, determining the pitch angle of a camera arranged on the unmanned aerial vehicle as a preset theoretical camera pitch angle, and setting the preset proportion threshold value of the minimum external rectangle beyond which the image coverage of the camera is set.
3. The unmanned aerial vehicle shooting method of claim 2, further comprising:
and when the theoretical altitude is larger than the maximum value in the reasonable flying altitude interval, taking the maximum value in the reasonable flying altitude interval as the target altitude, and gradually adjusting the pitch angle of the camera by a preset step length until the coverage range of the camera picture exceeds the preset proportion threshold value of the minimum circumscribed rectangle to obtain the target pitch angle.
4. The unmanned aerial vehicle photographing method of claim 1, further comprising:
and when the theoretical altitude is smaller than the minimum value in the reasonable flying altitude interval, taking the minimum value in the reasonable flying altitude interval as a target altitude, and setting the theoretical pitch angle of the camera as a target pitch angle.
5. The unmanned aerial vehicle shooting method according to claim 1, wherein the generating of the optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel comprises:
and based on the ant colony algorithm, obtaining an optimal unmanned aerial vehicle aerial photographing scheme by taking the shortest flight path as a target function and according to the coordinates of the photographing points of all the parcel lands.
6. The utility model provides an unmanned aerial vehicle shoots device based on land parcel red line which characterized in that includes:
the land red line acquisition module is used for acquiring a land red line of each land parcel of the area to be shot;
the external rectangle determining module is used for determining the minimum external rectangle according to the land utilization red line aiming at each land parcel;
the initial data determining module is used for determining the course angle of the unmanned aerial vehicle and the theoretical pitch angle of the camera according to the minimum external rectangle based on a preset initialization rule;
the theoretical altitude calculation module is used for calculating the theoretical altitude of the unmanned aerial vehicle according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the pre-acquired camera parameters based on a preset photogrammetric collinearity equation;
the target pitch angle determining module is used for setting the theoretical altitude as the target altitude of the unmanned aerial vehicle and the theoretical pitch angle of the camera as the target pitch angle when the theoretical altitude falls within a preset reasonable flight altitude interval;
the shooting point coordinate calculation module is used for calculating shooting point coordinates based on a rear intersection principle by taking the middle point of the long side of the minimum circumscribed rectangle as a reference coordinate according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle;
and the shooting scheme generating module is used for generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all the parcel.
7. The unmanned aerial vehicle camera device of claim 6, wherein the preset initialization rules specifically include:
based on the minimum external rectangle, determining that the long edge perpendicular to the minimum external rectangle is used as the course angle of the unmanned aerial vehicle, determining the pitch angle of a camera arranged on the unmanned aerial vehicle as a preset theoretical camera pitch angle, and setting the preset proportion threshold value of the minimum external rectangle beyond which the image coverage of the camera is set.
8. The drone camera of claim 6, wherein the target pitch angle determination module is further to:
and when the theoretical altitude is larger than the maximum value in the reasonable flying altitude interval, taking the maximum value in the reasonable flying altitude interval as the target altitude, and gradually adjusting the pitch angle of the camera by a preset step length until the coverage range of the camera image exceeds the preset proportion threshold value of the minimum circumscribed rectangle to obtain the target pitch angle.
9. A drone shooting device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor when executing the computer program implementing the drone shooting method of claims 1-5.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program when executed controls an apparatus on which the computer-readable storage medium is located to perform the drone shooting method of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210886052.8A CN115278074B (en) | 2022-07-26 | 2022-07-26 | Unmanned aerial vehicle shooting method, device and equipment based on Yu Zong red line and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210886052.8A CN115278074B (en) | 2022-07-26 | 2022-07-26 | Unmanned aerial vehicle shooting method, device and equipment based on Yu Zong red line and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115278074A true CN115278074A (en) | 2022-11-01 |
| CN115278074B CN115278074B (en) | 2023-05-12 |
Family
ID=83770018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210886052.8A Active CN115278074B (en) | 2022-07-26 | 2022-07-26 | Unmanned aerial vehicle shooting method, device and equipment based on Yu Zong red line and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115278074B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106846446A (en) * | 2017-01-24 | 2017-06-13 | 南宁市勘察测绘地理信息院 | Architecture pictorial drawing preparation method under a kind of true environment |
| CN108286965A (en) * | 2018-01-09 | 2018-07-17 | 深圳飞马机器人科技有限公司 | Unmanned plane based on subtle three-dimensional landform gets higher course line method, terminal and system |
| WO2019222798A1 (en) * | 2018-05-22 | 2019-11-28 | Acid Ip Pty Ltd | Drone flight programming method and system |
| CN111656132A (en) * | 2018-11-21 | 2020-09-11 | 广州极飞科技有限公司 | Planning method and device for surveying and mapping sampling point, control terminal and storage medium |
| US20210131804A1 (en) * | 2018-02-14 | 2021-05-06 | Topcon Corporation | Placement table for unmanned aerial vehicle, surveying method, surveying device, surveying system and program |
| CN113950610A (en) * | 2020-07-21 | 2022-01-18 | 深圳市大疆创新科技有限公司 | Device control method, device and computer readable storage medium |
| CN114679540A (en) * | 2018-11-19 | 2022-06-28 | 深圳市大疆创新科技有限公司 | Shooting method and unmanned aerial vehicle |
-
2022
- 2022-07-26 CN CN202210886052.8A patent/CN115278074B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106846446A (en) * | 2017-01-24 | 2017-06-13 | 南宁市勘察测绘地理信息院 | Architecture pictorial drawing preparation method under a kind of true environment |
| CN108286965A (en) * | 2018-01-09 | 2018-07-17 | 深圳飞马机器人科技有限公司 | Unmanned plane based on subtle three-dimensional landform gets higher course line method, terminal and system |
| US20210131804A1 (en) * | 2018-02-14 | 2021-05-06 | Topcon Corporation | Placement table for unmanned aerial vehicle, surveying method, surveying device, surveying system and program |
| WO2019222798A1 (en) * | 2018-05-22 | 2019-11-28 | Acid Ip Pty Ltd | Drone flight programming method and system |
| CN114679540A (en) * | 2018-11-19 | 2022-06-28 | 深圳市大疆创新科技有限公司 | Shooting method and unmanned aerial vehicle |
| CN111656132A (en) * | 2018-11-21 | 2020-09-11 | 广州极飞科技有限公司 | Planning method and device for surveying and mapping sampling point, control terminal and storage medium |
| CN113950610A (en) * | 2020-07-21 | 2022-01-18 | 深圳市大疆创新科技有限公司 | Device control method, device and computer readable storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 张兵良等: "农村不动产权籍调查无人机倾斜摄影测量航线规划技术研究" * |
| 梁石: "消费型旋翼无人机单镜头灵活角度倾斜摄影构建地形模型方法研究", 《中国优秀硕士学位论文全文数据库 (基础科学辑)》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115278074B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210141378A1 (en) | Imaging method and device, and unmanned aerial vehicle | |
| CN109144097B (en) | Obstacle or ground recognition and flight control method, device, equipment and medium | |
| US20200378760A1 (en) | Hover control | |
| CN108286965B (en) | Unmanned aerial vehicle height-variable air route method, terminal and system based on fine three-dimensional terrain | |
| EP3859480A1 (en) | Unmanned aerial vehicle control method, device and spraying system, and unmanned aerial vehicle and storage medium | |
| US10133929B2 (en) | Positioning method and positioning device for unmanned aerial vehicle | |
| CN110622091A (en) | Cloud deck control method, device and system, computer storage medium and unmanned aerial vehicle | |
| WO2021035731A1 (en) | Control method and apparatus for unmanned aerial vehicle, and computer readable storage medium | |
| WO2020258164A1 (en) | Target tracking method and device, and computer storage medium | |
| KR102269792B1 (en) | Method and apparatus for determining altitude for flying unmanned air vehicle and controlling unmanned air vehicle | |
| US20200372812A1 (en) | Method and system for generating aerial imaging flight path | |
| WO2022011623A1 (en) | Photographing control method and device, unmanned aerial vehicle, and computer-readable storage medium | |
| US20150070392A1 (en) | Aerial video annotation | |
| WO2021135854A1 (en) | Method and apparatus for performing ranging measurement using unmanned aerial vehicle | |
| CN109801336A (en) | Airborne target locating system and method based on visible light and infrared light vision | |
| WO2021056139A1 (en) | Method and device for acquiring landing position, unmanned aerial vehicle, system, and storage medium | |
| WO2020237478A1 (en) | Flight planning method and related device | |
| CN115278074A (en) | Unmanned aerial vehicle shooting method, device, equipment and storage medium based on parcel red line | |
| CN108007437B (en) | Method for measuring farmland boundary and internal obstacles based on multi-rotor aircraft | |
| CN111899331A (en) | Three-dimensional reconstruction quality control method based on unmanned aerial vehicle aerial photography | |
| WO2021051220A1 (en) | Point cloud fusion method, device, and system, and storage medium | |
| CN113837246B (en) | Image matching method and device and unmanned equipment | |
| KR102254961B1 (en) | Pre-flight simulator system for unmanned aerial vehicles including OBLIQUE-viewing techniques for improving 3D modeling efficiency using unmanned aerial vehicles | |
| CN114283067A (en) | Prescription chart acquisition method and device, storage medium and terminal equipment | |
| US10553022B2 (en) | Method of processing full motion video data for photogrammetric reconstruction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |