CN115278074B - Unmanned aerial vehicle shooting method, device and equipment based on Yu Zong red line and storage medium - Google Patents
Unmanned aerial vehicle shooting method, device and equipment based on Yu Zong red line and storage medium Download PDFInfo
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Abstract
According to the unmanned aerial vehicle shooting method, device, equipment and storage medium of the base Yu Zong land red line, the minimum external rectangle of each land can be determined by acquiring the land red line of each land, shooting point coordinates are determined by combining the limited flying height of the unmanned aerial vehicle and a preset initialization rule, and then an optimal unmanned aerial vehicle shooting scheme is generated according to the shooting point coordinates of all lands for shooting the land, so that shooting accuracy and efficiency are improved, consistent multi-time-phase image viewing angles of the land are realized, and land monitoring 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 religious red lines.
Background
In the prior art, aiming at each parcel, the unmanned aerial vehicle needs to be manually controlled to fly above the parcel, the current situation of each parcel is shot by manually adjusting the flying height of the unmanned aerial vehicle and the shooting angle of a camera, the manual shooting mode is easy to cause mistakes such as missing shooting, the shooting efficiency is low, when shooting in multiple periods, the shooting point positions of the flying unmanned aerial vehicle and the shooting angles of the cameras are different, so that the viewing angles of multiple time-phase images of the parcel are inconsistent, and the monitoring of the parcel is not facilitated.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle shooting method, device, equipment and storage medium for a base Yu Zong land red line, which can determine the minimum circumscribed rectangle of each land by acquiring the land red line of each land, determine shooting point coordinates by combining the limited flying height of an unmanned aerial vehicle, further generate an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all lands for shooting the land, improve the shooting accuracy and efficiency, realize consistent multi-time-phase image viewing angles of the land and facilitate the monitoring of the land.
In order to achieve the above object, an embodiment of the present invention provides an unmanned aerial vehicle photographing method for data land red lines, including:
obtaining land red lines of each land of the area to be photographed;
determining a minimum circumscribed rectangle according to the land red line for each land;
based on a preset initialization rule, determining a course angle of the unmanned aerial vehicle and a theoretical pitch angle of a camera according to the minimum circumscribed rectangle;
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 camera parameters acquired in advance based on a preset photogrammetry collineation equation;
when the theoretical altitude falls in a preset reasonable flying altitude interval, setting the theoretical altitude as a target altitude of the unmanned aerial vehicle and setting the theoretical pitch angle of the camera as a target pitch angle;
based on a rear intersection principle, taking the midpoint of the long side of the minimum circumscribed rectangle as a reference coordinate, and calculating shooting point coordinates 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 shooting point coordinates of all relics.
As an improvement of the above solution, the preset initialization rule specifically includes:
based on the minimum circumscribed rectangle, determining that a long side perpendicular to the minimum circumscribed rectangle is used as a course angle of the unmanned aerial vehicle, determining that a pitch angle of a camera arranged on the unmanned aerial vehicle is a preset theoretical pitch angle of the camera, and setting a camera picture coverage beyond a preset proportion threshold of the minimum circumscribed rectangle.
As an improvement of the above scheme, the method further comprises:
and when the theoretical flying height is larger than the maximum value in the reasonable flying height section, taking the maximum value in the reasonable flying height section as a target height, and gradually adjusting the pitch angle of the camera with a preset step length until the image coverage range of the camera exceeds the preset proportion threshold value of the minimum circumscribed rectangle so as to obtain a target pitch angle.
As an improvement of the above scheme, the method further comprises:
and when the theoretical flying height is smaller than the minimum value in the reasonable flying height section, setting the minimum value in the reasonable flying height section 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 shooting point coordinates of all relics specifically includes:
based on an ant colony algorithm, the shortest flight path is used as an objective function, and an optimal unmanned aerial vehicle aerial photographing scheme is obtained according to photographing point coordinates of all relics.
In order to achieve the above object, the embodiment of the present invention further provides an unmanned aerial vehicle photographing device for a red line of a base Yu Zong, including:
the land red line acquisition module is used for acquiring the land red line of each land of the area to be photographed;
the circumscribed rectangle determining module is used for determining a minimum circumscribed rectangle according to the land red line for each land;
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 circumscribed rectangle based on a preset initialization rule;
the theoretical aerial height calculation module is used for calculating the theoretical aerial height of the unmanned aerial vehicle based on a preset photogrammetry collineation equation according to the course angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance;
the target pitch angle determining module is used for 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 when the theoretical altitude falls in 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 generation module is used for generating an optimal unmanned aerial vehicle shooting scheme according to shooting point coordinates of all relics.
As an improvement of the above solution, the preset initialization rule specifically includes:
based on the minimum circumscribed rectangle, determining that a long side perpendicular to the minimum circumscribed rectangle is used as a course angle of the unmanned aerial vehicle, determining that a pitch angle of a camera arranged on the unmanned aerial vehicle is a preset theoretical pitch angle of the camera, and setting a camera picture coverage beyond a preset proportion threshold of the minimum circumscribed rectangle.
As an improvement of the above solution, the target pitch angle determining module is further configured to:
and when the theoretical flying height is larger than the maximum value in the reasonable flying height section, taking the maximum value in the reasonable flying height section as a target height, and gradually adjusting the pitch angle of the camera with a preset step length until the image coverage range of the camera exceeds the preset proportion threshold value of the minimum circumscribed rectangle so as to obtain a target pitch angle.
To achieve the above object, an embodiment of the present invention further provides a 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, the processor implementing the unmanned aerial vehicle photographing method according to any of the above embodiments when executing the computer program.
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, and when the computer program runs, the device where the computer readable storage medium is controlled to execute the unmanned aerial vehicle shooting method according to any one of the embodiments.
Compared with the prior art, the unmanned aerial vehicle shooting method, device, equipment and storage medium for the base Yu Zong land red line provided by the embodiment of the invention are characterized in that the land red line of each land of the area to be shot is obtained, and the minimum external rectangle is determined according to the land red line for each land; determining a course angle of the unmanned aerial vehicle and a theoretical pitch angle of a camera according to the minimum circumscribed rectangle based on a preset initialization rule; calculating the theoretical altitude of the unmanned aerial vehicle based on a preset photogrammetry collineation equation according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance; when the theoretical altitude falls in a preset reasonable flying altitude interval, setting the theoretical altitude as a target altitude of the unmanned aerial vehicle and setting the theoretical pitch angle of the camera as a target pitch angle; based on the principle of rear intersection, taking the midpoint of the long side of the minimum circumscribed rectangle as a reference coordinate, calculating shooting point coordinates according to a target pitch angle, camera parameters, target height and unmanned aerial vehicle course angle, and further generating an optimal unmanned aerial vehicle shooting scheme according to all religions of shooting point coordinates. According to the embodiment of the invention, the minimum circumscribed rectangle of each land is determined by acquiring the land red lines of each land, the shooting point coordinates are determined by combining the limited flying height of the unmanned aerial vehicle, and then the optimal unmanned aerial vehicle shooting scheme is generated according to the shooting point coordinates of all lands for shooting the land, so that the shooting accuracy and efficiency are improved, the consistent multi-time image viewing angles of the land are realized, and the land monitoring is facilitated.
Drawings
Fig. 1 is a flowchart of an unmanned aerial vehicle shooting method based on a Yu Zong red line according to an embodiment of the present invention;
fig. 2 is a schematic view of unmanned aerial vehicle camera tilt shooting according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a spatial relationship between an unmanned aerial vehicle camera and a shooting target according to an embodiment of the present invention;
fig. 4 is a schematic view of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flowchart of an unmanned aerial vehicle shooting method for religious red lines is provided in an embodiment of the present invention. The method comprises the steps of S11 to S17:
s11, obtaining land red lines of each land of the area to be photographed;
s12, determining a minimum circumscribed rectangle according to the land red line for each land;
s13, determining a course angle of the unmanned aerial vehicle and a theoretical pitch angle of a camera according to the minimum circumscribed rectangle based on a preset initialization rule;
s14, calculating the theoretical altitude of the unmanned aerial vehicle based on a preset photogrammetry collineation equation according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance;
s15, 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 in a preset reasonable flight altitude interval;
s16, calculating shooting point coordinates according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle by taking the midpoint of the long side of the minimum circumscribed rectangle as a reference coordinate based on a rear intersection principle;
s17, generating an optimal unmanned aerial vehicle shooting scheme according to shooting point coordinates of all relics.
Specifically, collecting land red lines of all relics of the area to be photographed; calculating the minimum circumscribed rectangle of the land red line of each land, and obtaining four corner coordinates of the minimum circumscribed rectangle; according to the angular point coordinates of the minimum circumscribed rectangle, based on a preset initialization rule, an unmanned aerial vehicle course angle and a camera theoretical pitch angle of a camera arranged on the unmanned aerial vehicle, based on a preset photogrammetry collineation equation, calculating the theoretical aerial height of the unmanned aerial vehicle according to the unmanned aerial vehicle course angle, the camera theoretical pitch angle and camera parameters acquired in advance, limiting the flight height of the unmanned aerial vehicle in advance for each flight area, and taking the theoretical aerial height as the target height of the unmanned aerial vehicle when the calculated theoretical aerial height is in a preset reasonable flight height interval, and taking the camera theoretical pitch angle as the target pitch angle. For example, referring to an oblique shooting schematic diagram of an unmanned aerial vehicle camera shown in fig. 2, b in fig. 2 is a short side of a minimum circumscribed rectangle, and a specific calculation mode of the altitude of the unmanned aerial vehicle is as follows:
assuming that the theoretical pitch angle Picth of the camera is known, the vertical field angle Vvov of the camera is a known value, and the angle θ is calculated 1 、θ 2 ：
According to the CMOS height CH, cMOS width CW, focal length f 0 Unmanned aerial vehicle course angle θ, photo frame expansion coefficient k, CH, CW, a, f 0 For known camera parameters, k=1.2, the shooting point theoretical voyage height H is calculated:
shooting point coordinates are calculated based on the principle of rear intersection, referring to a schematic diagram of the spatial relationship between the unmanned aerial vehicle camera and the shooting target shown in fig. 3, the specific calculation of the shooting point coordinates is as follows:
calculating the height Ht of the trapezium of the photo covering ground:
calculating shooting point coordinates X and Y:
wherein X0 and Y0 are the midpoint coordinates of the long side a of the circumscribed rectangle.
The shooting point coordinates of all religions are determined by adopting the calculation mode, and then an optimal unmanned aerial vehicle shooting scheme is generated according to the shooting point coordinates of all religions, and the unmanned aerial vehicle sails according to the optimal unmanned aerial vehicle shooting scheme and shoots the religions at the shooting point coordinates.
The unmanned aerial vehicle shooting is operated manually, the ground block range is easy to photograph and the shooting is missed, the shooting efficiency is low, when shooting is carried out in multiple periods, the shooting point positions of the unmanned aerial vehicle flying and the shooting angles of cameras are different, so that the multi-time-phase image view angles of shooting plots are inconsistent, and the monitoring and decision of the post-use plots are inconvenient for related departments.
In one embodiment, the preset initialization rule specifically includes:
based on the minimum circumscribed rectangle, determining that a long side perpendicular to the minimum circumscribed rectangle is used as a course angle of the unmanned aerial vehicle, determining that a pitch angle of a camera arranged on the unmanned aerial vehicle is a preset theoretical pitch angle of the camera, and setting a camera picture coverage beyond a preset proportion threshold of the minimum circumscribed rectangle.
Specifically, in order to optimize shooting presentation effects, an unmanned aerial vehicle course angle, a camera theoretical pitch angle and a camera picture coverage range are initialized. For example, the course angle perpendicular to the long side of the rectangle is taken as the course angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera is-50 degrees, and the coverage range of the camera picture exceeds 20% of the rectangular area (minimum circumscribed rectangle) as an initial parameter. It is worth to be noted that the course angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the coverage range of the camera picture are not limited to the specific numerical values, and can be adjusted according to actual requirements.
In one embodiment, the method further comprises:
and when the theoretical flying height is larger than the maximum value in the reasonable flying height section, taking the maximum value in the reasonable flying height section as a target height, and gradually adjusting the pitch angle of the camera with a preset step length until the image coverage range of the camera exceeds a preset proportion threshold value (20%) of the minimum circumscribed rectangle so as to obtain a target pitch angle.
For example, when the calculated theoretical flying height of the unmanned aerial vehicle is greater than the limited flying height of the unmanned aerial vehicle, the maximum value in the reasonable flying height interval is taken as the target height, and the coverage area of the camera frame cannot meet the original setting, so that the pitch angle of the camera needs to be gradually adjusted by taking 1 degree as the step length until the coverage area 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 flying height is smaller than the minimum value in the reasonable flying height section, setting the minimum value in the reasonable flying height section as a target height 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 taken 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 picture of the camera is larger than that of the original picture, and the theoretical pitch angle of the camera is directly set as the target pitch angle without adjusting the pitch angle of the camera.
It should be noted that, the minimum value in the reasonable flying height interval needs to be preset according to the height of the on-site building structure.
In one embodiment, the generating an optimal unmanned aerial vehicle shooting scheme according to the shooting point coordinates of all relics in step S17 specifically includes:
based on an ant colony algorithm, the shortest flight path is used as an objective function, and an optimal unmanned aerial vehicle aerial photographing scheme is obtained according to photographing point coordinates of all relics.
Specifically, according to the shooting point coordinates of all relics, an ant colony algorithm is applied to the waypoints to calculate the shortest flight path, the shortest flight path is exported to be an unmanned aerial vehicle route task, the route task is uploaded to the unmanned aerial vehicle for flight control, autonomous shooting is executed, and a specific route can be seen from a route schematic diagram shown in fig. 4.
Compared with the prior art, the unmanned aerial vehicle shooting method of the base Yu Zong red line provided by the embodiment of the invention realizes unmanned aerial vehicle field automatic shooting by automatically calculating shooting points and angles, improves shooting efficiency, and avoids the phenomenon of mistaking and missing shooting during manual shooting; calculating an optimal shooting path by utilizing an ant colony algorithm, so as to realize the optimal flight path of the field unmanned aerial vehicle; for plots with multi-period shooting requirements, the consistency of the image visual angles in each period is ensured, and the readability and the synchronism of achievements are improved.
An embodiment of the present invention further provides an unmanned aerial vehicle photographing device for religious red lines, including:
the land red line acquisition module is used for acquiring the land red line of each land of the area to be photographed;
the circumscribed rectangle determining module is used for determining a minimum circumscribed rectangle according to the land red line for each land;
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 circumscribed rectangle based on a preset initialization rule;
the theoretical aerial height calculation module is used for calculating the theoretical aerial height of the unmanned aerial vehicle based on a preset photogrammetry collineation equation according to the course angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance;
the target pitch angle determining module is used for 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 when the theoretical altitude falls in 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 generation module is used for generating an optimal unmanned aerial vehicle shooting scheme according to shooting point coordinates of all relics.
In one embodiment, the preset initialization rule specifically includes:
based on the minimum circumscribed rectangle, determining that a long side perpendicular to the minimum circumscribed rectangle is used as a course angle of the unmanned aerial vehicle, determining that a pitch angle of a camera arranged on the unmanned aerial vehicle is a preset theoretical pitch angle of the camera, and setting a camera picture coverage beyond a preset proportion threshold of the minimum circumscribed rectangle.
In one embodiment, the target pitch angle determination module is further configured to:
and when the theoretical flying height is larger than the maximum value in the reasonable flying height section, taking the maximum value in the reasonable flying height section as a target height, and gradually adjusting the pitch angle of the camera with a preset step length until the image coverage range of the camera exceeds the preset proportion threshold value of the minimum circumscribed rectangle so as to obtain a target pitch angle.
It should be noted that, the working process of the unmanned aerial vehicle photographing device based on the religious red line may refer to the working process of the unmanned aerial vehicle photographing method based on the religious red line in the above embodiment, which is not described herein.
Compared with the prior art, the unmanned aerial vehicle shooting device based on the Yu Zong land red line provided by the embodiment of the invention determines a minimum circumscribed rectangle according to the land red line for each land by acquiring the land red line of each land of a region to be shot; determining a course angle of the unmanned aerial vehicle and a theoretical pitch angle of a camera according to the minimum circumscribed rectangle based on a preset initialization rule; calculating the theoretical altitude of the unmanned aerial vehicle based on a preset photogrammetry collineation equation according to the heading angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance; when the theoretical altitude falls in a preset reasonable flying altitude interval, setting the theoretical altitude as a target altitude of the unmanned aerial vehicle and setting the theoretical pitch angle of the camera as a target pitch angle; based on the principle of rear intersection, taking the midpoint of the long side of the minimum circumscribed rectangle as a reference coordinate, calculating shooting point coordinates according to a target pitch angle, camera parameters, target height and unmanned aerial vehicle course angle, and further generating an optimal unmanned aerial vehicle shooting scheme according to all religions of shooting point coordinates. According to the embodiment of the invention, the minimum circumscribed rectangle of each land is determined by acquiring the land red lines of each land, the shooting point coordinates are determined by combining the limited flying height of the unmanned aerial vehicle, and then the optimal unmanned aerial vehicle shooting scheme is generated according to the shooting point coordinates of all lands for shooting the land, so that the shooting accuracy and efficiency are improved, the consistent multi-time image viewing angles of the land are realized, and the land monitoring is facilitated.
An embodiment of the present invention also provides an unmanned aerial vehicle photographing apparatus of the red line of the base Yu Zong, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing steps in an unmanned aerial vehicle photographing method embodiment of the red line of the base Yu Zong as described above, such as steps S11 to S17 described in fig. 1, when the computer program is executed; alternatively, the processor may implement the functions of the modules in the above-described apparatus embodiments when executing the computer program, for example, a geored line acquisition module.
The computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to accomplish the present invention, for example. The one or more modules may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program in the religious red line-based drone photographing device. For example, the computer program may be divided into a plurality of modules, each module having the following specific functions:
the land red line acquisition module is used for acquiring the land red line of each land of the area to be photographed;
the circumscribed rectangle determining module is used for determining a minimum circumscribed rectangle according to the land red line for each land;
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 circumscribed rectangle based on a preset initialization rule;
the theoretical aerial height calculation module is used for calculating the theoretical aerial height of the unmanned aerial vehicle based on a preset photogrammetry collineation equation according to the course angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance;
the target pitch angle determining module is used for 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 when the theoretical altitude falls in 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 generation module is used for generating an optimal unmanned aerial vehicle shooting scheme according to shooting point coordinates of all relics.
The specific working process of each module may refer to the working process of the unmanned aerial vehicle shooting device based on the land-based red line described in the above embodiment, which is not described herein.
The unmanned aerial vehicle shooting equipment based on the religious red line can be computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud server. The land red line-based unmanned aerial vehicle photographing device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a land-based red line drone photographing device and is not limiting of the land-based red line drone photographing device of Yu Zong, and may include more or fewer components than illustrated, or may combine certain components, or different components, e.g., the land-based red line drone photographing device may also include an input-output device, a network access device, a bus, etc.
The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the land-based red line unmanned aerial vehicle photographing apparatus, and connects various parts of the entire land-based red line unmanned aerial vehicle photographing apparatus using various interfaces and lines.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the geodetic red line-based unmanned aerial vehicle photographing apparatus by running or executing the computer program and/or module 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, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
The modules integrated by the unmanned aerial vehicle shooting device based on the land red line can be stored in a computer readable storage medium if being realized in the form of software functional units and sold or used as independent products. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps 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 (Random Access Memory, RAM), or the like.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. An unmanned aerial vehicle shooting method based on Yu Zong red lines is characterized by comprising the following steps of:
obtaining land red lines of each land of the area to be photographed;
determining a minimum circumscribed rectangle according to the land red line for each land;
based on a preset initialization rule, determining an unmanned aerial vehicle course angle and a camera theoretical pitch angle according to the minimum circumscribed rectangle;
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 camera parameters acquired in advance based on a preset photogrammetry collineation equation;
when the theoretical altitude falls in a preset reasonable flying altitude interval, setting the theoretical altitude as a target altitude of the unmanned aerial vehicle, and setting the theoretical pitch angle of the camera as a target pitch angle;
based on a rear intersection principle, taking the midpoint of the long side of the minimum circumscribed rectangle as a reference coordinate, and calculating shooting point coordinates according to a target pitch angle, the camera parameters, the target height and the unmanned aerial vehicle course angle;
generating an optimal unmanned aerial vehicle shooting scheme according to shooting point coordinates of all relics;
based on the principle of rear intersection, taking the midpoint of the long side of the minimum circumscribed rectangle as a reference coordinate, calculating shooting point coordinates according to a target pitch angle, camera parameters, target height and unmanned aerial vehicle course angle, comprising:
calculating an angle
Hejiao->
：
wherein ,
for the target pitch angle>
Is the vertical field angle of the camera;
calculating the height Ht of the trapezium of the photo covering ground:
wherein Ht represents the height of the trapezium of the photo covering the ground;
representing the course angle of the unmanned aerial vehicle; k is 1.2; f (f) 0 Representing focal length for camera parameters; CH is a camera parameter, representing CMOS height; CW is a camera parameter representing CMOS width;
calculating shooting point coordinates
:
wherein ,
representing shooting point coordinates, +.>
Is the midpoint coordinate of the long side of the minimum bounding rectangle, b represents the short side of the minimum bounding rectangle,/>
Representation ofTarget height.
2. The unmanned aerial vehicle shooting method of claim 1, wherein the preset initialization rule specifically comprises:
based on the minimum circumscribed rectangle, determining that a long side perpendicular to the minimum circumscribed rectangle is used as a course angle of the unmanned aerial vehicle, determining that a pitch angle of a camera arranged on the unmanned aerial vehicle is a preset theoretical pitch angle of the camera, and setting a camera picture coverage beyond a preset proportion threshold of the minimum circumscribed rectangle.
3. The unmanned aerial vehicle photographing method of claim 2, further comprising:
and when the theoretical flying height is larger than the maximum value in the reasonable flying height section, taking the maximum value in the reasonable flying height section as a target height, and gradually adjusting the pitch angle of the camera with a preset step length until the image coverage range of the camera exceeds the preset proportion threshold value of the minimum circumscribed rectangle so as to obtain a target pitch angle.
4. The unmanned aerial vehicle photographing method of claim 1, further comprising:
and when the theoretical flying height is smaller than the minimum value in the reasonable flying height section, taking the minimum value in the reasonable flying height section as a target height, and setting the theoretical pitch angle of the camera as a target pitch angle.
5. The unmanned aerial vehicle shooting method of claim 1, wherein the generating an optimal unmanned aerial vehicle shooting scheme according to shooting point coordinates of all relics specifically comprises:
based on an ant colony algorithm, the shortest flight path is used as an objective function, and an optimal unmanned aerial vehicle aerial photographing scheme is obtained according to photographing point coordinates of all relics.
6. An unmanned aerial vehicle camera of a base Yu Zong red line, comprising:
the land red line acquisition module is used for acquiring the land red line of each land of the area to be photographed;
the circumscribed rectangle determining module is used for determining a minimum circumscribed rectangle according to the land red line for each land;
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 circumscribed rectangle based on a preset initialization rule;
the theoretical aerial height calculation module is used for calculating the theoretical aerial height of the unmanned aerial vehicle based on a preset photogrammetry collineation equation according to the course angle of the unmanned aerial vehicle, the theoretical pitch angle of the camera and the camera parameters acquired in advance;
the target pitch angle determining module is used for 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 when the theoretical altitude falls in 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;
the shooting scheme generation module is used for generating an optimal unmanned aerial vehicle shooting scheme according to shooting point coordinates of all relics;
the shooting point coordinate calculation module is specifically configured to:
calculating an angle
Hejiao->
：
wherein ,
for the target pitch angle>
Is the vertical field angle of the camera;
calculating the height Ht of the trapezium of the photo covering ground:
wherein Ht represents the height of the trapezium of the photo covering the ground;
representing the course angle of the unmanned aerial vehicle; k is 1.2; f (f) 0 Representing focal length for camera parameters; CH is a camera parameter, representing CMOS height; CW is a camera parameter representing CMOS width;
calculating shooting point coordinates
:/>
wherein ,
representing shooting point coordinates, +.>
Is the midpoint coordinate of the long side of the minimum bounding rectangle, b represents the short side of the minimum bounding rectangle,/>
Representing the target height.
7. The unmanned aerial vehicle photographing device of claim 6, wherein the preset initialization rule specifically comprises:
based on the minimum circumscribed rectangle, determining that a long side perpendicular to the minimum circumscribed rectangle is used as a course angle of the unmanned aerial vehicle, determining that a pitch angle of a camera arranged on the unmanned aerial vehicle is a preset theoretical pitch angle of the camera, and setting a camera picture coverage beyond a preset proportion threshold of the minimum circumscribed rectangle.
8. The unmanned aerial vehicle camera of claim 6, wherein the target pitch angle determination module is further configured to:
and when the theoretical flying height is larger than the maximum value in the reasonable flying height section, taking the maximum value in the reasonable flying height section as a target height, and gradually adjusting the pitch angle of the camera with a preset step length until the image coverage range of the camera exceeds the preset proportion threshold value of the minimum circumscribed rectangle so as to obtain a target pitch angle.
9. A drone photographing apparatus comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the drone photographing method of any of claims 1-5 when the computer program is executed.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program when run controls a device in which the computer readable storage medium is located to perform the unmanned aerial vehicle shooting method according to any one of claims 1-5.
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