CN118089672A - Aerial survey platform carried on unmanned aerial vehicle - Google Patents
Aerial survey platform carried on unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a navigation measurement platform carried on an unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicles and comprises a data acquisition module, an image extraction module, an image analysis module, an image encryption module and a display terminal; the technical problem that the condition that the unmanned aerial vehicle shoots and records the characteristic image of the shot forbidden area into the aerial survey image in the aerial survey process, so that the image of the shot forbidden area is recorded in the aerial survey shot image is solved, due to the shooting angle and the route of the unmanned aerial vehicle, is solved: through the analysis to the image information is shot to the forbidden region and unmanned aerial vehicle, delete the processing to the image that the forbidden region characteristic image appears the proportion great in the image that unmanned aerial vehicle shot, if the proportion is less then carry out the coding processing, protect the characteristic image information of forbidden region, reduced the possibility that the characteristic image of forbidden region was recorded in unmanned aerial vehicle's the in-process of carrying out aerial survey.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an aerial survey platform carried on an unmanned aerial vehicle.
Background
The unmanned aerial vehicle aerial survey platform is aerial survey equipment carried on the unmanned aerial vehicle, and can acquire high-precision topographic data and image information by carrying high-precision cameras, laser radars and other equipment, so that a basis is provided for decision making in the related field;
An unmanned aerial vehicle aerial survey system is disclosed in the patent publication No. CN 113063401A. The system comprises an air control unit, a ground control unit, a data processing unit and a data sharing unit; the aerial control unit is used for controlling the unmanned aerial vehicle to fly autonomously, acquiring flight position information and recording images; the ground control unit is used for remotely transmitting signals and controlling the navigation route of the unmanned aerial vehicle; the data processing unit is used for processing navigation data and establishing a navigation measurement model; the data sharing unit is used for sharing the aerial survey data of the unmanned aerial vehicle, the unmanned aerial vehicle can be guided to fly safely, on time and accurately along the appointed route, real-time, clear, visual, accurate and reliable image information is provided, timeliness, pertinence, accuracy and scientificity of the data are effectively improved, a quick response mechanism for timely finding problems, accurately judging and timely checking is facilitated to be established, and the aerial survey track can be checked conveniently at any time later.
However, in the aerial survey process using the unmanned aerial vehicle, the unmanned aerial vehicle can perform aerial survey work in a certain area range or nearby the area where shooting is prohibited, because of the problem of shooting angles and routes of the unmanned aerial vehicle, the situation that the unmanned aerial vehicle records the feature images of the area where shooting is prohibited into aerial survey images in the aerial survey process can occur, if the feature images of the area where shooting is prohibited, which are contained in the shot images, are not processed in time, the image of the area where shooting is prohibited is very easy to be recorded in the aerial survey shot images, and based on the fact, an aerial survey platform mounted on the unmanned aerial vehicle is provided.
Disclosure of Invention
The invention aims to provide an aerial survey platform carried on an unmanned aerial vehicle, which solves the technical problem that the unmanned aerial vehicle records the characteristic image of a shot-forbidden area into an aerial survey image in the aerial survey process due to the shooting angle and route problems of the unmanned aerial vehicle, so that the image of the shot-forbidden area is recorded in the aerial survey shooting image.
The aim of the invention can be achieved by the following technical scheme:
an aerial survey platform for being carried on an unmanned aerial vehicle, comprising:
The data acquisition module is used for acquiring the shooting-prohibited area information from the shooting-prohibited area database, acquiring the unmanned aerial vehicle shooting image information, and sending the shooting-prohibited area information and the shooting image information to the image extraction module, wherein the shooting-prohibited area information comprises characteristic images and position information of the shooting-prohibited area, and the shooting image information comprises images shot by the unmanned aerial vehicle and image shooting position information;
The image extraction module is used for analyzing the position information of the forbidden shooting area and the image shooting position information of the shooting image, marking the corresponding shooting image as an image to be analyzed according to an analysis result, extracting the image to be analyzed and then sending the extracted image to the image analysis module;
the image encryption module is used for acquiring the characteristic image of the forbidden shooting area from the forbidden shooting area database, encrypting the characteristic image to generate a contrast image, and transmitting the contrast image to the image analysis module;
The image analysis module is used for analyzing and processing the contrast image and the image to be analyzed, acquiring an analysis result, and judging whether the image to be analyzed is subjected to coding processing or deleting processing or not according to the analysis result.
As a further scheme of the invention: the specific mode of marking the image to be analyzed is as follows:
S1: acquiring position information of a prohibited shooting area, taking a central point of the prohibited shooting area in a map as an area center, marking longitude and latitude coordinates of the prohibited shooting area in the map as (x 1, y 1), taking a straight line where the area center is furthest away from an area boundary as an area radius r, and further obtaining area center coordinates and area radius information of the prohibited shooting area;
s2: acquiring image shooting position information of each shooting image, and marking longitude and latitude coordinates of the shooting position information of each shooting image in a map as (x 2i, y2 i), wherein i refers to the number of the shooting images and is equal to or less than 1, and the longitude and latitude coordinates of the shooting position of the shooting image can be acquired through GPS positioning information of the unmanned aerial vehicle;
S3: and calculating the distance Di between the shooting position of each shooting image and the circle center of the area of the forbidden shooting area, comparing the distance Di of each shooting image with the radius r of the area of the forbidden shooting area, and marking the image to be analyzed according to the judgment result.
As a further scheme of the invention: the specific mode for marking the image to be analyzed is as follows:
S31: by the formula Di = Calculating the distance between each shot image and the regional center of the forbidden shooting region, wherein the square operation is represented by the ratio 2;
s32: if the distance Di corresponding to the shot image meets Di less than or equal to r, the shot position of the corresponding shot image is considered to be positioned in the radius r of the region, and the corresponding shot image is deleted;
If Di corresponding to the shot image meets r+c1 is larger than or equal to Di > r, the shot position of the corresponding shot image is considered to be located in the range of the outer radius of the forbidden shooting area c1, and the corresponding shot image is marked as the image to be analyzed.
As a further scheme of the invention: in step S32, if Di corresponding to the captured image satisfies Di > r+c1, it is assumed that the captured position of the corresponding captured image is outside the range where the outside radius of the prohibited capturing area is c1, and no processing is performed on the corresponding captured image.
As a further scheme of the invention: the specific mode for judging the image to be analyzed is as follows:
b1: selecting an image to be analyzed as a target analysis image, performing nine-grid division on the target analysis image to obtain nine small images with the same size, numbering the nine small images according to 11, 12, 13, 14, 15, 16, 17, 18 and 19, wherein each number represents a small region in the image to be analyzed;
B2: selecting any one of the nine small images as a target image block, and carrying out vectorization processing on the nine sub-images which are not segmented by the shooting area and the target image block;
b3: randomly selecting one sub-image from nine sub-images of the contrast image, marking the image vector of the sub-image as x, simultaneously marking the vector of the target block as y, and passing through the formula Calculating the Euclidean distance between two vectors x and y, wherein j represents each element in the vectors, and k is more than or equal to 1 and less than or equal to j;
B4: repeating the step B3, sequentially calculating Euclidean distances between nine sub-images of the target image block and the contrast image, sequencing the Euclidean distances corresponding to the nine sub-images according to the numbers of the sub-images, sequentially marking K1, K2, … and K9 on the Euclidean distances corresponding to the nine sequenced sub-images, marking the sub-image with the smallest Euclidean distance as a similar image block corresponding to the target image block, and marking the corresponding Euclidean distance as the similarity of the corresponding target image block;
B5: repeating the steps B2-B4 to obtain the similarity corresponding to nine small images of the image to be analyzed;
b6: respectively carrying out contrast analysis on the similarity corresponding to the nine small images with Y1, marking the small images corresponding to the nine small images with the similarity smaller than Y1, recording the number e of the marked small images, deleting the corresponding images to be analyzed if e/9 is larger than d, and coding the small images with the marks in the images to be analyzed if e/9 is smaller than or equal to d, wherein d and Y1 are preset values;
B7: and B1-B6 are repeated, so that the analysis processing of all the images to be analyzed can be completed, and whether all the images to be analyzed are deleted or not and the judgment of coding processing are carried out according to the analysis result.
As a further scheme of the invention: the specific mode for carrying out encryption processing on the characteristic image of the forbidden shooting area is as follows:
a1: dividing the characteristic image of the forbidden shooting area according to a nine-grid format to obtain nine sub-images with the same size;
A2: numbering the nine sub-images according to a rule that the addition of the three values of the transverse direction, the vertical direction and the inclined direction is equal to each other, so as to obtain nine sub-images with the numbers of 8, 1, 6, 3, 5,7, 4, 8 and 2;
here, in the lateral direction: 8+1+6=3+5+7=4+9+2=15, vertical: 8+3+4=1+5+9=8+7+2=15, oblique: 8+5+2=6+5+4=15;
A3: generating position marks corresponding to the numbers of the nine sub-images according to the positions of the nine sub-images in the non-segmented prior nine boxes, and generating nine sub-images according to the positions 12, 63, 34, 55, 76, 47, 98 and 29 of the nine sub-images in the non-segmented prior nine boxes;
A4: the nine sub-images are sequentially ordered from small to large according to the number sequence, so that the nine sub-images are ordered in the order of 12, 29, 34, 47, 55, 63, 76, 81 and 98, and further a comparison image is obtained.
As a further scheme of the invention: after the step B7 is completed, acquiring the number i of the unmanned aerial vehicle shooting images corresponding to the forbidden shooting area in the step S2, and marking the number of the shooting images subjected to the deletion processing in the step S32 as g1 and the number of the images to be analyzed subjected to the deletion processing in the step B7 as g2;
By passing through Calculating to obtain an image deletion value corresponding to a forbidden shooting area, wherein β1 and β2 are preset proportionality coefficients, and β1+β2= 1.3644; comparing the image deletion value with a preset value Y2, if the image deletion value is more than or equal to Y2, generating an area adjustment mark and binding the area adjustment mark with a corresponding prohibited shooting area, and outputting the area adjustment mark and the area information of the corresponding prohibited shooting area to a display terminal for display, wherein Y2 is the preset value.
As a further scheme of the invention: after the image deletion numerical value is obtained, the analysis result is obtained through the number analysis of the characteristic image deletion numerical value and the coding rate picture of the forbidden shooting area, and the warning mark corresponding to the forbidden shooting area is judged and generated according to the analysis result, wherein the specific generation mode of the warning mark is as follows;
Acquiring the number i of the unmanned aerial vehicle shooting images corresponding to the forbidden shooting area in the step S2, and marking the number of the unmanned aerial vehicle shooting images marked as the images to be analyzed in the step S32 as m, and marking the number of the images to be analyzed subjected to coding processing in the step B7 as g3;
By the formula Calculating to obtain an image coding value corresponding to the shooting prohibition area, wherein θ is a correction coefficient, and β3 and β4 are preset proportional coefficients, and β3+β4=2.612; if L is more than or equal to Y3, generating a warning mark and binding the warning mark with a corresponding prohibited shooting area, and outputting the warning mark and the area information of the corresponding prohibited shooting area to a display terminal for display, wherein Y3 is a preset value.
As a further scheme of the invention: and the display terminal is used for displaying the region adjustment mark, the warning mark and the region information of the corresponding forbidden shooting region.
The invention has the beneficial effects that:
according to the invention, through analyzing the image information of the prohibited shooting area and the unmanned aerial vehicle, deleting the image with larger occurrence proportion of the characteristic image of the prohibited shooting area in the image shot by the unmanned aerial vehicle, coding the image with smaller occurrence proportion, protecting the characteristic image information of the prohibited shooting area, reducing the possibility that the characteristic image of the prohibited shooting area is recorded in the aerial survey process of the unmanned aerial vehicle, simultaneously keeping a certain number of the unmanned aerial vehicle shooting images as much as possible, and ensuring the normal use of the aerial survey of the unmanned aerial vehicle;
According to the invention, the characteristic images of the forbidden shooting areas are transmitted in an encryption manner, so that the safety of the characteristic images of the forbidden shooting areas in the use process is ensured, and the conditions of theft and secret leakage of the characteristic images of the forbidden shooting areas in the transmission process are avoided;
According to the invention, the quantity of the shot images deleted in the shot-forbidden area and the quantity of the images to be analyzed are analyzed and calculated, the shot-forbidden area is judged and the area adjustment mark is generated according to the analysis result, so that a worker can adjust the range of the shot-forbidden area in time according to the area adjustment mark;
According to the method, the number of the code rate pictures of the prohibited shooting area is analyzed, the warning mark corresponding to the prohibited shooting area is judged and generated, and related personnel are reminded of correspondingly adjusting the shooting angle and the flight route in the aerial survey process of the unmanned aerial vehicle.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a system frame structure of an aerial survey platform of an unmanned aerial vehicle;
Fig. 2 is a schematic view of feature image segmentation of a forbidden shooting area of an aerial survey platform mounted on an unmanned aerial vehicle;
FIG. 3 is a schematic diagram of the conversion of FIG. three of an aerial survey platform mounted on an unmanned aerial vehicle according to the present invention;
Fig. 4 is a schematic diagram of image segmentation to be analyzed mounted on an aerial survey platform of an unmanned aerial vehicle.
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.
Example 1
Referring to fig. 1-4, the invention discloses an aerial survey platform carried on an unmanned aerial vehicle, which comprises a data acquisition module, an image extraction module, an image analysis module, an image encryption module and a display terminal;
The data acquisition module is used for acquiring the shooting-prohibited area information from the shooting-prohibited area database, acquiring the unmanned aerial vehicle shooting image information, and sending the shooting-prohibited area information and the shooting image information to the image extraction module, wherein the shooting-prohibited area information comprises characteristic images and position information of the shooting-prohibited area, and the shooting image information comprises images shot by the unmanned aerial vehicle and image shooting position information;
The method is characterized in that the image shooting position information of a shot image is determined through a GPS positioning function of the unmanned aerial vehicle, and real-time monitoring is carried out by using a remote controller or ground station software on the unmanned aerial vehicle; before the shooting-prohibited area database is built in the data acquisition, the range and the position of the shooting-prohibited area are required to be known, the range and the position of the shooting-prohibited area can be obtained from the existing unmanned aerial vehicle flight map, but some unrecorded shooting-prohibited areas can also exist and need to be obtained through other ways, the shooting-prohibited area recorded in the unmanned aerial vehicle flight map is only analyzed, and the aerial license or the aerial task of the shooting-prohibited area is obtained through the authorization of a government department or a related mechanism to obtain the picture of the shooting-prohibited area, so that the obtained picture meets the legal regulations and confidentiality requirements, a special shooting-prohibited area database is built, and identity authentication and authorization are required for the unmanned aerial vehicle needing to use the shooting-prohibited area database, wherein the unmanned aerial vehicle of the embodiment is defaulted to have the identity authentication and authorization for obtaining the information of the shooting-prohibited area in the shooting-prohibited area database;
It should be noted that, although the unmanned aerial vehicle prohibited shooting area is also usually a no-fly area, there are also some prohibited shooting areas that are not no-fly areas, such as some private residential areas and business areas. Scenic spots, etc., and in addition, some no-fly areas may allow the unmanned aerial vehicle to shoot, and the no-shoot areas mentioned in this specification default to no-fly areas;
The image extraction module is used for analyzing the position information of the forbidden shooting area and the image shooting position information of the shooting image, marking the corresponding shooting image as an image to be analyzed according to an analysis result, extracting the image to be analyzed, and sending the extracted image to the image analysis module, wherein the specific mode of marking the image to be analyzed is as follows:
S1: acquiring position information of a prohibited shooting area, taking a central point of the prohibited shooting area in a map as an area center, marking longitude and latitude coordinates of the prohibited shooting area in the map as (x 1, y 1), taking a straight line where the area center is furthest away from an area boundary as an area radius r, and further obtaining area center coordinates and area radius information of the prohibited shooting area;
S2: acquiring shooting positions of all shooting images, marking longitude and latitude coordinates of the shooting positions in a map as (x 2i, y2 i), wherein x2i is longitude of the shooting geographic position corresponding to each shooting image, y2i is latitude of the shooting geographic position corresponding to each shooting image, i is the number of shooting images, 1 is less than or equal to i, and the longitude and latitude coordinates of the shooting positions of the shooting images can be acquired through GPS positioning information of the unmanned aerial vehicle;
S3: calculating the distance Di between the shooting position of each shooting image and the circle center of the area of the forbidden shooting area, comparing the distance Di of each shooting image with the radius r of the area of the forbidden shooting area, marking the image to be analyzed according to the judging result, wherein the specific mode for marking the image to be analyzed is as follows:
S31: by the formula Di = Calculating the distance between each shot image and the regional center of the forbidden shooting region, wherein the square operation is represented by the ratio 2;
s32: if the distance Di corresponding to the shot image meets Di less than or equal to r, the shot position of the corresponding shot image is considered to be positioned in the radius r of the region, and the corresponding shot image is deleted;
if Di corresponding to the shot image meets r+c1 is more than or equal to Di > r, the shot position of the corresponding shot image is considered to be positioned in the range of the outer radius of the forbidden shooting area c1, and the corresponding shot image is marked as an image to be analyzed;
if Di corresponding to the shot image meets Di > r+c1, the shot position of the corresponding shot image is considered to be located outside the range with the outer radius of the forbidden shooting area being c1, and no processing is carried out on the corresponding shot image;
the image encryption module is used for acquiring the characteristic image of the forbidden shooting area from the forbidden shooting area database, encrypting the characteristic image to generate a contrast image, and transmitting the contrast image to the image analysis module, wherein the specific mode for encrypting the characteristic image of the forbidden shooting area is as follows:
a1: dividing the characteristic image of the forbidden shooting area according to a nine-grid format to obtain nine sub-images with the same size;
A2: numbering the nine sub-images according to a rule that the addition of the three values of the transverse direction, the vertical direction and the inclined direction is equal to each other, so as to obtain nine sub-images with the numbers of 8, 1, 6, 3, 5,7, 4, 8 and 2;
here, in the lateral direction: 8+1+6=3+5+7=4+9+2=15, vertical: 8+3+4=1+5+9=8+7+2=15, oblique: 8+5+2=6+5+4=15;
a3: generating position marks corresponding to the numbers of the nine sub-images according to the positions of the nine sub-images in the non-segmented prior nine-grid, and generating nine sub-images according to the position 1 2、63、34、55、76、47、98 、29 of the nine sub-images in the non-segmented prior nine-grid;
A4: the nine sub-images are sequentially ordered from small to large according to the number sequence, the order of the nine sub-images is 1 2、29、34、47、55、63、76、81、98, and then a comparison image is obtained;
The characteristic images of the forbidden shooting areas are transmitted in an encryption mode, so that the safety of the characteristic images of the forbidden shooting areas can be avoided, and the condition that the characteristic images of the forbidden shooting areas are stolen and divulged in the transmission process is avoided;
the image analysis module is used for analyzing the contrast image and the image to be analyzed, acquiring an analysis result, judging whether the image to be analyzed needs to be subjected to coding processing or deleting according to the analysis result, and judging the image to be analyzed in the following specific modes:
b1: selecting an image to be analyzed as a target analysis image, performing nine-grid division on the target analysis image to obtain nine small images with the same size, numbering the nine small images according to 11, 12, 13, 14, 15, 16, 17, 18 and 19, wherein each number represents a small region in the image to be analyzed;
B2: selecting any one of nine small images as a target image block, carrying out vectorization processing on nine sub-images which are not segmented by a shooting area and the target image block, and converting the target image block and each sub-image into a corresponding vector, wherein the vectorization processing is carried out in the following specific mode:
The nine sub-images and the target block image are converted into vector forms, an image processing technology can be used for converting the images into a digital matrix, and then the matrix is unfolded into one-dimensional vectors;
For example, for a color image of size mxn, it is converted into a matrix of size (mxn) x3, where each row represents a pixel, each pixel has three values, representing the gray values of the red, green, and blue channels, respectively, and we can spread this matrix into a vector of size (mxn x 3), i.e., three gray values of each pixel are sequentially arranged together to form a long vector;
b3: randomly selecting one sub-image from nine sub-images of the contrast image, marking the image vector of the sub-image as x, simultaneously marking the vector of the target block as y, and passing through the formula Calculating the Euclidean distance between two vectors x and y, wherein j represents each element in the vector, k is more than or equal to 1 and less than or equal to j, judging the similarity between the two images according to the Euclidean distance according to a formula, wherein the smaller the Euclidean distance is, the more similar the two vectors are;
In the process of calculating the euclidean distance of the two vectors, if the vector x has n elements and the vector y has m elements in the vectors x and y, where n and m are unequal, the calculation process of the euclidean distance is as follows, and the lengths of the two vectors need to be adjusted to be equal, that is, m=n=j, and a specific adjustment manner is to add 0 behind the shorter vector, so that the lengths of the two vectors are equal;
For example, assuming that there are two vectors x= [1,2,3] and y= [4,5,6,7], the length of the vector x needs to be adjusted to 4, 0 can be added at the end of the vector x to obtain x= [1,2,3,0], and then the euclidean distance is calculated according to a formula;
B4: repeating the step B3, sequentially calculating Euclidean distances between nine sub-images of the target image block and the contrast image, sequencing the Euclidean distances corresponding to the nine sub-images according to the numbers of the sub-images, sequentially marking K1, K2, … and K9 on the Euclidean distances corresponding to the nine sequenced sub-images, marking the sub-image with the smallest Euclidean distance as a similar image block corresponding to the target image block, and marking the corresponding Euclidean distance as the similarity of the corresponding target image block;
B5: repeating the steps B2-B4 to obtain the similarity corresponding to nine small images of the image to be analyzed;
b6: respectively carrying out contrast analysis on the similarity corresponding to the nine small images with a preset value Y1, marking the corresponding small images with the similarity smaller than Y1 in the nine small images, recording the number e of the marked small images, deleting the corresponding images to be analyzed if e/9 is larger than d, coding the e small images with the marks in the images to be analyzed if e/9 is smaller than or equal to d, and otherwise, not carrying out processing, wherein d and Y1 are preset values;
B7: and B1-B6 are repeated, so that the analysis processing of all the images to be analyzed can be completed, and corresponding deletion processing or coding processing is carried out on all the images to be analyzed according to the analysis result.
Example two
As an embodiment two of the present application, in comparison with the embodiment one, the difference between the present embodiment two of the present application is that the number of captured images and images to be analyzed deleted in the prohibited capturing area is analyzed and calculated to obtain an image deletion value corresponding to the prohibited capturing area, and then the image deletion value is analyzed to determine whether the prohibited capturing area generates an area adjustment mark, wherein the specific manner of generating the area adjustment mark is as follows:
C1: acquiring the number i of the unmanned aerial vehicle shooting images corresponding to the forbidden shooting area in the step S2, and marking the number g1 of the shooting images subjected to the deletion processing after the step S32 and the number g2 of the images to be analyzed subjected to the deletion processing after the step B7;
C2: by passing through Calculating to obtain an image deletion value corresponding to a forbidden shooting area, wherein β1 and β2 are preset proportionality coefficients, and β1+β2= 1.3644; and C3: comparing the image deletion value p with a preset value Y2, if p is more than or equal to Y2, generating an area adjustment mark and binding the area adjustment mark with a corresponding prohibited shooting area, and outputting area information of the area adjustment mark and the corresponding prohibited shooting area to a display terminal for display, wherein Y2 is the preset value;
And the display terminal is used for displaying the region adjustment mark and the region information of the corresponding forbidden shooting region, so that the staff can conveniently check and timely adjust the range of the forbidden shooting region.
Example III
As an embodiment three of the present application, when the present application is specifically implemented, compared with the first embodiment and the second embodiment, the difference in this embodiment is that by deleting the numerical value from the feature image of the prohibited photographing area and analyzing the number of the pictures with the coding rate, the analysis result is obtained, and the warning identifier corresponding to the prohibited photographing area is determined and generated according to the analysis result, and the specific generation mode of the warning identifier is as follows;
Acquiring the number i of the unmanned aerial vehicle shooting images corresponding to the forbidden shooting area in the step S2, and marking the number of the unmanned aerial vehicle shooting images marked as the images to be analyzed in the step S32 as m, and marking the number of the images to be analyzed subjected to coding processing in the step B7 as g3;
By the formula Calculating to obtain an image coding value corresponding to the shooting prohibition area, wherein θ is a correction coefficient, and β3 and β4 are preset proportional coefficients, and β3+β4=2.612; if L is more than or equal to Y3, generating a warning mark and binding the warning mark with a corresponding prohibited shooting area, and outputting the warning mark and the area information of the corresponding prohibited shooting area to a display terminal for display, wherein Y3 is a preset value;
The warning mark and the corresponding regional information confidentiality of the forbidden shooting region are displayed through the display terminal, so that relevant personnel can be reminded in time to correspondingly adjust the shooting angle and the flight route of the unmanned aerial vehicle in the aerial survey process.
Example IV
As an embodiment three of the present application, in the implementation of the present application, the technical solution of the present embodiment is to combine the solutions of the above embodiment one, implementation two and implementation three compared with the solution of embodiment one, implementation two and implementation three.
The working principle of the invention is as follows: the method comprises the steps of obtaining and analyzing the information of the shot-forbidden area information and the shot image information of the unmanned aerial vehicle, carrying out similarity analysis on the shot image of the unmanned aerial vehicle and the feature image of the shot-forbidden area, deleting or coding the shot image of the unmanned aerial vehicle according to an analysis result, and avoiding the possibility that the feature image of the shot-forbidden area is leaked in the aerial survey process of the unmanned aerial vehicle as far as possible;
before transmitting the feature images of the prohibited shooting area, firstly, performing nine-grid division on the feature images of the prohibited shooting area, then, performing certain regular numbering processing on nine sub-images with equal size after division, finally, sequencing the nine sub-images with equal size after numbering to ensure that the positions of the nine sub-images are different from the positions corresponding to the feature images of the original prohibited shooting area, and transmitting the feature images of the prohibited shooting area after position conversion so as to ensure data security, thereby avoiding the situation that the feature images of the prohibited shooting area are stolen and leaked in the transmission process;
The method comprises the steps of analyzing and calculating the quantity of shot images deleted in a forbidden shooting area and images to be analyzed to obtain an image deletion value corresponding to the forbidden shooting area, analyzing the image deletion value, judging whether the forbidden shooting area generates an area adjustment mark or not, and facilitating timely adjustment of the forbidden shooting area range by staff;
And judging and generating warning marks corresponding to the prohibited shooting areas through the number analysis of the code rate pictures of the prohibited shooting areas, and reminding related personnel to correspondingly adjust shooting angles and flight routes in the aerial survey process of the unmanned aerial vehicle.
The above formulas are all formulas with dimensionality removed and numerical calculation, the formulas are formulas with the latest real situation obtained by software simulation through collecting a large amount of data, and preset parameters and threshold selection in the formulas are set by those skilled in the art according to the actual situation.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. An aerial survey platform carried on an unmanned aerial vehicle, comprising:
The data acquisition module is used for acquiring the shooting-prohibited area information from the shooting-prohibited area database, acquiring the unmanned aerial vehicle shooting image information, and sending the shooting-prohibited area information and the shooting image information to the image extraction module, wherein the shooting-prohibited area information comprises characteristic images and position information of the shooting-prohibited area, and the shooting image information comprises unmanned aerial vehicle shooting images and image shooting position information;
the image extraction module is used for analyzing the position information of the forbidden shooting area and the image shooting position information of the shooting image, acquiring an analysis result, marking the corresponding shooting image as an image to be analyzed according to the analysis result, extracting the image to be analyzed and then sending the extracted image to the image analysis module;
the image encryption module is used for acquiring the characteristic image of the forbidden shooting area from the forbidden shooting area database, encrypting the characteristic image to generate a contrast image, and transmitting the contrast image to the image analysis module;
The image analysis module is used for analyzing and processing the contrast image and the image to be analyzed, acquiring an analysis result, and judging whether the image to be analyzed is subjected to coding processing or deleting processing or not according to the analysis result.
2. The aerial survey platform of claim 1, wherein the specific way of marking the image to be analyzed is:
S1: acquiring position information of a prohibited shooting area, taking a central point of the prohibited shooting area in a map as an area center, marking longitude and latitude coordinates of the prohibited shooting area in the map as (x 1, y 1), taking a straight line where the area center is furthest away from an area boundary as an area radius r, and further obtaining area center coordinates and area radius information of the prohibited shooting area;
S2: acquiring shooting positions of all shooting images, and marking longitude and latitude coordinates of the shooting positions in a map as (x 2i, y2 i), wherein x2i is longitude of the shooting geographic position corresponding to each shooting image, y2i is latitude of the shooting geographic position corresponding to each shooting image, i is the number of shooting images, and 1 is less than or equal to i;
S3: and calculating the distance Di between the shooting position of each shooting image and the circle center of the area of the forbidden shooting area, comparing the distance Di of each shooting image with the radius r of the area of the forbidden shooting area, and marking the image to be analyzed according to the judgment result.
3. The aerial survey platform of claim 2, wherein the specific way of marking the image to be analyzed is:
S31: by the formula Di = Calculating and obtaining the distance between each shot image and the regional center of the forbidden shooting region, wherein the square operation is represented by the ratio 2, and the square operation is represented by the ratio sqrt; s32: if the distance Di corresponding to the shot image meets Di less than or equal to r, the shot position of the corresponding shot image is considered to be positioned in the radius r of the region, and the corresponding shot image is deleted;
If Di corresponding to the shot image meets r+c1 is larger than or equal to Di > r, the shot position of the corresponding shot image is considered to be located in the range of the outer radius of the forbidden shooting area c1, and the corresponding shot image is marked as the image to be analyzed.
4. A navigation platform mounted on an unmanned aerial vehicle according to claim 3, wherein in step S32, if Di corresponding to the photographed image satisfies Di > r+c1, the photographed position of the corresponding photographed image is considered to be out of the range of the outer radius of the prohibited photographing region c1, and no processing is performed on the corresponding photographed image.
5. The aerial survey platform of claim 1, wherein the specific way of encrypting the feature image of the prohibited shooting area is:
a1: dividing the characteristic image of the forbidden shooting area according to a nine-grid format to obtain nine sub-images with the same size;
A2: numbering the nine sub-images according to a rule that the addition of the three values of the transverse direction, the vertical direction and the inclined direction is equal to each other, so as to obtain nine sub-images with the numbers of 8, 1, 6, 3, 5,7, 4, 8 and 2;
a3: generating position marks corresponding to the numbers of the nine sub-images according to the positions of the nine sub-images in the non-segmented prior nine-grid, and generating nine sub-images according to the position 1 2、63、34、55、76、47、98 、29 of the nine sub-images in the non-segmented prior nine-grid;
a4: and sequentially sequencing the nine sub-images from small to large according to the number sequence to obtain nine sub-images with the sequencing sequence of 1 2、29、34、47、55、63、76、81、98, and further obtaining a comparison image.
6. The aerial survey platform of claim 5, wherein the specific way of judging the image to be analyzed is as follows:
B1: selecting an image to be analyzed as a target analysis image, performing nine-grid division on the target analysis image to obtain nine small images, numbering the nine small images according to 11,12, 13, 14, 15, 16, 17, 18 and 19, wherein each number represents a small region in the image to be analyzed;
B2: selecting any one of the nine small images as a target image block, and carrying out vectorization processing on the nine sub-images which are not segmented by the shooting area and the target image block;
b3: randomly selecting one sub-image from nine sub-images of the contrast image, marking the image vector of the sub-image as x, simultaneously marking the vector of the target block as y, and passing through the formula Calculating the Euclidean distance between two vectors x and y, wherein j represents each element in the vectors, and k is more than or equal to 1 and less than or equal to j;
B4: repeating the step B3, sequentially calculating Euclidean distances between nine sub-images of the target image block and the contrast image, sequencing the Euclidean distances corresponding to the nine sub-images according to the numbers of the sub-images, sequentially marking K1, K2, … and K9 on the Euclidean distances corresponding to the nine sequenced sub-images, marking the sub-image with the smallest Euclidean distance as a similar image block corresponding to the target image block, and marking the corresponding Euclidean distance as the similarity of the corresponding target image block;
B5: repeating the steps B2-B4 to obtain the similarity corresponding to nine small images of the image to be analyzed;
B6: respectively carrying out contrast analysis on the similarity corresponding to the nine small images with Y1, marking the corresponding small images with the similarity smaller than Y1 in the nine small images, recording the number e of the marked small images, deleting the corresponding images to be analyzed if e/9 is larger than d, coding the e small images with the marks in the images to be analyzed if e/9 is smaller than or equal to d, and otherwise, not carrying out processing, wherein d and Y1 are preset values; b7: and B1-B6 are repeated, so that the analysis processing of all the images to be analyzed can be completed, and whether all the images to be analyzed are deleted or not and the judgment of coding processing are carried out according to the analysis result.
7. The aerial survey platform of claim 6, wherein after step B7 is completed, the number i of the images shot by the unmanned aerial vehicle corresponding to the shot prohibition area in step S2 is acquired, and the number of the shot images subjected to the deletion processing in step S32 is marked as g1, and the number of the images to be analyzed subjected to the deletion processing in step B7 is marked as g2;
By passing through Calculating to obtain an image deletion value corresponding to a forbidden shooting area, wherein β1 and β2 are preset proportionality coefficients, and β1+β2= 1.3644; if/>And if the area adjustment mark is more than or equal to Y2, generating an area adjustment mark and binding the area adjustment mark with the corresponding prohibited shooting area, and outputting the area adjustment mark and the area information of the corresponding prohibited shooting area to a display terminal for display, wherein Y2 is a preset value.
8. The aerial survey platform of claim 7, wherein after the image deletion value is obtained, the analysis result is obtained by analyzing the feature image deletion value and the number of the code rate pictures of the prohibited shooting area, and the warning mark corresponding to the prohibited shooting area is generated according to the analysis result, wherein the specific generation mode of the warning mark is as follows;
Acquiring the number i of the unmanned aerial vehicle shooting images corresponding to the forbidden shooting area in the step S2, and marking the number of the unmanned aerial vehicle shooting images marked as the images to be analyzed in the step S32 as m, and marking the number of the images to be analyzed subjected to coding processing in the step B7 as g3;
By the formula Calculating to obtain an image coding value corresponding to the shooting prohibition area, wherein θ is a correction coefficient, and β3 and β4 are preset proportional coefficients, and β3+β4=2.612; if L is more than or equal to Y3, generating a warning mark and binding the warning mark with a corresponding prohibited shooting area, and outputting the warning mark and the area information of the corresponding prohibited shooting area to a display terminal for display, wherein Y3 is a preset value.
9. The aerial survey platform of claim 1, wherein the display terminal is configured to display the region adjustment mark, the warning mark, and the region information of the corresponding prohibited shooting region.
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