WO2018176376A1 - 一种环境信息采集方法、地面站及飞行器 - Google Patents

一种环境信息采集方法、地面站及飞行器 Download PDF

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Publication number
WO2018176376A1
WO2018176376A1 PCT/CN2017/078975 CN2017078975W WO2018176376A1 WO 2018176376 A1 WO2018176376 A1 WO 2018176376A1 CN 2017078975 W CN2017078975 W CN 2017078975W WO 2018176376 A1 WO2018176376 A1 WO 2018176376A1
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WIPO (PCT)
Prior art keywords
flight
aircraft
shooting
height
target object
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PCT/CN2017/078975
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English (en)
French (fr)
Inventor
刘利剑
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/078975 priority Critical patent/WO2018176376A1/zh
Priority to CN201780004479.8A priority patent/CN108474657B/zh
Publication of WO2018176376A1 publication Critical patent/WO2018176376A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to the field of information processing technologies, and in particular, to an environmental information collection method, a ground station, and an aircraft.
  • the electronic map is not accurate enough for the ground marking, and it is necessary to provide a more detailed ground marking.
  • the police need to grasp the surrounding when the arrest is carried out or the firefighter extinguishes the fire. Details of the environment, etc.
  • the existing environmental information collection schemes usually have many drawbacks, such as requiring more manual participation, requiring 3D modeling of the surrounding environment, and relying more on existing electronic maps, and the above drawbacks lead to time-consuming collection of environmental information. Longer and less efficient. It can be seen that how to collect environmental information conveniently and efficiently has become an urgent problem to be solved.
  • the embodiment of the invention discloses an environment information collecting method, a ground station and an aircraft, which can collect environmental information conveniently and efficiently.
  • the first aspect of the embodiment of the present invention discloses a method for collecting environmental information, including:
  • the ground station transmits an environmental information collection command to the aircraft, the environmental information acquisition command carrying flight control parameters and/or shooting control parameters.
  • Image data transmitted by the aircraft in response to the environmental information collection instruction comprising a plurality of images, the plurality of images being determined by the aircraft according to the flight control parameters and/or Shooting control parameters are taken from the target object.
  • the ground station splices the plurality of images, and parses the spliced plurality of images to generate and display environment information of the target object.
  • a second aspect of the embodiments of the present invention discloses another method for collecting environmental information, including:
  • the aircraft receives an environmental information acquisition command sent by the ground station, and the environmental information collection instruction carries flight control parameters and/or shooting control parameters.
  • the aircraft responds to the environmental information collection instruction, and captures a target object according to the flight control parameter and/or the shooting control parameter to obtain image data of the target object, where the image data includes multiple images.
  • the aircraft transmits the image data to the ground station to cause the ground station to generate and display environmental information of the target object based on the plurality of images.
  • a third aspect of the embodiments of the present invention discloses a ground station, including:
  • the communication device is configured to send an environmental information collection instruction to the aircraft, where the environmental information collection instruction carries flight control parameters and/or shooting control parameters.
  • the communication device is further configured to receive image data sent by the aircraft in response to the environmental information collection instruction, the image data includes a plurality of images, and the plurality of images are determined by the aircraft according to the flight control parameter and / or the shooting control parameters are obtained by shooting the target object.
  • a processor configured to splicing the plurality of images, and parsing the spliced plurality of images to generate environment information of the target object.
  • An output device configured to display environment information of the target object.
  • a fourth aspect of the embodiments of the present invention discloses an aircraft, including:
  • the communication device is configured to receive an environmental information collection instruction sent by the ground station, where the environmental information collection instruction carries a flight control parameter and/or a shooting control parameter.
  • a flight controller configured to: in response to the environmental information collection instruction, photographing a target object according to the flight control parameter and/or the shooting control parameter, to obtain image data of the target object, where the image data includes multiple image.
  • the communication device is further configured to send the image data to the ground station, so that the ground station generates and displays environment information of the target object according to the plurality of images.
  • the ground station sends an environmental information collection instruction to the aircraft to instruct the aircraft to shoot the target object according to the flight control parameter and/or the shooting control parameter carried by the environmental information acquisition instruction, to obtain image data including multiple images.
  • the ground station receives the image data sent by the aircraft, splicing the plurality of images, and parsing the spliced plurality of images to generate and display environmental information of the target object, so that the environmental information can be collected conveniently and efficiently.
  • FIG. 1 is a schematic flowchart diagram of an environment information collection method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an interface of an image capturing and a flight trajectory disclosed in an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a ground station disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of an aircraft disclosed in an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another ground station according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of another aircraft disclosed in an embodiment of the present invention.
  • the embodiment of the invention discloses an environment information collecting method, a ground station and an aircraft, which can collect environmental information conveniently and efficiently. The details are described below separately.
  • the ground station described in the embodiment of the present invention may specifically be a terminal such as a smart phone, a tablet computer, a notebook computer, or a wearable device such as a video glasses, a smart watch, or a smart wristband.
  • FIG. 1 is a schematic flowchart diagram of an environment information collection method according to an embodiment of the present invention.
  • the method for collecting environmental information described in this embodiment includes:
  • the ground station sends an environmental information collection instruction to the aircraft, and the aircraft receives the environmental information collection instruction.
  • the environmental information collection instruction may specifically carry flight control parameters and/or shooting control parameters.
  • the flight control parameters may specifically include a flight limit height and a shooting range, the flight limit height is used to limit the flight of the aircraft within a specified height, and the shooting range is used to specify a range of the location area that the aircraft takes when performing environmental acquisition.
  • the shooting control parameter may specifically include a target shooting accuracy, that is, a beat desired by the user. The accuracy of the captured image can be measured by the pixel/meter parameter.
  • the ground station can provide a control interface through which the user can input flight control parameters and shooting control parameters, and the ground station can be triggered to the aircraft through the control interface or the joystick, buttons (virtual buttons or physical buttons), etc.
  • the environmental information collection instruction is sent, and the flight control parameter and the shooting control parameter may be carried in the environmental information collection instruction.
  • the environmental information collection instruction may specifically carry only flight control parameters, and the aircraft performs shooting control according to default shooting control parameters.
  • the aircraft responds to the environmental information collection instruction, and performs shooting on the target object according to the flight control parameter and/or the shooting control parameter to obtain image data of the target object, where the image data includes multiple images. .
  • the aircraft after receiving the environmental information collection instruction, acquires flight control parameters and/or shooting control parameters carried by the environmental information collection instruction, and may determine independently according to flight control parameters and/or shooting control parameters, and camera parameters of the aircraft.
  • the camera parameters may specifically include a camera resolution and a Field of View (FOV), etc., and the shooting orientation is the position of the aircraft and the head orientation when photographing with the camera.
  • FOV Field of View
  • the environmental information collecting instruction carries both the flight control parameter and the shooting control parameter
  • the flight limit height includes an upper limit of the flight limit height (for example, 100 m)
  • the aircraft can be height-adjusted according to the flight limit.
  • the target shooting accuracy and camera parameters are used to determine the flying height of the aircraft.
  • the specific implementation manner may be: the aircraft sets the initial value of the flight computing height to the upper limit of the flight limit height, and calculates the flight of the aircraft according to the initial value of the flight calculation altitude and the camera parameters.
  • the first actual shooting accuracy calculates the actual shooting accuracy when shooting an image at the initial value of the height (indicated as the first actual shooting accuracy), and compare the first actual shooting accuracy with the shooting accuracy desired by the user (ie, the target shooting accuracy), if the first actual shooting accuracy Greater than or equal to the target shooting accuracy, it indicates that the initial value of the flight calculation height can meet the user's requirements for shooting accuracy, and the aircraft can use the initial value of the flight calculation height as the flying height.
  • the target shooting accuracy is the default shooting accuracy on the aircraft side.
  • the aircraft can reduce the initial value of the flight calculation height by the preset height value (for example, 5m), and obtain the correction value of the flight calculation height, and then the aircraft recalculates according to the correction value of the flight calculation height and the camera parameters.
  • the preset height value for example, 5m
  • Actual shooting accuracy that is, the actual shooting accuracy when the aircraft captures an image at the correction value of the flight calculation height (recorded as the second actual shooting accuracy), and compares the second actual shooting accuracy with the target shooting accuracy, if the second actual shooting If the accuracy is greater than or equal to the target shooting accuracy, it indicates that the correction value of the flight calculation height can meet the user's requirements for shooting accuracy, and the aircraft can use the correction value of the flight calculation height as the flying height.
  • the aircraft may continue to reduce the correction value of the flight computing height by a preset height value (for example, 5 m) until the actual shooting accuracy is greater than or equal to the target shooting accuracy.
  • a preset height value for example, 5 m
  • the flight limit height further includes a flight limit height lower limit (for example, 20 m), and if the initial value of the flight calculation height cannot satisfy the user's requirement for shooting accuracy, the aircraft reduces the initial value of the flight calculation height by a preset height value, Before obtaining the correction value of the flight calculation height, it may be determined whether the initial value of the flight calculation height is less than or equal to the flight limit height lower limit, and if the initial value of the flight calculation height is less than or equal to the flight limit height lower limit, it indicates that the aircraft is calculated according to the obtained flight.
  • the height correction value may exceed the specified altitude range during flight and there is a safety hazard.
  • the aircraft may send a prompt message to the ground station, for example, the ground station may be prompted to reduce the flight limit height lower limit, or reduce the target shooting accuracy desired by the user; If the initial value of the flight calculation height is greater than the flight limit height lower limit, the aircraft may perform an operation of increasing the actual shooting accuracy by reducing the initial value of the flight calculation height.
  • the specific response strategy may be: if the flight limit height lower limit can be reduced, the flight limit height lower limit may be reduced to meet the user's requirement for shooting accuracy; or, if The surrounding environment of the shooting range is more complicated. Decreasing the lower limit of the flight limit height may seriously threaten the safety of the aircraft, which can reduce the target shooting accuracy expected by the user; or, if the user's requirements for shooting accuracy can be reduced, it can be reduced. Expected by small users Target shooting accuracy.
  • the aircraft may also use the height value smaller than the upper limit of the flight limit height as the initial value of the flight calculation height.
  • the median value of the flight limit height upper limit and the flight limit height lower limit may be used as the initial value of the flight calculation height, of course. It is also possible to use any height value between the upper limit of the flight limit height and the lower limit of the flight limit height as the initial value of the flight calculation height, which is not limited in the embodiment of the present invention.
  • the aircraft may determine a flight trajectory of the aircraft within a specified shooting range and a shooting orientation of each shooting according to the camera parameters and the determined flying height.
  • the specific implementation manner may be: the aircraft uses the camera at the Shooting the target object at the flying height, for example, shooting the target object vertically with the camera, obtaining a captured image, and acquiring size information (such as length and width) of the captured image, and further according to the length and width of the captured image.
  • the information determines an image to be captured covering a specified shooting range, including the number of images to be captured and the position within the shooting range, and then determines the shooting orientation of each shooting according to the orientation of the center point of each image to be captured, and The trajectory formed by the center point of each image to be photographed according to a preset rule connection may be determined as the flight trajectory of the aircraft within the shooting range.
  • the aircraft can also calculate the shooting direction of each shooting according to the flight speed, the flight trajectory, etc., for example, according to the distance from one shooting point to another shooting point on the flight trajectory, the shooting time can be determined according to the flying speed. That is, how long it takes to take the next shot after one shot.
  • the user-specified shooting range is an area surrounded by a solid black line, and the target object is the ground.
  • the aircraft uses the camera to shoot the ground vertically downward at the determined flying height to obtain a shooting.
  • the length and width of the obtained image can ensure that the captured image can completely cover the shooting range, and the ground station has a certain margin when splicing the image, and the aircraft can reduce the length and width of the captured image.
  • the orientation of the center point of each image is taken as the shooting orientation corresponding to each shot, and the trajectory formed by connecting the center point of each image to be photographed according to a preset rule is determined as
  • the preset rule may be the "S" type rule shown in Figure 2, that is, the obtained flight path It is an S type (that is, a trajectory corresponding to a broken line).
  • the preset rule may also be a "back” type rule, and if it is a "back” type rule, the obtained flight trajectory is to fly from the outside to the inside layer by layer or from the inside to the outside.
  • the aircraft may be equipped with an illumination device, and the aircraft may fly according to the flight path and use the illumination device to illuminate the target object. And the target object is photographed by the camera according to the photographing orientation of each shot, thereby obtaining image data of the target object.
  • the illumination device may be a searchlight, that is, the aircraft can continuously illuminate the target object by using the searchlight during flight according to the flight path.
  • the illuminating device may also be a flash, that is, the aircraft may illuminate the target object by turning on the flash when it is required to take a picture with the camera during flight according to the flight trajectory.
  • an auxiliary aircraft may be assigned to the aircraft, and the auxiliary aircraft is equipped with illumination.
  • Equipment at this time, the aircraft can fly according to the flight path, and control the auxiliary aircraft to illuminate the target object by means of wireless communication such as wireless fidelity Wi-Fi, Bluetooth, etc. If the lighting device is a searchlight, the aircraft can be in the flight path.
  • the aircraft may send a control command to the auxiliary aircraft each time the camera needs to be photographed, indicating The auxiliary aircraft turns on the flash to illuminate the target object, and the aircraft uses the camera to shoot the target object according to the shooting direction of each shooting, thereby obtaining image data of the target object.
  • the auxiliary aircraft needs to fly with the aircraft according to the same flight path.
  • the aircraft transmits the image data to the ground station, and the ground station receives the image data.
  • the ground station splices the multiple images, and parses the spliced multiple images to generate and display environment information of the target object.
  • the environmental information may include one or more of road information, landform feature information, and route planning information.
  • the ground station receives image data sent by the aircraft, and acquires image data included therein. a plurality of images, and a shooting orientation of each image, and then, according to a shooting orientation of each image and an image stitching algorithm (for example, a Scale-invariant Feature Transform (SIFT) algorithm, etc.) Splicing, thereby obtaining the plurality of images after splicing, and acquiring the environmental information in the spliced plurality of images through a recognition algorithm such as feature extraction and deep learning, and displaying the environmental information through the user interface, for example, the ground station is spliced In the subsequent multiple images, specific areas such as road network, water, farmland, woods, and desert are marked, and navigation planning of the route can be performed according to the actual needs of the user.
  • SIFT Scale-invariant Feature Transform
  • splicing a plurality of images and generating environment information of the target object may also be completed by an aircraft, that is, after the aircraft obtains image data of the target object, the plurality of images captured may be directly spliced, and Parsing the plurality of images after splicing, generating environment information of the target object, and transmitting the environment information of the target object to the ground station, so that the ground station can directly display the environment information in the user interface after receiving the environment information. And the navigation planning of the route can be carried out according to the actual needs of the user.
  • the ground station sends an environmental information collection instruction to the aircraft to instruct the aircraft to shoot the target object according to the flight control parameter and/or the shooting control parameter carried by the environmental information acquisition instruction, to obtain image data including multiple images.
  • the ground station receives the image data sent by the aircraft, splicing the plurality of images, and parsing the spliced plurality of images to generate and display environment information of the target object. After the user specifies the shooting range, the aircraft can complete the autonomous operation.
  • the determination of the flying height, the flight trajectory, and the shooting orientation, and then the image data of the target object is captured, and the ground station receives the image data and analyzes and generates the environmental information of the target object, so that the environmental information can be collected conveniently and efficiently, and according to Environmental information provides personalized service and is widely applicable.
  • FIG. 3 is a schematic structural diagram of a ground station according to an embodiment of the present invention.
  • the ground station described in this embodiment includes:
  • the sending module 301 is configured to send an environmental information collection instruction to the aircraft, where the environmental information collection instruction carries flight control parameters and/or shooting control parameters.
  • the receiving module 302 is configured to receive image data sent by the aircraft in response to the environmental information collection instruction, where the image data includes multiple images, and the multiple images are determined by the aircraft according to the flight control parameters and/or The shooting control parameter is obtained by capturing a target object.
  • the processing module 303 is configured to splicing the plurality of images, and parsing the spliced plurality of images to generate environment information of the target object.
  • the display module 304 is configured to display environment information of the target object.
  • the image data further includes a shooting orientation
  • the processing module 303 is specifically configured to:
  • a photographing orientation of each image is obtained from the image data.
  • the environmental information includes one or more of road information, landform feature information, and route planning information.
  • the sending module 301 sends an environmental information collection instruction to the aircraft to instruct the aircraft to capture the target object according to the flight control parameters and/or the shooting control parameters carried by the environmental information collection instruction, and obtain image data including multiple images.
  • the receiving module 302 receives the image data sent by the aircraft, the processing module 303 splices the multiple images, and generates the environment information of the target object by parsing the spliced multiple images, and the display module 304 displays the target object.
  • Environmental information which can collect environmental information conveniently and efficiently, and provide personalized services based on environmental information.
  • FIG. 4 is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
  • the aircraft described in this embodiment includes:
  • the receiving module 401 is configured to receive an environment information collection instruction sent by the ground station, where the environment information collection instruction carries a flight control parameter and/or a shooting control parameter.
  • the processing module 402 is configured to: according to the environment information collection instruction, perform shooting on the target object according to the flight control parameter and/or the shooting control parameter, to obtain image data of the target object, where the image data includes multiple sheets image.
  • a sending module 403 configured to send the image data to the ground station, so that the ground station root
  • the environment information of the target object is generated and displayed according to the plurality of images.
  • the environmental information collection instruction carries the flight control parameter and the shooting control parameter
  • the flight control parameter includes a flight limit height and a shooting range
  • the shooting control parameter includes a target shooting accuracy.
  • the processing module 402 includes:
  • the determining unit 4020 is configured to determine a flying height of the aircraft according to the flight limit height, the target shooting accuracy, and camera parameters in response to the environmental information collection instruction.
  • the determining unit 4020 is further configured to determine, according to the flying height and the camera parameter, a flight trajectory of the aircraft within the shooting range and a shooting orientation of each shooting.
  • the photographing unit 4021 is configured to fly according to the flight trajectory, and capture a target object by using a camera according to the photographing orientation of each shot to obtain image data of the target object.
  • the flight limit height includes a flight limit height upper limit
  • the determining unit 4020 is specifically configured to:
  • an initial value of the flight calculation height is set as the flight limit height upper limit, and the first actual shooting accuracy is calculated according to the initial value of the flight calculation height and the camera parameter.
  • the initial value of the flight computing height is determined as the flying height.
  • the determining unit 4020 is further configured to: if the first actual shooting accuracy is less than the target shooting accuracy, reduce an initial value of the flight computing height by a preset height value, to obtain The flight calculates a correction value for the altitude.
  • the determining unit 4020 is further configured to calculate a second actual shooting accuracy according to the correction value of the flight calculation height and the camera parameter.
  • the determining unit 4020 is further configured to determine the corrected value of the flight computing height as the flying height if the second actual shooting accuracy is greater than or equal to the target shooting accuracy.
  • the flight limit height further includes a flight limit height lower limit
  • the aircraft further includes a determination module 404, wherein:
  • the determining module 404 is configured to determine whether an initial value of the flight calculation height is less than or equal to the flight limit height lower limit.
  • the sending module 403 is further configured to: if yes, send a prompt message to the ground station, where The message is used to prompt the ground station to reduce the flight limit height lower limit or the target shooting accuracy.
  • the determining unit 4020 is specifically configured to reduce the initial value of the flight calculation height by a preset height value to obtain a correction value of the flight calculation height.
  • the determining unit 4020 is specifically configured to:
  • the target object is photographed at the flying height by the camera to obtain a captured image, and the size information of the captured image is acquired.
  • An image to be captured covering the shooting range is determined according to the size information of the captured image.
  • the aircraft is equipped with a lighting device, and the shooting unit 4021 is specifically configured to:
  • the target object is photographed by the camera according to the photographing orientation of each shot to obtain image data of the target object.
  • the auxiliary aircraft of the aircraft is equipped with a lighting device, and the shooting unit 4021 is specifically configured to:
  • the target object is photographed by the camera according to the photographing orientation of each shot to obtain image data of the target object.
  • the receiving module 401 receives an environment information collection instruction sent by the ground station, where the environment information collection instruction carries flight control parameters and/or shooting control parameters, and the processing module 402 performs a flight control parameter and/or a shooting control parameter pair.
  • the target object performs shooting to obtain image data of the target object, the image data includes a plurality of images, and the transmitting module 403 transmits the image data to the ground station, so that The ground station generates and displays the environmental information of the target object according to the plurality of images, and can collect the environmental information conveniently and efficiently, and has wide applicability.
  • FIG. 5 is a schematic structural diagram of another ground station according to an embodiment of the present invention.
  • the ground station described in this embodiment includes a communication device 501, a processor 502, an input device 503, an output device 504, and a memory 505.
  • the communication device 501, the processor 502, the input device 503, the output device 504, and the memory 505 are connected by a bus.
  • the communication device 501 may be a radio frequency receiver or a radio frequency chip. Specifically, the communication device 501 may include an integrated transmit channel (Transmitter, TX) and a receiver (Receiver, RX).
  • the processor 502 may be a central processing unit (CPU), and the processor may be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (ASIC). ), a Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and the like.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the input device 503 can be a touch panel, a mouse, a keyboard, etc., and the touch panel includes a touch screen and a touch screen.
  • the output device 504 described above may include a display for outputting data such as environmental information.
  • the above-described memory 505 can include read only memory and random access memory and provides instructions and data to the processor 502.
  • a portion of the memory 505 can also include a non-volatile random access memory. among them:
  • the communication device 501 is configured to send an environmental information collection instruction to the aircraft, where the environmental information collection instruction carries flight control parameters and/or shooting control parameters.
  • the communication device 501 is further configured to receive image data sent by the aircraft in response to the environmental information collection instruction, the image data includes a plurality of images, and the plurality of images are determined by the aircraft according to the flight control parameter And/or the shooting control parameter is obtained by shooting the target object.
  • the processor 502 is configured to splicing the plurality of images, and parsing the spliced plurality of images to generate environment information of the target object.
  • the output device 504 is configured to display environment information of the target object.
  • the image data further includes a shooting orientation
  • the processor 502 is specifically used to:
  • a photographing orientation of each image is obtained from the image data.
  • the environmental information includes one or more of road information, landform feature information, and route planning information.
  • the communication device 501, the processor 502, the input device 503, the output device 504, and the memory 505 described in the embodiments of the present invention may be implemented in the environment information collection method provided by the embodiment of the present invention.
  • the implementation of the ground station described in FIG. 3 of the embodiment of the present invention may also be implemented, and details are not described herein again.
  • the communication device 501 sends an environmental information collection instruction to the aircraft to instruct the aircraft to capture the target object according to the flight control parameters and/or the shooting control parameters carried by the environmental information collection instruction, to obtain image data including multiple images.
  • the communication device 501 receives the image data sent by the aircraft, the processor 502 splices the plurality of images, generates the environment information of the target object by parsing the spliced plurality of images, and the output device 504 displays the target object.
  • Environmental information which can collect environmental information conveniently and efficiently, and provide personalized services based on environmental information.
  • FIG. 6 is a schematic structural diagram of another aircraft according to an embodiment of the present invention.
  • the aircraft described in this embodiment includes a communication device 601, a flight controller 602, a camera 603, and a memory 604.
  • the above communication device 601, flight controller 602, camera 603, and memory 604 are connected by a bus.
  • the communication device 601 may be a radio frequency receiver or a radio frequency chip. Specifically, the communication device 601 may include an integrated transmit channel (Transmitter, TX) and a receiver (Receiver, RX).
  • the flight controller 602 may be a microcontroller, a baseband processor, a baseband chip, a digital signal processor (DSP), or a system on a chip (SOC) including a baseband processor and an application processor.
  • the camera 603 described above is used to capture an environmental image.
  • the memory 604 described above can include read only memory and random access memory and provides instructions and data to the flight controller 602.
  • a portion of the memory 604 may also include non-volatile random access storage Device. among them:
  • the communication device 601 is configured to receive an environmental information collection instruction sent by the ground station, where the environmental information collection instruction carries a flight control parameter and/or a shooting control parameter.
  • the flight controller 602 is configured to: according to the environment information collection instruction, perform shooting on the target object according to the flight control parameter and/or the shooting control parameter, to obtain image data of the target object, where the image data includes An image.
  • the communication device 601 is further configured to send the image data to the ground station, so that the ground station generates and displays environment information of the target object according to the plurality of images.
  • the environmental information collection instruction carries the flight control parameter and the shooting control parameter
  • the flight control parameter includes a flight limit height and a shooting range
  • the shooting control parameter includes a target shooting accuracy.
  • the flight controller 602 is specifically configured to:
  • the flying height of the aircraft is determined according to the flight limit height, the target shooting accuracy, and camera parameters.
  • a flight trajectory of the aircraft within the shooting range and a shooting orientation of each shot are determined.
  • the flight limit height includes a flight limit height limit
  • the flight controller 602 is specifically configured to:
  • an initial value of the flight calculation height is set as the flight limit height upper limit, and the first actual shooting accuracy is calculated according to the initial value of the flight calculation height and the camera parameter.
  • the initial value of the flight computing height is determined as the flying height.
  • the flight controller 602 is further configured to: if the first actual shooting accuracy is less than the target shooting accuracy, reduce an initial value of the flight computing height by a preset height value, A correction value for the flight calculation height is obtained.
  • the flight controller 602 is further configured to calculate a second actual shooting accuracy according to the correction value of the flight calculation height and the camera parameter.
  • the flight controller 602 is further configured to determine the correction value of the flight calculation height as the flight height if the second actual shooting accuracy is greater than or equal to the target shooting accuracy.
  • the flight limit height further includes a flight limit height lower limit
  • the flight controller 602 is further configured to determine whether an initial value of the flight calculation height is less than or equal to a lower limit of the flight limit height.
  • the communication device 601 is further configured to: if yes, send a prompt message to the ground station, the prompt message is used to prompt the ground station to decrease the flight limit height lower limit or the target shooting accuracy.
  • the flight controller 602 is specifically configured to reduce the initial value of the flight calculation height by a preset height value to obtain a correction value of the flight calculation height.
  • the flight controller 602 is specifically configured to:
  • the target object is photographed at the flying height by the camera 603 to obtain a captured image, and the size information of the captured image is acquired.
  • An image to be captured covering the shooting range is determined according to the size information of the captured image.
  • the aircraft is equipped with a lighting device 605, and the flight controller 602 is specifically configured to:
  • the flight path is followed and the target object is illuminated with the illumination device 605.
  • the target object is photographed by the camera 603 according to the photographing orientation of each shot, and image data of the target object is obtained.
  • the auxiliary aircraft of the aircraft is equipped with a lighting device 605, and the flight controller 602 is specifically configured to:
  • the target object is photographed by the camera 603 according to the photographing orientation of each shot, and image data of the target object is obtained.
  • the communication device 601, the flight controller 602, and the flight controller 602 are described in the embodiments of the present invention.
  • the communication device 601 receives an environmental information collection instruction sent by the ground station, where the environmental information collection instruction carries flight control parameters and/or shooting control parameters, and the flight controller 602 according to the flight control parameters and/or the shooting control parameters Shooting the target object to obtain image data of the target object, the image data includes a plurality of images, and the communication device 601 transmits the image data to the ground station, so that the ground station generates and displays the environment information of the target object according to the plurality of images, which is convenient Efficiently collect environmental information and have wide applicability.
  • the program may be stored in a computer readable storage medium, and the storage medium may include: Flash disk, Read-Only Memory (ROM), Random Access Memory (RAM), disk or optical disk.

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Abstract

一种环境信息采集方法、地面站及飞行器，其中方法包括：地面站向飞行器发送环境信息采集指令，以指示飞行器根据环境信息采集指令携带的飞行控制参数和/或拍摄控制参数对目标对象进行拍摄，得到包括多张图像的图像数据，地面站接收飞行器发送的该图像数据，对该多张图像进行拼接，通过对拼接后的该多张图像进行解析，生成并显示该目标对象的环境信息。通过本发明实施例可以便捷、高效地对环境信息进行采集。

Description

一种环境信息采集方法、地面站及飞行器 技术领域
本发明涉及信息处理技术领域，尤其涉及一种环境信息采集方法、地面站及飞行器。
背景技术
目前，在很多场景下都需要对周边环境信息进行采集，例如，野外出行时电子地图对地面标记的不够精确，需要提供更加精细的地面标记；警方布控实施抓捕或者消防员灭火时需要掌握周边环境的细节等。然而，现有的环境信息采集方案通常存在诸多弊端，例如需要较多的人工参与，需要对周边环境进行3D建模，对已有的电子地图依赖较多，以上弊端导致环境信息的采集耗时较长，效率较低。可见，如何便捷、高效地对环境信息进行采集已成为亟待解决的问题。
发明内容
本发明实施例公开了一种环境信息采集方法、地面站及飞行器，可以便捷、高效地对环境信息进行采集。
本发明实施例第一方面公开了一种环境信息采集方法，包括：
地面站向飞行器发送环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数。
所述地面站接收所述飞行器响应所述环境信息采集指令发送的图像数据，所述图像数据包括多张图像，所述多张图像是由所述飞行器根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄得到的。
所述地面站对所述多张图像进行拼接，并对拼接后的所述多张图像进行解析，生成并显示所述目标对象的环境信息。
本发明实施例第二方面公开了另一种环境信息采集方法，包括：
飞行器接收地面站发送的环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数。
所述飞行器响应所述环境信息采集指令，根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄，得到所述目标对象的图像数据，所述图像数据包括多张图像。
所述飞行器向所述地面站发送所述图像数据，以使所述地面站根据所述多张图像生成并显示所述目标对象的环境信息。
本发明实施例第三方面公开了一种地面站，包括：
通信装置，用于向飞行器发送环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数。
所述通信装置，还用于接收所述飞行器响应所述环境信息采集指令发送的图像数据，所述图像数据包括多张图像，所述多张图像是由所述飞行器根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄得到的。
处理器，用于对所述多张图像进行拼接，并对拼接后的所述多张图像进行解析，生成所述目标对象的环境信息。
输出装置，用于显示所述目标对象的环境信息。
本发明实施例第四方面公开了一种飞行器，包括：
通信装置，用于接收地面站发送的环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数。
飞行控制器，用于响应所述环境信息采集指令，根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄，得到所述目标对象的图像数据，所述图像数据包括多张图像。
所述通信装置，还用于向所述地面站发送所述图像数据，以使所述地面站根据所述多张图像生成并显示所述目标对象的环境信息。
本发明实施例中，地面站向飞行器发送环境信息采集指令，以指示飞行器根据环境信息采集指令携带的飞行控制参数和/或拍摄控制参数对目标对象进行拍摄，得到包括多张图像的图像数据，地面站接收飞行器发送的该图像数据，对该多张图像进行拼接，通过对拼接后的该多张图像进行解析，生成并显示该目标对象的环境信息，可以便捷、高效地对环境信息进行采集。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种环境信息采集方法的流程示意图；
图2是本发明实施例公开的一种图像拍摄和飞行轨迹的界面示意图；
图3是本发明实施例公开的一种地面站的结构示意图；
图4是本发明实施例公开的一种飞行器的结构示意图；
图5是本发明实施例公开的另一种地面站的结构示意图；
图6是本发明实施例公开的另一种飞行器的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例公开了一种环境信息采集方法、地面站及飞行器，可以便捷、高效地对环境信息进行采集。以下分别进行详细说明。
本发明实施例中所描述的地面站具体可以是智能手机、平板电脑、笔记本电脑等终端，也可以是视频眼镜、智能手表、智能手环等可穿戴设备。
请参阅图1，为本发明实施例提供的一种环境信息采集方法的流程示意图。本实施例中所描述的环境信息采集方法，包括：
101、地面站向飞行器发送环境信息采集指令，飞行器接收所述环境信息采集指令。
其中，环境信息采集指令具体可以携带有飞行控制参数和/或拍摄控制参数。飞行控制参数具体可以包括飞行限制高度和拍摄范围，飞行限制高度用于限制飞行器在指定高度内飞行，拍摄范围用于指定飞行器进行环境采集时拍摄的位置区域范围。拍摄控制参数具体可以包括目标拍摄精度，即用户期望的拍 摄得到的图像的精度，可以通过像素/米这一参数进行衡量。
具体实现中，地面站可以提供一操控界面，通过该操控界面用户可以输入飞行控制参数和拍摄控制参数，可以通过该操控界面或者摇杆、按键(虚拟按键或实体按键)等触发地面站向飞行器发送该环境信息采集指令，并可以将飞行控制参数和拍摄控制参数携带在该环境信息采集指令中。
在一些可行的实施方式中，环境信息采集指令具体也可以只携带有飞行控制参数，此时飞行器按照默认的拍摄控制参数进行拍摄控制。
102、所述飞行器响应所述环境信息采集指令，根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄，得到所述目标对象的图像数据，所述图像数据包括多张图像。
具体实现中，飞行器接收到环境信息采集指令后，获取环境信息采集指令携带的飞行控制参数和/或拍摄控制参数，可以根据飞行控制参数和/或拍摄控制参数，以及飞行器的相机参数等自主确定在指定的拍摄范围内的飞行高度、飞行轨迹以及拍摄方位，进而飞行器按照飞行轨迹飞行，并根据每次拍摄的拍摄方位利用相机对目标对象进行拍摄，得到目标对象的图像数据，图像数据包括多张图像以及拍摄每张图像时对应的拍摄方位。其中，相机参数具体可以包括相机分辨率和镜头视角(Field of View，FOV)等，拍摄方位即利用相机拍摄时飞行器的位置和头部朝向等。
在一些可行的实施方式中，假设用户指定了拍摄精度，则环境信息采集指令同时携带有飞行控制参数和拍摄控制参数，飞行限制高度包括飞行限制高度上限(例如100m)，飞行器可以根据飞行限制高度、目标拍摄精度和相机参数，确定飞行器的飞行高度，具体实现方式可以为：飞行器将飞行计算高度的初始值设为飞行限制高度上限，并根据飞行计算高度的初始值和相机参数计算飞行器在飞行计算高度的初始值处拍摄图像时的实际拍摄精度(记为第一实际拍摄精度)，将第一实际拍摄精度与用户期望的拍摄精度(即目标拍摄精度)进行比较，如果第一实际拍摄精度大于或等于目标拍摄精度，则表明飞行计算高度的初始值能够满足用户对拍摄精度的要求，进而飞行器可以将飞行计算高度的初始值作为飞行高度。
需要说明的是，如果环境信息采集指令只携带有飞行控制参数，即用户不 指定期望的拍摄精度，则目标拍摄精度为飞行器侧默认的拍摄精度。
进一步地，如果第一实际拍摄精度小于目标拍摄精度，则表明飞行计算高度的初始值无法满足用户对拍摄精度的要求，由于在相机参数不变的情况下，飞行器的飞行高度越低，拍摄图像时的实际拍摄精度越高，飞行器可以将飞行计算高度的初始值减小预设高度值(例如5m)，得到飞行计算高度的修正值，进而飞行器根据飞行计算高度的修正值和相机参数重新计算实际拍摄精度，即飞行器在飞行计算高度的修正值处拍摄图像时的实际拍摄精度(记为第二实际拍摄精度)，并将第二实际拍摄精度与目标拍摄精度进行比较，如果第二实际拍摄精度大于或等于目标拍摄精度，则表明飞行计算高度的修正值能够满足用户对拍摄精度的要求，进而飞行器可以将飞行计算高度的修正值作为飞行高度。
需要说明的是，如果第二实际拍摄精度小于目标拍摄精度，则飞行器可以继续将飞行计算高度的修正值减小预设高度值(例如5m)，直到实际的拍摄精度大于或等于目标拍摄精度，以满足用户对拍摄精度的要求。
进一步地，飞行限制高度还包括飞行限制高度下限(例如20m)，如果飞行计算高度的初始值无法满足用户对拍摄精度的要求，则飞行器在将飞行计算高度的初始值减小预设高度值，得到飞行计算高度的修正值之前，可以先判断飞行计算高度的初始值是否小于或等于飞行限制高度下限，如果飞行计算高度的初始值小于或等于飞行限制高度下限，则表明飞行器按照得到的飞行计算高度的修正值飞行时会超出指定的高度范围而存在安全隐患，此时飞行器可以向地面站发送提示消息，例如可以提示地面站减小飞行限制高度下限，或者减小用户期望的目标拍摄精度；如果飞行计算高度的初始值大于飞行限制高度下限，则飞行器可以进行通过减小飞行计算高度的初始值来增大实际拍摄精度的操作。
其中，地面站接收到飞行器发送的提示消息后，具体的响应策略可以是：如果飞行限制高度下限可以减小，则为满足用户对拍摄精度的要求，可以减小飞行限制高度下限；或者，如果拍摄范围的周边环境较为复杂，减小飞行限制高度下限可能会严重威胁飞行器的安全，则可以减小用户期望的目标拍摄精度；或者，如果用户对拍摄精度的要求可以有所降低，则可以减小用户期望的 目标拍摄精度。
需要说明的是，飞行器也可以将小于飞行限制高度上限的高度值作为飞行计算高度的初始值，例如，可以将飞行限制高度上限和飞行限制高度下限的中值作为飞行计算高度的初始值，当然也可以将飞行限制高度上限和飞行限制高度下限之间的任一高度值作为飞行计算高度的初始值，本发明实施例不做限定。
在一些可行的实施方式中，飞行器可以根据相机参数和确定出的飞行高度，确定飞行器在指定的拍摄范围内的飞行轨迹和每次拍摄的拍摄方位，具体实现方式可以为：飞行器利用相机在该飞行高度处对目标对象进行拍摄，例如利用相机垂直向下对目标对象拍摄，得到拍摄图像，并获取该拍摄图像的尺寸信息(如长度、宽度)，进而根据该拍摄图像的长度、宽度等尺寸信息确定覆盖指定的拍摄范围需拍摄的图像，包括需拍摄的图像的数量和在拍摄范围内的位置等，再根据需拍摄的每张图像的中心点的方位确定每次拍摄的拍摄方位，并可以将需拍摄的每张图像的中心点按照预设规则连接所形成的轨迹确定为飞行器在拍摄范围内的飞行轨迹。
需要说明的是，飞行器也可以根据飞行速度和飞行轨迹等计算每次进行拍摄的拍摄方位，例如，根据飞行轨迹上从一个拍摄点到另一个拍摄点的距离，结合飞行速度可以确定拍摄时间，即一次拍摄后经历多长时间再进行下一次拍摄。
举例来说，如图2所示，用户指定的拍摄范围为黑色实线所围成的区域，目标对象为地面，飞行器利用相机在确定出的飞行高度处垂直向下对地面进行拍摄，获取拍摄得到的图像的长度和宽度，为保证拍摄的多张图像可以完全覆盖该拍摄范围，地面站对图像进行拼接时留有一定的余量，飞行器可以将拍摄得到的图像的长度和宽度减小预设数值，利用减小预设数值后的图像的长度、宽度以及拍摄范围的形状和尺寸信息等确定出覆盖该拍摄范围需拍摄的图像的数量以及在拍摄范围内的位置等，可以将需拍摄的每张图像的中心点(即矩形区域对角线的交点)的方位作为每次拍摄对应的拍摄方位，以及将需拍摄的每张图像的中心点按照预设规则连接所形成的轨迹确定为飞行器在拍摄范围内的飞行轨迹，预设规则可以是图2所示的“S”型规则，即得到的飞行轨迹 为S型(即虚线对应的轨迹)。当然，预设规则也可以是“回”字型等规则，如果是“回”字型规则，则得到的飞行轨迹为逐层从外向内飞行或者逐层从内向外飞行。
在一些可行的实施方式中，对于夜间等环境亮度较低的场景下的环境信息采集任务，飞行器可以搭载有照明设备，此时飞行器可以按照飞行轨迹飞行，并利用照明设备对目标对象进行照明，以及根据每次拍摄的拍摄方位利用相机对目标对象进行拍摄，从而得到目标对象的图像数据。
需要说明的是，照明设备可以是探照灯，即飞行器在按照飞行轨迹飞行过程中可以利用探照灯对目标对象进行持续照明。或者，照明设备也可以是闪光灯，即飞行器在按照飞行轨迹飞行过程中可以在需要利用相机拍摄时开启闪光灯对目标对象进行照明。
在一些可行的实施方式中，对于夜间等环境亮度较低的场景下的环境信息采集任务，且在飞行器自身的负载较重的情况下，可以为飞行器指派一辅助飞行器，辅助飞行器上搭载有照明设备，此时飞行器可以按照飞行轨迹飞行，并通过无线保真Wi-Fi、蓝牙等无线通信的方式控制辅助飞行器利用照明设备对目标对象进行照明，如果照明设备是探照灯，则飞行器可以在飞行轨迹起点处向辅助飞行器发送控制指令，指示辅助飞行器开启探照灯在飞行过程中对目标对象进行持续照明；如果照明设备是闪光灯，则飞行器可以在每次需要利用相机拍摄时向辅助飞行器发送控制指令，指示辅助飞行器开启闪光灯对目标对象进行照明，进而飞行器根据每次拍摄的拍摄方位利用相机对目标对象进行拍摄，从而得到目标对象的图像数据。其中，辅助飞行器需按照相同的飞行轨迹与飞行器进行伴飞。
103、所述飞行器向所述地面站发送所述图像数据，所述地面站接收所述图像数据。
104、所述地面站对所述多张图像进行拼接，并对拼接后的所述多张图像进行解析，生成并显示所述目标对象的环境信息。
其中，环境信息可以包括道路信息、地貌特征信息和路线规划信息中的一种或多种。
具体实现中，地面站接收飞行器发送的图像数据，获取图像数据中包含的 多张图像，以及每张图像的拍摄方位，进而根据每张图像的拍摄方位和图像拼接算法(例如尺度不变特征变换(Scale-invariant feature transform，SIFT)算法等)，对该多张图像进行拼接，从而得到拼接后的该多张图像，并通过特征提取、深度学习等识别算法获取拼接后的该多张图像中的环境信息，以及通过用户界面显示该环境信息，例如，地面站在拼接后的该多张图像中标记出道路路网、水域、农田、树林、沙漠等特定区域，还可以根据用户的实际需求进行路线的导航规划等。
在一些可行的实施方式中，对多张图像进行拼接，并生成目标对象的环境信息也可以由飞行器完成，即飞行器得到目标对象的图像数据后，可以直接对拍摄的多张图像进行拼接，并对拼接后的该多张图像进行解析，生成目标对象的环境信息，进而向地面站发送目标对象的环境信息，从而地面站接收到该环境信息后即可直接在用户界面中显示该环境信息，并可以根据用户的实际需求进行路线的导航规划等。
本发明实施例中，地面站向飞行器发送环境信息采集指令，以指示飞行器根据环境信息采集指令携带的飞行控制参数和/或拍摄控制参数对目标对象进行拍摄，得到包括多张图像的图像数据，地面站接收飞行器发送的该图像数据，对该多张图像进行拼接，通过对拼接后的该多张图像进行解析，生成并显示该目标对象的环境信息，用户指定拍摄范围后，飞行器可以自主完成飞行高度、飞行轨迹以及拍摄方位等的确定，进而拍摄得到目标对象的图像数据，地面站接收到图像数据后解析生成目标对象的环境信息，从而可以便捷、高效地对环境信息进行采集，以及根据环境信息提供个性化服务，且适用性广。
请参阅图3，为本发明实施例提供的一种地面站的结构示意图。本实施例中所描述的地面站，包括：
发送模块301，用于向飞行器发送环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数。
接收模块302，用于接收所述飞行器响应所述环境信息采集指令发送的图像数据，所述图像数据包括多张图像，所述多张图像是由所述飞行器根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄得到的。
处理模块303，用于对所述多张图像进行拼接，并对拼接后的所述多张图像进行解析，生成所述目标对象的环境信息。
显示模块304，用于显示所述目标对象的环境信息。
在一些可行的实施方式中，所述图像数据还包括拍摄方位，所述处理模块303具体用于：
从所述图像数据中获取每张图像的拍摄方位。
根据所述每张图像的拍摄方位，对所述多张图像进行拼接，得到拼接后的所述多张图像。
在一些可行的实施方式中，所述环境信息包括道路信息、地貌特征信息和路线规划信息中的一种或多种。
可以理解的是，本发明实施例的地面站的各功能模块的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。
本发明实施例中，发送模块301向飞行器发送环境信息采集指令，以指示飞行器根据环境信息采集指令携带的飞行控制参数和/或拍摄控制参数对目标对象进行拍摄，得到包括多张图像的图像数据，接收模块302接收飞行器发送的该图像数据，处理模块303对该多张图像进行拼接，通过对拼接后的该多张图像进行解析生成该目标对象的环境信息，显示模块304显示该目标对象的环境信息，可以便捷、高效地对环境信息进行采集，以及根据环境信息提供个性化服务。
请参阅图4，为本发明实施例提供的一种飞行器的结构示意图。本实施例中所描述的飞行器，包括：
接收模块401，用于接收地面站发送的环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数。
处理模块402，用于响应所述环境信息采集指令，根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄，得到所述目标对象的图像数据，所述图像数据包括多张图像。
发送模块403，用于向所述地面站发送所述图像数据，以使所述地面站根 据所述多张图像生成并显示所述目标对象的环境信息。
在一些可行的实施方式中，所述环境信息采集指令携带有所述飞行控制参数和所述拍摄控制参数，所述飞行控制参数包括飞行限制高度和拍摄范围，所述拍摄控制参数包括目标拍摄精度，所述处理模块402包括：
确定单元4020，用于响应所述环境信息采集指令，根据所述飞行限制高度、所述目标拍摄精度和相机参数，确定所述飞行器的飞行高度。
所述确定单元4020，还用于根据所述飞行高度和所述相机参数，确定所述飞行器在所述拍摄范围内的飞行轨迹和每次拍摄的拍摄方位。
拍摄单元4021，用于按照所述飞行轨迹飞行，并根据所述每次拍摄的拍摄方位利用相机对目标对象进行拍摄，得到所述目标对象的图像数据。
在一些可行的实施方式中，所述飞行限制高度包括飞行限制高度上限，所述确定单元4020具体用于：
响应所述环境信息采集指令，将飞行计算高度的初始值设为所述飞行限制高度上限，并根据所述飞行计算高度的初始值和所述相机参数计算第一实际拍摄精度。
若所述第一实际拍摄精度大于或等于所述目标拍摄精度，则将所述飞行计算高度的初始值确定为飞行高度。
在一些可行的实施方式中，所述确定单元4020，还用于若所述第一实际拍摄精度小于所述目标拍摄精度，则将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值。
所述确定单元4020，还用于根据所述飞行计算高度的修正值和所述相机参数计算第二实际拍摄精度。
所述确定单元4020，还用于若所述第二实际拍摄精度大于或等于所述目标拍摄精度，则将所述飞行计算高度的修正值确定为飞行高度。
在一些可行的实施方式中，所述飞行限制高度还包括飞行限制高度下限，所述飞行器还包括判断模块404，其中：
所述判断模块404，用于判断所述飞行计算高度的初始值是否小于或等于所述飞行限制高度下限。
所述发送模块403，还用于若是，则向所述地面站发送提示消息，所述提 示消息用于提示所述地面站减小所述飞行限制高度下限或者所述目标拍摄精度。
所述确定单元4020，具体用于若否，则将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值。
在一些可行的实施方式中，所述确定单元4020具体用于：
利用相机在所述飞行高度处对目标对象进行拍摄，得到拍摄图像，并获取所述拍摄图像的尺寸信息。
根据所述拍摄图像的尺寸信息确定覆盖所述拍摄范围需拍摄的图像。
根据需拍摄的每张图像的中心点的方位确定每次拍摄的拍摄方位，并将所述需拍摄的每张图像的中心点按照预设规则连接所形成的轨迹确定为所述飞行器在所述拍摄范围内的飞行轨迹。
在一些可行的实施方式中，所述飞行器搭载有照明设备，所述拍摄单元4021具体用于：
按照所述飞行轨迹飞行，并利用所述照明设备对目标对象进行照明。
根据所述每次拍摄的拍摄方位利用相机对所述目标对象进行拍摄，得到所述目标对象的图像数据。
在一些可行的实施方式中，所述飞行器的辅助飞行器搭载有照明设备，所述拍摄单元4021具体用于：
按照所述飞行轨迹飞行，并控制所述辅助飞行器利用所述照明设备对目标对象进行照明。
根据所述每次拍摄的拍摄方位利用相机对所述目标对象进行拍摄，得到所述目标对象的图像数据。
可以理解的是，本发明实施例的飞行器的各功能模块、单元的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。
本发明实施例中，接收模块401接收地面站发送的环境信息采集指令，该环境信息采集指令携带有飞行控制参数和/或拍摄控制参数，处理模块402根据飞行控制参数和/或拍摄控制参数对目标对象进行拍摄，得到目标对象的图像数据，图像数据包括多张图像，发送模块403向地面站发送图像数据，以使 地面站根据该多张图像生成并显示目标对象的环境信息，可以便捷、高效地对环境信息进行采集，且适用性广。
请参阅图5，为本发明实施例提供的另一种地面站的结构示意图。本实施例中所描述的地面站，包括：通信装置501、处理器502、输入装置503、输出装置504和存储器505。上述通信装置501、处理器502、输入装置503、输出装置504和存储器505通过总线连接。
上述通信装置501具体可以为射频接收机或者射频芯片，具体地，通信装置501可以包括集成在一起的发射通路(Transmitter，TX)以及接收器(Receiver，RX)。上述处理器502可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
上述输入装置503可以为触控面板、鼠标、键盘等，触控面板包括触摸屏和触控屏等。上述输出装置504可以包括显示器，用于输出环境信息等数据。
上述存储器505可以包括只读存储器和随机存取存储器，并向处理器502提供指令和数据。存储器505的一部分还可以包括非易失性随机存取存储器。其中：
通信装置501，用于向飞行器发送环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数。
所述通信装置501，还用于接收所述飞行器响应所述环境信息采集指令发送的图像数据，所述图像数据包括多张图像，所述多张图像是由所述飞行器根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄得到的。
处理器502，用于对所述多张图像进行拼接，并对拼接后的所述多张图像进行解析，生成所述目标对象的环境信息。
输出装置504，用于显示所述目标对象的环境信息。
在一些可行的实施方式中，所述图像数据还包括拍摄方位，所述处理器 502具体用于：
从所述图像数据中获取每张图像的拍摄方位。
根据所述每张图像的拍摄方位，对所述多张图像进行拼接，得到拼接后的所述多张图像。
在一些可行的实施方式中，所述环境信息包括道路信息、地貌特征信息和路线规划信息中的一种或多种。
具体实现中，本发明实施例中所描述的通信装置501、处理器502、输入装置503、输出装置504和存储器505可执行本发明实施例图1提供的环境信息采集方法中所描述的实现方式，也可执行本发明实施例图3所描述的地面站的实现方式，在此不再赘述。
本发明实施例中，通信装置501向飞行器发送环境信息采集指令，以指示飞行器根据环境信息采集指令携带的飞行控制参数和/或拍摄控制参数对目标对象进行拍摄，得到包括多张图像的图像数据，通信装置501接收飞行器发送的该图像数据，处理器502对该多张图像进行拼接，通过对拼接后的该多张图像进行解析生成该目标对象的环境信息，输出装置504显示该目标对象的环境信息，可以便捷、高效地对环境信息进行采集，以及根据环境信息提供个性化服务。
请参阅图6，为本发明实施例提供的另一种飞行器的结构示意图。本实施例中所描述的飞行器，包括：通信装置601、飞行控制器602、相机603和存储器604。上述通信装置601、飞行控制器602、相机603和存储器604通过总线连接。
上述通信装置601具体可以为射频接收机或者射频芯片，具体地，通信装置601可以包括集成在一起的发射通路(Transmitter，TX)以及接收器(Receiver，RX)。上述飞行控制器602可以是微控制器、基带处理器、基带芯片、数字信号处理器(Digital Signal Processor，DSP)或者包括基带处理器和应用处理器在内片上系统(SOC)等。上述相机603用于拍摄环境图像。
上述存储器604可以包括只读存储器和随机存取存储器，并向飞行控制器602提供指令和数据。存储器604的一部分还可以包括非易失性随机存取存储 器。其中：
通信装置601，用于接收地面站发送的环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数。
飞行控制器602，用于响应所述环境信息采集指令，根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄，得到所述目标对象的图像数据，所述图像数据包括多张图像。
所述通信装置601，还用于向所述地面站发送所述图像数据，以使所述地面站根据所述多张图像生成并显示所述目标对象的环境信息。
在一些可行的实施方式中，所述环境信息采集指令携带有所述飞行控制参数和所述拍摄控制参数，所述飞行控制参数包括飞行限制高度和拍摄范围，所述拍摄控制参数包括目标拍摄精度，所述飞行控制器602具体用于：
响应所述环境信息采集指令，根据所述飞行限制高度、所述目标拍摄精度和相机参数，确定所述飞行器的飞行高度。
根据所述飞行高度和所述相机参数，确定所述飞行器在所述拍摄范围内的飞行轨迹和每次拍摄的拍摄方位。
按照所述飞行轨迹飞行，并根据所述每次拍摄的拍摄方位利用相机603对目标对象进行拍摄，得到所述目标对象的图像数据。
在一些可行的实施方式中，所述飞行限制高度包括飞行限制高度上限，所述飞行控制器602具体用于：
响应所述环境信息采集指令，将飞行计算高度的初始值设为所述飞行限制高度上限，并根据所述飞行计算高度的初始值和所述相机参数计算第一实际拍摄精度。
若所述第一实际拍摄精度大于或等于所述目标拍摄精度，则将所述飞行计算高度的初始值确定为飞行高度。
在一些可行的实施方式中，所述飞行控制器602，还用于若所述第一实际拍摄精度小于所述目标拍摄精度，则将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值。
所述飞行控制器602，还用于根据所述飞行计算高度的修正值和所述相机参数计算第二实际拍摄精度。
所述飞行控制器602，还用于若所述第二实际拍摄精度大于或等于所述目标拍摄精度，则将所述飞行计算高度的修正值确定为飞行高度。
在一些可行的实施方式中，所述飞行限制高度还包括飞行限制高度下限，
所述飞行控制器602，还用于判断所述飞行计算高度的初始值是否小于或等于所述飞行限制高度下限。
所述通信装置601，还用于若是，则向所述地面站发送提示消息，所述提示消息用于提示所述地面站减小所述飞行限制高度下限或者所述目标拍摄精度。
所述飞行控制器602，具体用于若否，则将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值。
在一些可行的实施方式中，所述飞行控制器602具体用于：
利用相机603在所述飞行高度处对目标对象进行拍摄，得到拍摄图像，并获取所述拍摄图像的尺寸信息。
根据所述拍摄图像的尺寸信息确定覆盖所述拍摄范围需拍摄的图像。
根据需拍摄的每张图像的中心点的方位确定每次拍摄的拍摄方位，并将所述需拍摄的每张图像的中心点按照预设规则连接所形成的轨迹确定为所述飞行器在所述拍摄范围内的飞行轨迹。
在一些可行的实施方式中，所述飞行器搭载有照明设备605，所述飞行控制器602具体用于：
按照所述飞行轨迹飞行，并利用所述照明设备605对目标对象进行照明。
根据所述每次拍摄的拍摄方位利用相机603对所述目标对象进行拍摄，得到所述目标对象的图像数据。
在一些可行的实施方式中，所述飞行器的辅助飞行器搭载有照明设备605，所述飞行控制器602具体用于：
按照所述飞行轨迹飞行，并控制所述辅助飞行器利用所述照明设备605对目标对象进行照明。
根据所述每次拍摄的拍摄方位利用相机603对所述目标对象进行拍摄，得到所述目标对象的图像数据。
具体实现中，本发明实施例中所描述的通信装置601、飞行控制器602、 相机603、存储器604和照明设备605可执行本发明实施例图1提供的环境信息采集方法中所描述的实现方式，也可执行本发明实施例图4所描述的飞行器的实现方式，在此不再赘述。
本发明实施例中，通信装置601接收地面站发送的环境信息采集指令，该环境信息采集指令携带有飞行控制参数和/或拍摄控制参数，飞行控制器602根据飞行控制参数和/或拍摄控制参数对目标对象进行拍摄，得到目标对象的图像数据，图像数据包括多张图像，通信装置601向地面站发送图像数据，以使地面站根据该多张图像生成并显示目标对象的环境信息，可以便捷、高效地对环境信息进行采集，且适用性广。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上所揭露的仅为本发明一种较佳实施例而已，当然不能以此来限定本发明之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。

Claims (22)

  1. 一种环境信息采集方法，其特征在于，包括：
    地面站向飞行器发送环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数；
    所述地面站接收所述飞行器响应所述环境信息采集指令发送的图像数据，所述图像数据包括多张图像，所述多张图像是由所述飞行器根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄得到的；
    所述地面站对所述多张图像进行拼接，并对拼接后的所述多张图像进行解析，生成并显示所述目标对象的环境信息。
  2. 根据权利要求1所述的方法，其特征在于，所述图像数据还包括拍摄方位，所述地面站对所述多张图像进行拼接，包括：
    所述地面站从所述图像数据中获取每张图像的拍摄方位；
    所述地面站根据所述每张图像的拍摄方位，对所述多张图像进行拼接，得到拼接后的所述多张图像。
  3. 根据权利要求1所述的方法，其特征在于，
    所述环境信息包括道路信息、地貌特征信息和路线规划信息中的一种或多种。
  4. 一种环境信息采集方法，其特征在于，包括：
    飞行器接收地面站发送的环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数；
    所述飞行器响应所述环境信息采集指令，根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄，得到所述目标对象的图像数据，所述图像数据包括多张图像；
    所述飞行器向所述地面站发送所述图像数据，以使所述地面站根据所述多张图像生成并显示所述目标对象的环境信息。
  5. 根据权利要求4所述的方法，其特征在于，所述环境信息采集指令携带有所述飞行控制参数和所述拍摄控制参数，所述飞行控制参数包括飞行限制高度和拍摄范围，所述拍摄控制参数包括目标拍摄精度，所述飞行器响应所述环境信息采集指令，根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄，得到所述目标对象的图像数据，包括：
    所述飞行器响应所述环境信息采集指令，根据所述飞行限制高度、所述目标拍摄精度和相机参数，确定所述飞行器的飞行高度；
    所述飞行器根据所述飞行高度和所述相机参数，确定所述飞行器在所述拍摄范围内的飞行轨迹和每次拍摄的拍摄方位；
    所述飞行器按照所述飞行轨迹飞行，并根据所述每次拍摄的拍摄方位利用相机对目标对象进行拍摄，得到所述目标对象的图像数据。
  6. 根据权利要求5所述的方法，其特征在于，所述飞行限制高度包括飞行限制高度上限，所述飞行器响应所述环境信息采集指令，根据所述飞行限制高度、所述目标拍摄精度和相机参数，确定所述飞行器的飞行高度，包括：
    所述飞行器响应所述环境信息采集指令，将飞行计算高度的初始值设为所述飞行限制高度上限，并根据所述飞行计算高度的初始值和所述相机参数计算第一实际拍摄精度；
    若所述第一实际拍摄精度大于或等于所述目标拍摄精度，则所述飞行器将所述飞行计算高度的初始值确定为飞行高度。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    若所述第一实际拍摄精度小于所述目标拍摄精度，则所述飞行器将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值；
    所述飞行器根据所述飞行计算高度的修正值和所述相机参数计算第二实际拍摄精度；
    若所述第二实际拍摄精度大于或等于所述目标拍摄精度，则所述飞行器将所述飞行计算高度的修正值确定为飞行高度。
  8. 根据权利要求7所述的方法，其特征在于，所述飞行限制高度还包括飞行限制高度下限，所述飞行器将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值之前，所述方法还包括：
    所述飞行器判断所述飞行计算高度的初始值是否小于或等于所述飞行限制高度下限；
    若是，则所述飞行器向所述地面站发送提示消息，所述提示消息用于提示所述地面站减小所述飞行限制高度下限或者所述目标拍摄精度；
    若否，则所述飞行器执行将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值的步骤。
  9. 根据权利要求5～8中任一项所述的方法，其特征在于，所述飞行器根据所述飞行高度和所述相机参数，确定所述飞行器在所述拍摄范围内的飞行轨迹和每次拍摄的拍摄方位，包括：
    所述飞行器利用相机在所述飞行高度处对目标对象进行拍摄，得到拍摄图像，并获取所述拍摄图像的尺寸信息；
    所述飞行器根据所述拍摄图像的尺寸信息确定覆盖所述拍摄范围需拍摄的图像；
    所述飞行器根据需拍摄的每张图像的中心点的方位确定每次拍摄的拍摄方位，并将所述需拍摄的每张图像的中心点按照预设规则连接所形成的轨迹确定为所述飞行器在所述拍摄范围内的飞行轨迹。
  10. 根据权利要求5～8中任一项所述的方法，其特征在于，所述飞行器搭载有照明设备，所述飞行器按照所述飞行轨迹飞行，并根据所述每次拍摄的拍摄方位利用相机对目标对象进行拍摄，得到所述目标对象的图像数据，包括：
    所述飞行器按照所述飞行轨迹飞行，并利用所述照明设备对目标对象进行照明；
    所述飞行器根据所述每次拍摄的拍摄方位利用相机对所述目标对象进行拍摄，得到所述目标对象的图像数据。
  11. 根据权利要求5～8中任一项所述的方法，其特征在于，所述飞行器的辅助飞行器搭载有照明设备，所述飞行器按照所述飞行轨迹飞行，并根据所述每次拍摄的拍摄方位利用相机对目标对象进行拍摄，得到所述目标对象的图像数据，包括：
    所述飞行器按照所述飞行轨迹飞行，并控制所述辅助飞行器利用所述照明设备对目标对象进行照明；
    所述飞行器根据所述每次拍摄的拍摄方位利用相机对所述目标对象进行拍摄，得到所述目标对象的图像数据。
  12. 一种地面站，其特征在于，包括：
    通信装置，用于向飞行器发送环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数；
    所述通信装置，还用于接收所述飞行器响应所述环境信息采集指令发送的图像数据，所述图像数据包括多张图像，所述多张图像是由所述飞行器根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄得到的；
    处理器，用于对所述多张图像进行拼接，并对拼接后的所述多张图像进行解析，生成所述目标对象的环境信息；
    输出装置，用于显示所述目标对象的环境信息。
  13. 根据权利要求12所述的地面站，其特征在于，所述图像数据还包括拍摄方位，所述处理器具体用于：
    从所述图像数据中获取每张图像的拍摄方位；
    根据所述每张图像的拍摄方位，对所述多张图像进行拼接，得到拼接后的所述多张图像。
  14. 根据权利要求12所述的地面站，其特征在于，
    所述环境信息包括道路信息、地貌特征信息和路线规划信息中的一种或多种。
  15. 一种飞行器，其特征在于，包括：
    通信装置，用于接收地面站发送的环境信息采集指令，所述环境信息采集指令携带有飞行控制参数和/或拍摄控制参数；
    飞行控制器，用于响应所述环境信息采集指令，根据所述飞行控制参数和/或所述拍摄控制参数对目标对象进行拍摄，得到所述目标对象的图像数据，所述图像数据包括多张图像；
    所述通信装置，还用于向所述地面站发送所述图像数据，以使所述地面站根据所述多张图像生成并显示所述目标对象的环境信息。
  16. 根据权利要求15所述的飞行器，其特征在于，所述环境信息采集指令携带有所述飞行控制参数和所述拍摄控制参数，所述飞行控制参数包括飞行限制高度和拍摄范围，所述拍摄控制参数包括目标拍摄精度，所述飞行控制器具体用于：
    响应所述环境信息采集指令，根据所述飞行限制高度、所述目标拍摄精度和相机参数，确定所述飞行器的飞行高度；
    根据所述飞行高度和所述相机参数，确定所述飞行器在所述拍摄范围内的飞行轨迹和每次拍摄的拍摄方位；
    按照所述飞行轨迹飞行，并根据所述每次拍摄的拍摄方位利用相机对目标对象进行拍摄，得到所述目标对象的图像数据。
  17. 根据权利要求16所述的飞行器，其特征在于，所述飞行限制高度包括飞行限制高度上限，所述飞行控制器具体用于：
    响应所述环境信息采集指令，将飞行计算高度的初始值设为所述飞行限制高度上限，并根据所述飞行计算高度的初始值和所述相机参数计算第一实际拍摄精度；
    若所述第一实际拍摄精度大于或等于所述目标拍摄精度，则将所述飞行计算高度的初始值确定为飞行高度。
  18. 根据权利要求17所述的飞行器，其特征在于，
    所述飞行控制器，还用于若所述第一实际拍摄精度小于所述目标拍摄精度，则将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值；
    所述飞行控制器，还用于根据所述飞行计算高度的修正值和所述相机参数计算第二实际拍摄精度；
    所述飞行控制器，还用于若所述第二实际拍摄精度大于或等于所述目标拍摄精度，则将所述飞行计算高度的修正值确定为飞行高度。
  19. 根据权利要求18所述的飞行器，其特征在于，所述飞行限制高度还包括飞行限制高度下限，
    所述飞行控制器，还用于判断所述飞行计算高度的初始值是否小于或等于所述飞行限制高度下限；
    所述通信装置，还用于若是，则向所述地面站发送提示消息，所述提示消息用于提示所述地面站减小所述飞行限制高度下限或者所述目标拍摄精度；
    所述飞行控制器，具体用于若否，则将所述飞行计算高度的初始值减小预设高度值，得到所述飞行计算高度的修正值。
  20. 根据权利要求16～19中任一项所述的飞行器，其特征在于，所述飞行控制器具体用于：
    利用相机在所述飞行高度处对目标对象进行拍摄，得到拍摄图像，并获取所述拍摄图像的尺寸信息；
    根据所述拍摄图像的尺寸信息确定覆盖所述拍摄范围需拍摄的图像；
    根据需拍摄的每张图像的中心点的方位确定每次拍摄的拍摄方位，并将所述需拍摄的每张图像的中心点按照预设规则连接所形成的轨迹确定为所述飞行器在所述拍摄范围内的飞行轨迹。
  21. 根据权利要求16～19中任一项所述的飞行器，其特征在于，所述飞行器搭载有照明设备，所述飞行控制器具体用于：
    按照所述飞行轨迹飞行，并利用所述照明设备对目标对象进行照明；
    根据所述每次拍摄的拍摄方位利用相机对所述目标对象进行拍摄，得到所述目标对象的图像数据。
  22. 根据权利要求16～19中任一项所述的飞行器，其特征在于，所述飞行器的辅助飞行器搭载有照明设备，所述飞行控制器具体用于：
    按照所述飞行轨迹飞行，并控制所述辅助飞行器利用所述照明设备对目标对象进行照明；
    根据所述每次拍摄的拍摄方位利用相机对所述目标对象进行拍摄，得到所述目标对象的图像数据。
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