WO2019100218A1

WO2019100218A1 - Method and apparatus for presenting maps in superposed manner, and unmanned flight system

Info

Publication number: WO2019100218A1
Application number: PCT/CN2017/112200
Authority: WO
Inventors: 田艺; 王磊; 李文林; 贺克俭; 林芊芊
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-11-21
Filing date: 2017-11-21
Publication date: 2019-05-31
Also published as: CN110168524A

Abstract

Disclosed are a method and apparatus for presenting maps in a superposed manner, and an unmanned flight system. The method comprises: acquiring a first longitude and latitude of an electronic map displayed on a display interface; according to the first longitude and latitude, acquiring N pictures of at least some longitudes and latitudes in the first longitude and latitude, wherein N is an integer greater than or equal to 1; and according to the at least some longitudes and latitudes in the first longitude and latitude, superposing the N pictures on the electronic map displayed on the display interface. The superposed N pictures can provide supplementary map data for the electronic map, so as to enable the electronic map to display accurate map data; and a user can read a new map of the region, thus guaranteeing that an unmanned aerial vehicle successfully performs a mission.

Description

Map overlay display method, device and unmanned flight system

Technical field

Embodiments of the present invention relate to the field of map technologies, and in particular, to a map overlay display method, apparatus, and unmanned flight system.

Background technique

Unmanned aerial vehicles can be applied to professional aerial photography, agricultural irrigation, power inspection, remote sensing mapping, public security monitoring and other industries. When the unmanned aerial vehicle performs the tasks of the above various industries, it is necessary to locate the position of the unmanned aerial vehicle and display the position of the unmanned aerial vehicle on the display interface of the ground station of the unmanned aerial vehicle, so that the user can operate the unmanned aerial vehicle better. Perform various tasks. In order to let the user intuitively know the exact position of the unmanned aerial vehicle, the ground station of the UAV acquires and displays an electronic map, such as: Gaode map, Google map, Baidu map, Tencent map, etc., and then according to the latitude and longitude information of the unmanned aerial vehicle, Mark the current location of the UAV on the electronic map. However, if there is no map data for a certain area on the electronic map, or if the map of a certain area is updated but the map data on the electronic map is not updated, this will make the map not visible to the user or see. It is an old map that shows inaccurate maps that affect the UAV's mission.

Summary of the invention

Embodiments of the present invention provide a map overlay display method and apparatus, and an unmanned flight system for superimposing pictures on an electronic map to supplement map data of an electronic map.

In a first aspect, an embodiment of the present invention provides a map overlay display method, including:

Obtaining a first latitude and longitude of the electronic map displayed on the display interface;

Obtaining, according to the first latitude and longitude, at least part of the N pictures whose latitude and longitude belong to the first latitude and longitude, wherein the N is an integer greater than or equal to 1;

The N pictures are superimposed in the electronic map displayed on the display interface according to the at least part latitude and longitude belonging to the first latitude and longitude.

In a second aspect, an embodiment of the present invention provides a map overlay display device, including: a processor and a display interface;

The processor is configured to acquire a first latitude and longitude of the electronic map displayed by the display interface, and acquire, according to the first latitude and longitude, at least part of the N latitude and longitude latitude and longitude belonging to the first latitude and longitude, wherein the N is greater than or equal to 1 An integer of the N pictures superimposed on the electronic map displayed on the display interface according to the at least partial latitude and longitude belonging to the first latitude and longitude.

In a third aspect, an embodiment of the present invention provides an unmanned flight system, including: an unmanned aerial vehicle and a control device;

The control device is configured to control the unmanned aerial vehicle;

The control device includes the map overlay display device according to the first aspect of the present invention.

In a fourth aspect, an embodiment of the present invention provides a chip, a memory, and a processor;

The memory is configured to store program instructions;

The processor is configured to invoke the program instructions stored in the memory to implement a map overlay display method according to the first aspect of the present invention.

In a fifth aspect, the present invention provides a storage medium, comprising: a readable storage medium and a computer program, and the computer program is used to implement a map overlay display method according to the first aspect of the present invention.

The map overlay display method and device and the unmanned flight system provided by the embodiment of the present invention acquire the first latitude and longitude of the electronic map displayed on the display interface; and obtain at least part of the latitude and longitude belonging to the first latitude and longitude according to the first latitude and longitude a picture; superimposing the N pictures in the electronic map displayed on the display interface according to the at least part latitude and longitude belonging to the first latitude and longitude. If there is no map data of a certain area on the electronic map, or map data of a certain area on the electronic map is not updated, by using the scheme of the embodiment, the image may be superimposed in the area of the electronic map to supplement the map for the electronic map. The data, so that the electronic map displays accurate map data, the user can see the new map of the area to ensure that the unmanned aerial vehicle successfully performs the task.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a schematic architectural diagram of an unmanned flight system 100 in accordance with an embodiment of the present invention;

2 is a flowchart of a method for displaying a map overlay according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of superimposing a picture on an displayed electronic map according to an embodiment of the present invention; FIG.

FIG. 4 is another schematic diagram of superimposing a picture on an displayed electronic map according to an embodiment of the present invention; FIG.

FIG. 5 is another schematic diagram of superimposing a picture on an displayed electronic map according to an embodiment of the present invention; FIG.

FIG. 6 is a flowchart of a method for displaying a map overlay according to another embodiment of the present invention;

FIG. 7 is a schematic diagram of a plurality of area superimposed pictures on an displayed electronic map according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic structural diagram of a map overlay display apparatus according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic structural diagram of an unmanned flight system 900 according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Embodiments of the present invention provide a map overlay display method, apparatus, and unmanned aerial vehicle. The unmanned aerial vehicle may be a rotorcraft, for example, a multi-rotor aircraft that is propelled by air by a plurality of propelling devices, and embodiments of the present invention are not limited thereto.

1 is a schematic architectural diagram of an unmanned flight system 100 in accordance with an embodiment of the present invention. This embodiment is described by taking a rotorcraft unmanned aerial vehicle as an example.

The unmanned aerial vehicle system 100 can include an unmanned aerial vehicle 110, a pan/tilt head 120, a display device 130, and a control device 140. Among them, the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, and a rack. The UAV 110 can be in wireless communication with the control device 140 and the display device 130.

The rack can include a fuselage and a tripod (also known as a landing gear). The fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame. The stand is coupled to the fuselage for supporting when the UAV 110 is landing.

Power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric machines 152 corresponding to one or more propellers 153, wherein motor 152 is coupled Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are disposed on the arm of the unmanned aerial vehicle 110; the electronic governor 151 is configured to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal. Current is supplied to the motor 152 to control the rotational speed of the motor 152. Motor 152 is used to drive propeller rotation to power the flight of unmanned aerial vehicle 110, which enables unmanned aerial vehicle 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the UAV 110 can be rotated about one or more axes of rotation. For example, the above-described rotating shaft may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 152 can be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

Flight control system 160 may include flight controller 161 and sensing system 162. The sensing system 162 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the UAV 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system can be a global positioning system (English: Global Positioning System, referred to as: GPS) or. The flight controller 161 is used to control the flight of the unmanned aerial vehicle 110, for example, the flight of the unmanned aerial vehicle 110 can be controlled based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the UAV 110 in accordance with pre-programmed program instructions, or may control the UAV 110 in response to one or more control commands from the control device 140.

The pan/tilt 120 can include a motor 122. The pan/tilt is used to carry the imaging device 123. The flight controller 161 can control the motion of the platform 120 via the motor 122. Optionally, as another embodiment, the platform 120 may further include a controller for controlling the motion of the platform 120 by controlling the motor 122. It should be understood that the platform 120 can be independent of the UAV 110 or a portion of the UAV 110. It should be understood that the motor 122 can be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan/tilt can be located at the top of the UAV or at the bottom of the UAV.

The imaging device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the imaging device 123 may communicate with the flight controller and perform shooting under the control of the flight controller. The imaging device 123 of the present embodiment includes at least a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor.

Display device 130 is located at the ground end of unmanned aerial vehicle system 100, can communicate with unmanned aerial vehicle 110 wirelessly, and can be used to display attitude information for unmanned aerial vehicle 110. In addition, an image taken by the imaging device can also be displayed on the display device 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated in the control device 140.

The control device 140 is located at the ground end of the unmanned aerial vehicle system 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remote manipulation of the unmanned aerial vehicle 110.

It should be understood that the above-mentioned nomenclature of the components of the unmanned flight system is for the purpose of identification only and is not to be construed as limiting the embodiments of the invention.

FIG. 2 is a flowchart of a method for displaying a map overlay according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:

S201. Acquire a first latitude and longitude of the electronic map displayed on the display interface.

In this embodiment, the display interface may be a display screen of a smart phone or a tablet computer or a desktop computer or a notebook computer. The electronic map may be an electronic map of a high-tech map, an electronic map of a Google map, an electronic map of a Baidu map, an electronic map of a Tencent map, and the like, and the embodiment is not limited thereto. The current display interface currently displays an electronic map of a partial area. Therefore, in this embodiment, the latitude and longitude information of the area corresponding to the currently displayed electronic map may be obtained, for example, a longitude value and a latitude value, or a longitude range value and a latitude range. Value, the latitude and longitude information obtained here is referred to as the first latitude and longitude.

S202. Acquire, according to the first latitude and longitude, at least part of the N pictures whose latitude and longitude belong to the first latitude and longitude, and the N is an integer greater than or equal to 1.

In this embodiment, according to the first latitude and longitude obtained above, and the latitude and longitude of the picture at least partially overlapping with the first latitude and longitude, N pictures are obtained from at least one picture, and N is an integer greater than or equal to 1. The latitude and longitude of each picture in the N pictures overlaps with the first latitude and longitude, and the overlapping latitude and longitude belongs to both the latitude and longitude of the picture and also the first latitude and longitude. The latitude and longitude of the picture overlaps with the first latitude and longitude, that is, the latitude and longitude of the picture belongs to the first latitude and longitude; or, the figure The partial latitude and longitude of the slice overlaps with the first latitude and longitude, that is, part of the latitude and longitude of the picture belongs to the first latitude and longitude, and the other part of the latitude and longitude does not belong to the first latitude and longitude.

It should be noted that the latitude and longitude of the picture refers to the latitude and longitude of the area displayed in the picture.

S203. Superimpose the N pictures in the electronic map displayed on the display interface according to the at least part latitude and longitude belonging to the first latitude and longitude.

In this embodiment, according to the at least part of the latitude and longitude belonging to the first latitude and longitude, that is, according to the part of the latitude and longitude of the N pictures overlapping with the first latitude and longitude, N pictures are superimposed on the electronic map displayed on the display interface, The electronic display that superimposes the N pictures is displayed on the display interface. It should be noted that at least part of the latitude and longitude of each picture belonging to the first latitude and longitude may be different.

In this embodiment, the first latitude and longitude of the electronic map displayed on the display interface is acquired; and according to the first latitude and longitude, at least part of the N latitude and longitude latitude and longitude belongs to the N latitude and longitude; according to the first latitude and longitude The N pictures are superimposed on the electronic map displayed on the display interface for at least part of latitude and longitude. If there is no map data of a certain area on the electronic map, or map data of a certain area on the electronic map is not updated, by using the scheme of the embodiment, the image may be superimposed in the area of the electronic map to supplement the map for the electronic map. The data, so that the electronic map displays accurate map data, the user can see the new map of the area to ensure that the unmanned aerial vehicle successfully performs the task.

In some embodiments, an implementation manner of the foregoing S203 is: determining, for each of the N pictures, the at least part of the latitude and longitude of the first latitude and longitude in the picture as the second latitude and longitude; Determining, by the second latitude and longitude, a sub-picture corresponding to a second latitude and longitude in the picture; and determining, according to the second latitude and longitude, a sub-area corresponding to the second latitude and longitude in the electronic map; overlaying the sub-picture display On the sub-area of the electronic map.

In this embodiment, N pictures are superimposed on an electronic map, wherein the implementation process of superimposing each picture on the electronic map is similar. Therefore, the following is an example of superimposing any one of the pictures on the electronic map as an example to determine The latitude and longitude of the picture belonging to the first latitude and longitude, that is, determining the latitude and longitude of the picture overlapping with the first latitude and longitude, where the latitude and longitude is referred to as the second latitude and longitude. The second latitude and longitude may be part of the latitude and longitude of the picture, which means that part of the latitude and longitude of the picture belongs to the first latitude and longitude, and therefore, the area in the currently displayed electronic map includes a part of the picture. Alternatively, the second latitude and longitude may be the latitude and longitude of the picture, which means that the entire latitude and longitude of the picture belongs to the first latitude and longitude, and therefore, the area in the currently displayed electronic map includes all the areas in the picture. Then, this embodiment is further based on The second latitude and longitude determined above determines a sub-picture corresponding to the second latitude and longitude in the picture, and the sub-picture may be a part of the picture in the picture, or the sub-picture is the picture. In this embodiment, the sub-region corresponding to the second latitude and longitude in the electronic map is determined according to the second latitude and longitude, and the sub-region is the region corresponding to the second latitude and longitude currently displayed in the electronic map. In this embodiment, the sub-picture in the determined picture is overlaid on the sub-area of the electronic map. Therefore, the current display interface displays that the sub-picture is overlaid on the sub-area of the electronic map, and the sub-area of the electronic map is sub-picture. Instead of the display, the position is exactly matched when the sub-picture is superimposed on the sub-area of the electronic map. The defect that the sub-area has no map data or the map data of the sub-area is not updated is avoided, and the accuracy of the map data displayed on the electronic map is improved.

The picture may be a picture obtained by aerial photography, that is, the actual regional appearance is presented in the pictures, which is beneficial for the user to accurately know the actual situation through the pictures superimposed on the electronic map.

In some embodiments, the aerial picture is a picture taken by an unmanned aerial vehicle.

Taking the map data of a certain area in the electronic map as an example, by superimposing N pictures on the electronic map by the scheme of the embodiment, a map picture as shown in FIG. 3 can be formed. Through the map screen shown in Figure 3, the user can know the map information of the area.

If the electronic map has a map of a certain area but is not updated, the N pictures can be superimposed on the electronic map by the solution of the embodiment to form a map picture as shown in FIG. 4 or FIG. 5, wherein The electronic map currently displays a two-dimensional plane map. Figure 5 shows the satellite map currently displayed on the electronic map. Through the map screen shown in Figure 4 or Figure 5, the user can know the updated map information of the area. .

It should be noted that the present embodiment does not limit the type of the map currently displayed on the electronic map, and may be, for example, a three-dimensional map or a street view map.

FIG. 6 is a flowchart of a method for displaying a map overlay according to another embodiment of the present invention. As shown in FIG. 6, the method in this embodiment may include:

S601. Acquire a first latitude and longitude of the electronic map displayed on the display interface and a first zoom level.

In this embodiment, how to obtain the first latitude and longitude of the electronic map displayed on the display interface can be referred to the related description in the embodiment shown in FIG. 2, and details are not described herein again.

In addition, the embodiment also obtains a scaling ratio between a picture of an area corresponding to the currently displayed electronic map and an actual picture of the area, which is also referred to as a zoom level of the electronic map. User can operate The electronic map is enlarged or reduced. If the electronic map is enlarged, the zoom level of the electronic map is larger, the range of the area displayed in the current electronic map is small, and the distance corresponding to the earth of each pixel is smaller; if the electronic map is smaller, the electronic map is smaller. The smaller the zoom level of the electronic map, the larger the Earth distance corresponding to each pixel point, and the range of the area displayed in the current electronic map is expanded. This embodiment refers to the zoom level of the acquired electronic map as the first zoom level.

The zoom level is, for example, 15 to 21 levels, and the pictures of different zoom levels have different earth distances corresponding to each pixel point. The earth distance corresponding to each pixel point of the current zoom level is corresponding to each pixel point of the previous level zoom level. Half the distance of the earth. For example, when the level 15 zoom level is used, the distance of the earth corresponding to each pixel point is 4.4 meters. When the level 16 is zoomed, the distance corresponding to each pixel is 2.2 meters.

S602. Acquire, according to the first latitude and longitude and the first zoom level, at least part of the N pictures whose latitude and longitude belongs to the first latitude and longitude and the zoom level is the first zoom level, where the M is greater than or An integer equal to N.

In this embodiment, according to the obtained first latitude and longitude and the first zoom level, at least part of the pictures whose latitude and longitude belongs to the first latitude and longitude and the zoom level is the first zoom level are determined from the M pictures, wherein the M pictures are determined from the M pictures. A picture satisfying the above condition is N pictures, M is an integer greater than or equal to N, and N is an integer greater than or equal to 1.

In some embodiments, one implementation of S602 can include S6021 and S6022.

S6021: Acquire, according to the first zoom level, T pictures whose zoom level is the first zoom level from the M pictures; the T is an integer greater than or equal to N and less than or equal to M.

S6022: Acquire the N pictures from the T pictures according to the first latitude and longitude.

In this embodiment, each picture in the M pictures has a zoom level, and at least one picture in the M pictures has the same zoom level. In this embodiment, according to the first zoom level, a picture whose zoom level is the first zoom level is obtained from the M pictures, and the picture whose zoom level is the first zoom level from the M pictures is T pictures. Then, according to the first latitude and longitude, at least part of the pictures whose latitude and longitude belongs to the first latitude and longitude are obtained from the T pictures, that is, N pictures.

In some embodiments, each of the above-mentioned pictures may be a picture obtained by taking aerial photographs taken by a plurality of different heights, the different heights corresponding to different zoom levels, and each of the pixels of the different altitude photographed aerial images have different earth distances. Wherein, at least one of the pictures can be obtained by taking aerial pictures taken at the same height.

In some embodiments, each of the above pictures is a picture obtained by taking aerial pictures taken at different zoom magnifications of the same height, and the different zoom magnifications correspond to different zoom levels, and each pixel in the aerial picture taken by the different zoom multiple corresponds to each pixel. The distance between the Earth is different. Wherein, at least one of the pictures can be obtained from an aerial picture taken by the same zoom factor.

The aerial picture may be a picture taken by an unmanned aerial vehicle.

One implementation manner of obtaining the above M pictures is: cutting the original picture according to each of the K types of zoom levels to obtain the above M pictures. Where K is an integer greater than or equal to 1. The latitude and longitude of the original picture is known, that is, the latitude and longitude of the region in the original picture is known, and the earth distance and latitude and longitude corresponding to each pixel point in the original picture can be determined, and the zoom level of the original picture can also be determined. According to each of the K kinds of zoom levels, the original picture having the zoom level is cut, so that M pictures can be obtained, wherein the M pictures have the above K kinds of zoom levels, and each picture has one Kind of zoom level. In some embodiments, each of the M pictures obtained after cutting is square, that is, each picture includes Q*Q pixels, and the Q is a positive integer, for example: Q is equal to 256, that is, each picture The size is 256*256 pixels.

In this embodiment, a plurality of small pictures are obtained by cutting the original picture, so that when the picture is superimposed on the electronic map, at least one small picture corresponding to the area is superimposed according to the area currently displayed by the electronic map, without superimposing a large original. The image, because the size of the cut image is smaller than the original image size, can quickly load the cut image, thereby improving the efficiency of map overlay display.

In addition, the embodiment further stores the zoom level and latitude and longitude of the M pictures and each of the M pictures. In an implementation manner, the embodiment may store each of the pictures as a subdirectory in a file directory of the longitude of the picture, and the file directory of the longitude is stored as a subdirectory in a file of a zoom level of the picture. In the directory, the file of each picture is named the latitude of the picture. In another implementation manner, the embodiment may store each picture as a subdirectory in a file directory of the latitude of the picture, and the file directory of the latitude is stored as a subdirectory at a zoom level of the picture. In the file directory, the file name of each picture is the longitude of the picture.

The file name of the longitude file directory is the longitude of the picture, and the file name of the file directory of the latitude is the latitude of the picture, and the file name of the file directory of the zoom level is the zoom level of the picture. In this embodiment, the image may be saved according to the directory and file name of {zoom level/longitude/latitude.png}, or the image may be saved according to the directory and file name of {zoom level/latitude/longitude.png}. In the picture, the picture is not limited to the png image format, and can also be a picture format such as JEPG. Take "20/856145/456615.png" as an example, 20 is the zoom level, 856145 is the longitude, and 456615 is the dimension, which means that a directory with the name 20 is created first, and another name is 856145 in the directory of 20. Directory, then create a 456515.png file in the directory of 856145.

In some embodiments, if the M pictures are cut by the original picture, the original picture may be an aerial picture. If an original picture of a different zoom level is to be obtained, the original picture may be a picture obtained by taking aerial pictures taken at a plurality of different heights, the different heights corresponding to different zoom levels; or, the original picture may be different by zooming at the same height A picture obtained by multiplying aerial photographs, the different zoom magnifications corresponding to different zoom levels. The aerial picture is a picture taken by an unmanned aerial vehicle.

In some embodiments, if the M pictures are not obtained by cutting, the M pictures may be considered to be the original pictures described above.

S603. Superimpose the N pictures in the electronic map displayed on the display interface according to the at least part latitude and longitude belonging to the first latitude and longitude.

For the specific implementation process of the S603 in this embodiment, refer to the related description in the embodiment shown in FIG. 2, and details are not described herein again.

In this embodiment, the first latitude and longitude of the electronic map displayed by the display interface and the first zoom level are used to obtain N pictures superimposed on the electronic map, because the zoom level of the N pictures on the electronic map is equal to the electronic map. The current zoom level, which makes N pictures merge into the electronic map when superimposed on the electronic map, and the electronic map superimposed with N pictures has no visual difference, which further improves the display effect of the picture supplement electronic map.

In some embodiments, the embodiment obtains the first instruction, before displaying the N pictures in the electronic map, according to the at least part of the latitude and longitude belonging to the first latitude and longitude. The first instruction is used to indicate that the overlay map is displayed. The first instruction may be an instruction obtained by detecting a user's operation, and the first instruction is used to indicate that the overlay map is displayed. In this embodiment, the N image is superimposed on the display interface on the display interface, thereby realizing that the user needs to display. Perform the above scenario when overlaying the map.

In some embodiments, the present embodiment further acquires a second instruction before displaying the N pictures in the electronic map according to the at least part latitude and longitude belonging to the first latitude and longitude. The second instruction is used to indicate that the overlay map is cancelled; and then according to the second And instructing, on the display interface, the electronic map that does not superimpose the N pictures. In this embodiment, the second instruction may be an instruction obtained by detecting a user's operation, and the second instruction is used to instruct to cancel display of the overlay map, and then the embodiment displays an electronic map that does not superimpose N pictures on the display interface. Therefore, when the user does not need to display the overlay map, only the electronic map is displayed, and accordingly, the user can compare the electronic map in which N pictures are superimposed and N pictures are not superimposed.

In some embodiments, the embodiment further acquires a third instruction for indicating P regions in the electronic map displaying the overlay map; the P is an integer greater than or equal to 1. The third instruction may be an instruction obtained by detecting a user's operation. In the embodiment, according to the at least part of the latitude and longitude of the first latitude and longitude, an implementation manner of superimposing the N pictures in the electronic map displayed on the display interface is: according to the The at least partial latitude and longitude of the latitude and longitude, the N pictures are superimposed in the P areas of the electronic map displayed on the display interface. That is, N pictures are superimposed in the P areas of the currently displayed electronic map, for example, P is equal to 2, N1 pictures are superimposed in the first area, and N2 pictures are superimposed in the second area, N1+N2= N.

In some embodiments, when the P areas are multiple areas, the P areas correspond to multiple tasks for acquiring pictures. Taking P equal to 2 as an example, it means that two tasks for acquiring a picture need to be superimposed in two areas of the electronic map. For example, as shown in FIG. 7 , the user operates the task selection column displayed on the display interface, and the user selects The task of acquiring the picture of the area 1 and the task of acquiring the picture of the area 3, therefore, the present embodiment displays the superimposed picture on these two areas of the electronic map. With the solution of the embodiment, it is convenient for the user to manage whether multiple areas of the electronic map display the superimposed picture.

FIG. 8 is a schematic structural diagram of a map overlay display apparatus according to an embodiment of the present invention. As shown in FIG. 8, the map overlay display apparatus 800 of the present embodiment may include a processor 801 and a display interface 802.

The processor 801 may be a central processing unit (CPU), and the processor 801 may be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The processor 801 is configured to acquire a first latitude and longitude of an electronic map displayed by the display interface 802. And acquiring, according to the first latitude and longitude, at least part of the N pictures belonging to the first latitude and longitude, the N being an integer greater than or equal to 1; according to the at least part of the latitude and longitude belonging to the first latitude and longitude, The N pictures are superimposed on the electronic map displayed on the display interface 802.

In some embodiments, the processor 801 is specifically configured to: determine, for each of the N pictures, the at least part of the latitude and longitude of the first latitude and longitude in the picture as a second latitude and longitude; Determining a sub-picture corresponding to the second latitude and longitude in the picture according to the second latitude and longitude; and determining a sub-area corresponding to the second latitude and longitude in the electronic map according to the second latitude and longitude; covering the sub-picture Displayed on the sub-area of the electronic map.

In some embodiments, the processor 801 is further configured to acquire, according to the first latitude and longitude, a first zoom level of the electronic map before acquiring at least part of the N pictures whose latitude and longitude belong to the first latitude and longitude;

The processor 801 is configured to: when the at least part of the latitude and longitude latitude and longitude belongs to the N latitude and longitude, according to the first latitude and longitude, according to the first latitude and longitude and the first zoom level, from the M Obtaining the N pictures in the picture, the M is an integer greater than or equal to N, and the zoom level of the N pictures is equal to the first zoom level.

In some embodiments, the processor 801 is further configured to: cut the original picture according to each of the K types of zoom levels, obtain the M pictures, and store a zoom level of each picture, Latitude and longitude, and each of the pictures; the K is an integer greater than or equal to 1.

In some embodiments, the processor 801 is specifically configured to: store each picture as a subdirectory in a file directory of the longitude of the picture, and store the longitude file directory as a subdirectory in the picture. In the file directory of the zoom level, the file of each picture is named the latitude of the picture; or, each picture is stored as a sub-directory in a file directory of the latitude of the picture, and the file of the latitude The directory is stored as a subdirectory in a file directory of the zoom level of the picture, and the file name of each picture is the longitude of the picture.

In some embodiments, the zoom level is larger, and the zoom level corresponds to a smaller earth distance corresponding to a pixel point in the divided picture.

In some embodiments, the processor 801 is configured to: obtain, according to the first zoom level, T pictures with a zoom level of the first zoom level from the M pictures; the T is greater than or An integer equal to N and less than or equal to M; according to the first latitude and longitude, from the T pictures Obtain the N pictures.

In some embodiments, each of the M pictures includes Q*Q pixels, and Q is a positive integer.

In some embodiments, the processor 801 is further configured to display, before displaying the N pictures in the electronic map on the display interface 802 according to the at least partial latitude and longitude belonging to the first latitude and longitude. Obtaining a first instruction, the first instruction is used to indicate that the overlay map is displayed.

In some embodiments, the processor 801 is further configured to display, before displaying the N pictures in the electronic map on the display interface 802 according to the at least partial latitude and longitude belonging to the first latitude and longitude. Obtaining a second instruction, the second instruction is used to instruct to cancel display of the overlay map; and displaying, according to the second instruction, the electronic map that does not superimpose the N pictures on the display interface 802.

In some embodiments, the processor 801 is further configured to: acquire a third instruction, where the third instruction is used to indicate P regions in the electronic map that display the overlay map; and the P is an integer greater than or equal to 1. ;

The processor 801 is configured to: when the N pictures are superimposed on the electronic map displayed on the display interface 802 according to the at least part of latitude and longitude belonging to the first latitude and longitude, The at least part of the latitude and longitude of the first latitude and longitude, the N pictures are superimposed in the P areas of the electronic map displayed on the display interface 802.

In some embodiments, when the P areas are multiple areas, the P areas correspond to multiple tasks for acquiring pictures.

In some embodiments, the picture is a picture obtained by aerial photography.

In some embodiments, the picture is a picture obtained by aerial photographs taken at a plurality of different heights, the different heights corresponding to different zoom levels; or

The picture is a picture obtained by an aerial picture taken at different zoom magnifications of the same height, the different zoom magnifications corresponding to different zoom levels.

Optionally, the apparatus of this embodiment may further include a memory, which is not shown in the figure. The processor 801, the display interface 802, and the memory are connected by a bus. The memory can include read only memory and random access memory and provides instructions and data to the processor 801. A portion of the memory may also include a non-volatile random access memory. The memory is used to store the code that performs the map overlay display method. The processor 801 is configured to call the memory stored code to perform the above scheme.

The device in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

FIG. 9 is a schematic structural diagram of an unmanned flight system 900 according to an embodiment of the present invention. As shown in FIG. 9, the unmanned flight system 900 of the present embodiment includes an unmanned aerial vehicle 901 and a control device 902. The control device 902 is used to control the unmanned aerial vehicle 901. The control device 902 includes a map overlay display device, and the map overlay display device can adopt the structure of the embodiment shown in FIG. 8 , which can correspondingly implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principle and technical effects are similar. I will not repeat them here.

It should be noted that the embodiments of the present invention are described by taking the field of unmanned aerial vehicles as an example, but the solution of the present invention is not limited to the field of unmanned aerial vehicles.

A person skilled in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by using hardware related to the program instructions. The foregoing program may be stored in a computer readable storage medium, and the program is executed when executed. The foregoing storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and the like, which can store program codes. Medium.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A map overlay display method, comprising:

Obtaining a first latitude and longitude of the electronic map displayed on the display interface;

Obtaining, according to the first latitude and longitude, at least part of the N pictures whose latitude and longitude belong to the first latitude and longitude, wherein the N is an integer greater than or equal to 1;

The N pictures are superimposed in the electronic map displayed on the display interface according to the at least part latitude and longitude belonging to the first latitude and longitude.
The method according to claim 1, wherein said superimposing said N pictures in said electronic map displayed on said display interface according to said at least part of latitude and longitude belonging to said first latitude and longitude comprises :

Determining, for each of the N pictures, the at least part of the latitude and longitude of the first latitude and longitude in the picture as the second latitude and longitude;

Determining, according to the second latitude and longitude, a sub-picture corresponding to the second latitude and longitude in the picture; and determining, according to the second latitude and longitude, a sub-area corresponding to the second latitude and longitude in the electronic map;

The sub-picture overlay is displayed on the sub-area of the electronic map.
The method according to claim 1 or 2, wherein the method further comprises:

Obtaining a first zoom level of the electronic map;

And acquiring, according to the first latitude and longitude, at least part of the N pictures whose latitude and longitude belong to the first latitude and longitude, including:

Obtaining, according to the first latitude and longitude and the first zoom level, the N pictures from the M pictures, where the M is an integer greater than or equal to N, and the zoom level of the N pictures is equal to the first The zoom level.
The method of claim 3, further comprising:

The original picture is cut according to each of the K types of zoom levels, the M pictures are obtained, and the zoom level, latitude and longitude, and each picture of each picture are stored; the K is greater than or equal to An integer of 1.
The method according to claim 4, wherein said storing a zoom level, a latitude and longitude, and each of the pictures of each picture comprises:

Each of the pictures is stored as a subdirectory in a file directory of the longitude of the picture, and the long file directory is stored as a subdirectory in a file directory of a zoom level of the picture, The file name of each image is the latitude of the image; or,

Each of the pictures is stored as a subdirectory in a file directory of the latitude of the picture, and the file directory of the latitude is stored as a subdirectory in a file directory of a zoom level of the picture, and the file name of each picture For the longitude of the picture.
The method according to claim 4 or 5, wherein the zoom level is larger, and the zoom level corresponds to a smaller earth distance corresponding to a pixel point in the divided picture.
The method according to any one of claims 3-6, wherein the determining the N pictures from the M pictures according to the first latitude and longitude and the first zoom level comprises:

Obtaining, from the M pictures, T pictures of the first zoom level according to the first zoom level; the T is an integer greater than or equal to N and less than or equal to M;

Obtaining the N pictures from the T pictures according to the first latitude and longitude.
The method according to any one of claims 3-7, wherein each of the M pictures comprises Q*Q pixels, and the Q is a positive integer.
The method according to any one of claims 1-8, wherein the displaying the electronic map in the electronic map is superimposed on the display interface according to the at least part latitude and longitude belonging to the first latitude and longitude. Before the picture, it also includes:

Obtaining a first instruction, the first instruction is used to indicate that the overlay map is displayed.
The method according to any one of claims 1 to 9, wherein said displaying said electronic map is superimposed on said display interface according to said at least part of latitude and longitude belonging to said first latitude and longitude Before the picture, it also includes:

Obtaining a second instruction, the second instruction is used to instruct to cancel display of the overlay map;

According to the second instruction, the electronic map in which the N pictures are not superimposed is displayed on the display interface.
The method according to any one of claims 1 to 10, further comprising:

Obtaining a third instruction, where the third instruction is used to indicate P regions in the electronic map displaying the overlay map; the P is an integer greater than or equal to 1;

And superimposing the N pictures in the electronic map displayed on the display interface according to the at least part latitude and longitude belonging to the first latitude and longitude, including:

And superimposing the N pictures in the P areas of the electronic map displayed on the display interface according to the at least part latitude and longitude belonging to the first latitude and longitude.
The method according to claim 11, wherein when the P regions are a plurality of regions, the P regions correspond to a plurality of tasks for acquiring pictures.
The method according to any one of claims 1 to 12, wherein the picture is a picture obtained by aerial photography.
The method according to any one of claims 3 to 9, wherein the picture is a picture obtained by taking aerial pictures taken by a plurality of different heights, the different heights corresponding to different zoom levels; or

The picture is a picture obtained by an aerial picture taken at different zoom magnifications of the same height, the different zoom magnifications corresponding to different zoom levels.
The method according to claim 13 or 14, wherein the aerial picture is a picture taken by an unmanned aerial vehicle.
A map overlay display device, comprising: a processor and a display interface;

The processor is configured to acquire a first latitude and longitude of the electronic map displayed by the display interface, and acquire, according to the first latitude and longitude, at least part of the N latitude and longitude latitude and longitude belonging to the first latitude and longitude, wherein the N is greater than or equal to 1 An integer of the N pictures superimposed on the electronic map displayed on the display interface according to the at least partial latitude and longitude belonging to the first latitude and longitude.
The device according to claim 16, wherein the processor is configured to: determine, for each picture in the N pictures, the at least part of the picture that belongs to the first latitude and longitude The latitude and longitude is a second latitude and longitude; determining, according to the second latitude and longitude, a sub-picture corresponding to the second latitude and longitude in the picture; and determining, according to the second latitude and longitude, the sub-area corresponding to the second latitude and longitude in the electronic map; The sub-picture overlay is displayed on the sub-area of the electronic map.
The device according to claim 16 or 17, wherein the processor is further configured to acquire the at least part of the latitude and longitude latitude and longitude belonging to the first latitude and longitude N pictures according to the first latitude and longitude The first zoom level of the electronic map;

The processor, when acquiring at least part of the latitude and longitude latitude and longitude belonging to the first latitude and longitude according to the first latitude and longitude, specifically, according to the first latitude and longitude and the first zoom level, from the M sheets Obtaining the N pictures in the picture, the M is an integer greater than or equal to N, and the zoom level of the N pictures is equal to the first zoom level.
The device according to claim 18, wherein the processor is further configured to: The original picture is cut according to each of the K types of zoom levels, the M pictures are obtained, and the zoom level, latitude and longitude, and each picture of each picture are stored; the K is greater than or equal to An integer of 1.
The device according to claim 19, wherein the processor is configured to: store each picture as a subdirectory in a file directory of the longitude of the picture, and the file directory of the longitude is used as The subdirectory is stored in a file directory of a zoom level of the picture, and the file of each picture is named the latitude of the picture; or, each picture is stored as a subdirectory in a file directory of the latitude of the picture, And the file directory of the latitude is stored as a subdirectory in a file directory of a zoom level of the picture, and the file name of each picture is the longitude of the picture.
The apparatus according to claim 19 or 20, wherein the zoom level is larger, and the zoom level corresponds to a smaller earth distance corresponding to a pixel point in the divided picture.
The device according to any one of claims 18 to 21, wherein the processor is configured to: obtain, according to the first zoom level, a zoom level from the M pictures to the first zoom level. T pictures; the T is an integer greater than or equal to N and less than or equal to M; according to the first latitude and longitude, the N pictures are obtained from the T pictures.
The apparatus according to any one of claims 18-22, wherein each of the M pictures comprises Q*Q pixels, and the Q is a positive integer.
The apparatus according to any one of claims 16 to 23, wherein the processor is further configured to display the display on the display interface according to the at least part of latitude and longitude belonging to the first latitude and longitude Before superimposing the N pictures in the electronic map, a first instruction is obtained, where the first instruction is used to indicate that the overlay map is displayed.
The apparatus according to any one of claims 16 to 24, wherein the processor is further configured to display the display on the display interface according to the at least part of latitude and longitude belonging to the first latitude and longitude Before superimposing the N pictures in the electronic map, acquiring a second instruction, the second instruction is used to instruct to cancel display of the overlay map; and displaying, according to the second instruction, the N pictures are not superimposed on the display interface The electronic map.
The device according to any one of claims 16 to 25, wherein the processor is further configured to: acquire a third instruction, where the third instruction is used to indicate P regions of the electronic map displaying the overlay map The P is an integer greater than or equal to 1;

The processor is in the at least part of latitude and longitude according to the first latitude and longitude, in the When the N pictures are superimposed on the electronic map displayed on the display interface, specifically, the electronic map displayed on the display interface according to the at least part of the latitude and longitude belonging to the first latitude and longitude The N pictures are superimposed in the P areas.
The device according to claim 26, wherein when the P regions are a plurality of regions, the P regions correspond to a plurality of tasks for acquiring a picture.
The apparatus according to any one of claims 16 to 27, wherein the picture is a picture obtained by aerial photography.
The device according to any one of claims 18 to 24, wherein the picture is a picture obtained by taking aerial pictures taken by a plurality of different heights, the different heights corresponding to different zoom levels; or

The picture is a picture obtained by an aerial picture taken at different zoom magnifications of the same height, the different zoom magnifications corresponding to different zoom levels.
The apparatus according to claim 28 or 29, wherein said aerial picture is a picture taken by an unmanned aerial vehicle.
An unmanned flight system, comprising: an unmanned aerial vehicle and a control device;

The control device is configured to control the unmanned aerial vehicle;

The control device includes the map overlay display device according to any one of claims 16-30.