WO2021016907A1 - Procédé de détermination de trajectoire de vol orbital, procédé de photographie aérienne, terminal, engin volant sans pilote embarqué et système - Google Patents

Procédé de détermination de trajectoire de vol orbital, procédé de photographie aérienne, terminal, engin volant sans pilote embarqué et système Download PDF

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Publication number
WO2021016907A1
WO2021016907A1 PCT/CN2019/098526 CN2019098526W WO2021016907A1 WO 2021016907 A1 WO2021016907 A1 WO 2021016907A1 CN 2019098526 W CN2019098526 W CN 2019098526W WO 2021016907 A1 WO2021016907 A1 WO 2021016907A1
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WIPO (PCT)
Prior art keywords
preset shooting
route
unmanned aerial
aerial vehicle
terminal
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PCT/CN2019/098526
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English (en)
Chinese (zh)
Inventor
黄振昊
陈建林
徐富
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 CN201980032726.4A priority Critical patent/CN112154391A/zh
Priority to PCT/CN2019/098526 priority patent/WO2021016907A1/fr
Publication of WO2021016907A1 publication Critical patent/WO2021016907A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • 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
    • 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

Definitions

  • This application relates to the field of unmanned aerial vehicles, and in particular to a method for determining a circling route, an aerial photography method, a terminal, an unmanned aerial vehicle, and a system.
  • drones are increasingly used to photograph buildings and construct geometric structures of buildings.
  • the common operation method is to fly around the buildings, take photos of the buildings at different flying heights, and then construct geometric relationships between the buildings based on the photos taken.
  • the circumnavigation flight scheme in the prior art has a fixed radius of the circumnavigation route at each different height.
  • this method will cause the damage to buildings with different upper and lower widths or radii, such as tower buildings. Different locations have different resolutions for taking photos of the building.
  • this application provides a method, aerial photography method, terminal, unmanned aerial vehicle, and system for determining a circling route.
  • a method for determining a circumnavigation route is applied to a terminal, and the method includes:
  • the route radius of different preset shooting heights is determined, wherein when the preset shooting heights are different, the distance from the UAV to the surface of the building is the preset shooting spacing;
  • an orbiting route is generated.
  • a terminal for determining a circumnavigation route the terminal is used for an unmanned aerial vehicle to determine the circumnavigation route, and the terminal includes: a processor;
  • a memory for storing processor executable instructions
  • the processor is configured to:
  • an orbiting route is generated.
  • An aerial photography method applied to an unmanned aerial vehicle comprising:
  • photos are taken along a circle route.
  • An unmanned aerial vehicle comprising: a wireless communication device, a flight control device and a pan/tilt;
  • the pan/tilt is used to carry camera equipment
  • the wireless communication device is used to establish a wireless channel with a terminal, and the UAV uses the wireless channel for data transmission;
  • the flight control device is used to receive a preset shooting interval and a plurality of different preset shooting heights sent by a terminal; control the unmanned aerial vehicle to fly to the preset shooting height, wherein the unmanned aerial vehicle is at a different
  • the shooting height is preset, the distance from the UAV to the surface of the building is the preset shooting interval; and the UAV is controlled to travel from the UAV along the orbiting route at the multiple preset shooting heights.
  • the camera equipment mounted on the gimbal takes photos.
  • An unmanned aerial vehicle system comprising: an unmanned aerial vehicle and a terminal for determining a circling route;
  • the terminal sends a preset shooting interval and a plurality of different preset shooting heights to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies to the preset shooting height, wherein, at different preset shooting heights When the distance between the UAV and the surface of the building is the preset shooting interval;
  • the terminal determines the route radius of the different preset shooting heights according to the preset shooting distance, the terminal generates an orbiting route, and sends the orbiting route to the unmanned aerial vehicle so that the unmanned The aircraft takes photos along the orbiting route.
  • the horizontal distance from each point on the generated circumnavigation route to the surface of the building is the same.
  • the unmanned aerial vehicle flies along the circumnavigation route.
  • the distance from each position of the flight to the surface of the building is the same, so that the photo resolution can be kept consistent when taking aerial photography of tower-like buildings or buildings with different vertical width/radius.
  • Figure 1 is a schematic diagram of a method for determining a circumnavigation route in the prior art
  • Fig. 2 is a flowchart of a method for determining a circling route shown in an exemplary embodiment of the present application
  • Fig. 3 is a schematic diagram of determining a circle route shown in an exemplary embodiment of the present application.
  • Fig. 4 is a schematic diagram of an interpolation sublayer shown in an exemplary embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of a terminal for determining a circle route shown in an exemplary embodiment of the present application
  • Fig. 6 is a flowchart of a method for aerial photography shown in an exemplary embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle shown in an exemplary embodiment of the present application.
  • Fig. 8 is a schematic structural diagram of an unmanned aerial vehicle shown in an exemplary embodiment of the present application.
  • Fig. 9 is an interactive block diagram of an unmanned aerial vehicle system shown in an exemplary embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of an unmanned aerial vehicle system shown in an exemplary embodiment of the present application.
  • FIG. 11A is a schematic diagram of a circle route determined by using the prior art for the "chunsun” building shown in an exemplary embodiment of the present application;
  • FIG. 11B is a schematic diagram of a circle route determined using the technical solution in this application for the "spring bamboo shoots" building shown in an exemplary embodiment of the present application;
  • FIG. 11C is a schematic diagram of the sub-layer of the circumnavigation route refinement of the "chunsun" building shown in an exemplary embodiment of the present application.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as second information, and similarly, the second information may also be referred to as first information.
  • word “if” as used herein can be interpreted as "when” or “when” or "in response to determination”.
  • Figure 1 shows a tower-shaped building.
  • the radius of the building at height H1 is r1, and at height H2
  • the radius of the building at is r2
  • the radius of the building at height H3 is r3, where the sizes of r1, r2, and r3 are different.
  • the sizes of r1, r2, and r3 are all different, the sizes of a, b, and c are also different, that is, the distances from the aircraft to the surface of the building at H1, H2, and H3 are all different , It will be very close to the surface of the building at some heights, and far away from the surface of the building at some heights. Since the shooting distance is a factor that determines the photo resolution, the resolution of the photos taken by the aircraft at different heights All are different.
  • an exemplary embodiment of the present invention shows a method for determining a circle route, which is applied to a terminal, and the specific process is shown in Fig. 2:
  • Step S201 Obtain a preset shooting interval and a plurality of different preset shooting heights
  • Step S202 Determine the route radius of the different preset shooting heights according to the preset shooting distance, wherein when the preset shooting heights are different, the distance from the UAV to the surface of the building is the same Preset shooting distance;
  • Step S203 Generate a circling route according to the route radius of the multiple preset shooting heights.
  • step S201 Before step S201, first obtain the reference line position of the building.
  • the reference line position is selected on the building. It can be the central axis position of the building or other reference positions selected by the user. Make a limit.
  • the horizontal distance from the reference line position to the surface of the building represents the building radius of the building itself. For buildings with different upper and lower widths, at different heights, the size of the building radius It is also different.
  • the preset shooting distance plus the horizontal distance from the reference line position to the surface of the building at the preset shooting height can be used to calculate the preset shooting height The radius of the route under.
  • step S202 the unmanned aerial vehicle flies to a plurality of different preset shooting heights set in step S201, and at different preset shooting heights, no matter at the preset shooting height, the reference line position to the building What is the horizontal distance of the surface of the object, keep the horizontal distance from the UAV to the surface of the building at a fixed value, so as to ensure that the photos taken at each preset shooting height have the same resolution.
  • step S203 assuming that at the preset shooting height, the horizontal distance from the UAV to the surface of the building is d, and the horizontal distance from the position of the reference line to the surface of the building is d1, it can be calculated based on these two distance parameters
  • the radius of the route out of the preset shooting height (that is, the horizontal distance from the shooting position to the reference line position) is d+d1. If at another preset shooting height, the horizontal distance from the reference line position to the surface of the building is d2, then according to the above calculation method, the route radius at this preset shooting height can be calculated as d+d2.
  • the radius of the route at the two preset shooting heights is also different, but the horizontal distance from the UAV to the building surface is the same at the two preset shooting heights. Thereby, it can be ensured that under different preset shooting heights, the distance from the location where the photo is taken to the surface of the building is also the same.
  • the resolutions of photos taken by the UAV along the orbiting route are all the same.
  • the horizontal distance from the surface of the building to the surface of the building at each position of the unmanned aerial vehicle while flying along the circle route is the preset shooting distance , So the resolutions of photos taken by UAVs are all the same.
  • the method before generating a circle route according to the route radius of the plurality of preset shooting heights, the method further includes the step of: determining whether to shoot in two adjacent preset shootings according to the set vertical overlap ratio. Insert the sub-layer between the heights; if so, calculate the sub-layer height according to the vertical overlap ratio, and use the interpolation method to insert the sub-layer height between the two adjacent preset shooting heights. Layer, calculate the route radius of each sub-layer.
  • the circumnavigation route generated according to the above method may be a relatively rough circumnavigation route. The photos taken under this circumnavigation route cannot cover the entire surface of the building.
  • a vertical overlap rate is set.
  • the vertical overlap rate refers to: The ratio of the length of the overlapping part of adjacent photos along the same route to the side length of the photo can also be understood as the overlapping part between the photos and the photos on the same route.
  • the geometric diagram is shown in Figure 4. In an example, the vertical overlap ratio is 70% to 80%, and the value can also be adjusted according to actual needs.
  • the vertical overlap ratio is set to Pv, then in order to satisfy the overlap under this Pv value
  • the height difference between the shooting heights of two adjacent layers should be h, and then the number of pixels in the vertical direction Pix_Num_v and the size of each pixel Pix_Size between the heights of two adjacent marking feature points should be obtained, d is none
  • the distance between the human aircraft and the surface of the building Assuming that the focal length of the camera lens used to take photos on the UAV is f, the sub-layer height h under the vertical overlap ratio Pv can be calculated using formula (1):
  • the sub-layer calculated under the set vertical overlap ratio Pv is h
  • the method of interpolating sub-layers allows users to manually mark feature points of various heights in the early stage without marking many feature points, as long as the feature points of some layers are roughly marked, and then calculated according to the set vertical overlap rate If the height of the sub-layer is obtained, it is judged whether the sub-layer needs to be interpolated to further refine the number of layers.
  • the step of obtaining the preset shooting distance may be: the unmanned aerial vehicle flies to a certain preset shooting height, and obtaining the distance from the marked feature point to the surface of the building as the preset shooting distance.
  • the marked feature point can be obtained in the following manner: the marked feature point is the position where the user clicks on the photo. For example, the user selects a feature point position by clicking on the display screen of the terminal, and presses the dot key, then the horizontal distance from the feature point position to the building surface is the preset shooting interval.
  • Another example is: the coordinates in the input location data of the building. In this example, you can also input the location data of the building. The location data contains the coordinates corresponding to each point on the building.
  • the preset shooting distance can also be set in other ways. For example, before the UAV flies to the preset shooting height, the user can first set a shooting distance, for example, the shooting distance is set to 10 meters from the surface of the building. Then the unmanned aerial vehicle flies to a preset shooting height of 10 meters from the surface of the building, and then takes a photo and sends the captured photo to the user. The user judges whether the set shooting interval is appropriate according to the resolution of the captured photo. If the resolution of the photo does not meet the ideal requirements, it means that the shooting distance set above is too large, and then reset a shooting distance, for example, update the shooting distance to 6 meters. In this way, you can find a suitable shooting distance that can make the resolution of the captured photos meet the requirements.
  • the initially selected shooting interval may not be a suitable shooting interval. If the UAV is too far away from the surface of the building during flight, the captured photos will have insufficient clarity.
  • it further includes: determining whether to reacquire a new shooting according to the resolution of the photo taken by the unmanned aerial vehicle at the preset shooting height spacing.
  • the UAV after the user initially sets a shooting interval, the UAV first flies to the location, and sends a photo taken at the location to the user, and the user determines the resolution of the photo at the location.
  • the user can adjust it by himself to reset the shooting interval. By using the above adjustment methods multiple times, you can ensure that the user sets an appropriate shooting distance by himself. This final shooting distance is used as the preset shooting distance, and in the subsequent process of marking feature points and generating a circle route, this preset shooting distance Will not change again.
  • the way to obtain the photo resolution is to calculate the shooting distance. Since the lens parameters (such as focal length) of the shooting equipment used are available, it can be based on the distance from the shooting position to the building surface (ie The preset shooting interval) is calculated at the resolution of the photos taken at this shooting position.
  • the photo resolution includes: the photo resolution carried in the photo sent by the unmanned aerial vehicle. In this example, after a photo is taken by an unmanned aerial vehicle at a certain location, the photo is sent to the user. Since the sent photo contains the information of the photo resolution, the user can directly obtain it from the received photo Photo resolution.
  • the preset shooting distance is not less than a preset safety distance.
  • Unmanned aerial vehicles need to maintain a certain safe distance from the building when flying aerial photography of buildings, and cannot be too close to the building. Therefore, when determining the preset shooting distance, the safe distance can be considered to make the preset shooting The distance is not less than this safety distance. If the preset shooting distance is found to be too small and smaller than the safety distance, then the shooting distance is reset. For example, when the user initially sets the shooting distance, in order to make the captured photos have a higher resolution, the shooting distance is set too small, which causes the UAV to fly too close to the surface of the building. In this case, there is no guarantee For the safe flight of the human aircraft, the shooting distance can be increased, and the preset shooting distance can be increased to a value not less than the safe distance based on the safety distance of the unmanned aerial vehicle flying.
  • the safe distance includes: a safe distance obtained by measurement by a distance measuring device, or a safe distance obtained by human observation.
  • the distance measuring device mounted on the unmanned aerial vehicle can measure the safe distance, and after the distance measuring device measures the safe distance, the safe distance is sent to the user, or it can be the terminal display screen used by the user Directly observe whether the distance between the UAV and the building is greater than the safe distance.
  • the process of generating the circumnavigation route can be described in further detail. Since the above method is to layer the dots at different preset shooting heights and calculate the route radius separately for each layer, the UAV first flies to an initial preset Height. After marking the feature points and calculating the route radius at this preset altitude, generate the orbiting trajectory at the current altitude, and then update to another preset altitude, continue to complete the steps of marking the feature points and calculating the route radius, and generate an update Orbit at the rear height.
  • the order of defining the unmanned aerial vehicle marking feature points is from top to bottom, for example, starting to mark the feature points from the highest point of a building, and each time a high-level feature point marking is completed, it will descend to a certain height, and it will be lower than the descending height.
  • the height of each drop can be a fixed height set in advance, and the feature points of each layer can be marked according to the principle of uniform drop of the same height, or the user can drop any height by themselves.
  • the distance of each drop can be Not the same, this application is not restricted.
  • the orbiting trajectories generated at each preset height are synthesized into a complete orbiting route, which is a layered orbiting trajectory.
  • this application also provides an embodiment of a device for determining a circumnavigation route.
  • FIG. 5 it is a schematic diagram of a device for determining a circumnavigation route, including: Processor 501 and memory 502;
  • the memory 502 is used to store executable instructions
  • the processor 501 is configured to:
  • an orbiting route is generated.
  • the resolutions of photos taken by the UAV along the orbiting route are all the same.
  • the processor 501 before the processor 501 generates a circle route according to the route radius of the plurality of preset shooting heights, it is further configured to:
  • the step of the processor 501 acquiring a preset shooting interval includes:
  • the distance from the marked feature point to the surface of the building is acquired as the preset shooting distance.
  • the characteristic point is the position on the photo that the user clicks on, or the coordinates in the inputted position data of the building.
  • the processor 501 is further configured to determine whether to reacquire a new shooting interval according to the resolution of the photo taken by the unmanned aerial vehicle at the preset shooting height.
  • the photo resolution includes: the photo resolution calculated by the processor 501 according to a preset shooting interval, or the photo resolution carried in the photo sent by the unmanned aerial vehicle.
  • the preset shooting distance is not less than a preset safety distance.
  • the safe distance includes: a safe distance obtained by measurement and calculation by the processor 501 through a distance measuring device, or a safe distance obtained by human observation.
  • the relevant part can refer to the part of the description of the method embodiment.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solution of this application. Those of ordinary skill in the art can understand and implement it without creative work.
  • An exemplary embodiment of the present invention also shows an aerial photography method, which is applied to an unmanned aerial vehicle.
  • the specific flowchart is shown in Fig. 6:
  • Step S601 Receive a preset shooting interval and multiple different preset shooting heights sent by the terminal;
  • Step S602 Fly to the preset shooting height, where the distance from the UAV to the surface of the building at different preset shooting heights is the preset shooting distance;
  • Step S603 Taking photos along the orbiting route at multiple preset shooting heights.
  • the unmanned aerial vehicle receives the preset shooting interval and multiple preset shooting heights sent by the terminal, and according to the received multiple different preset shooting heights, it first flies to one of the preset shooting heights, where the shooting height is Next, fly to a position from the surface of the building that is the received preset shooting distance.
  • step S603 after the orbiting route is generated in the terminal that determines the orbiting route, the terminal is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle flies along the orbiting route and takes pictures according to the received orbiting route.
  • the unmanned aerial vehicle when the unmanned aerial vehicle is at different preset shooting heights, the resolutions of the photos captured are all the same. Since the unmanned aerial vehicle receives the preset shooting distance, it keeps the distance from the surface of the building as the preset shooting distance at each of the preset shooting heights. Therefore, the camera is captured at each preset shooting height. All photos have the same resolution.
  • RTK Real Time Kinematic
  • the unmanned aerial vehicle After the unmanned aerial vehicle receives the flight control command and flies above the building, it turns on the RTK mode to perform the aerial photography mission.
  • RTK Real Time Kinematic
  • RTK Real Time Kinematic
  • carrier phase observations After the RTK mode is turned on, the three-dimensional positioning results of the station in the specified coordinate system can be obtained in real time, and the accuracy is high, reaching centimeter level .
  • the route radius of the unmanned aerial vehicle flying at different altitudes is different, but at each position around the route, the distance between the unmanned aerial vehicle and the surface of the building They are all the same, so it can be ensured that the resolution of the photos taken by the unmanned aerial vehicle when flying along the generated circumnavigation route to perform aerial photography missions remains the same.
  • the method further includes the step of: receiving the sub-layer height sent by the terminal, and flying to the sub-layer height of the sub-layer height.
  • the height of the sub-layer is calculated according to the set vertical direction overlap rate after the terminal generates the surrounding route according to the route radius of the plurality of preset shooting heights. For example, if the unmanned aerial vehicle flies according to the circumnavigation route in the above aerial photography method, the photographs taken may not cover the entire building surface, so the flight trajectory during aerial photography can be refined, that is, the sub-layers can be interpolated in the circumnavigation route.
  • the route radius of the shooting altitude is calculated according to the set vertical direction overlap rate after generating the circle route.
  • the terminal that determines the orbiting route analyzes the orbiting route generated by manually marking the feature points, it is considered that the photos taken under the orbiting route do not meet the set vertical overlap rate, and then according to the set vertical direction
  • the height of the interpolated sub-layer is calculated by overlapping, and the sub-layer is inserted in the orbiting route generated by manually marking the feature points, so as to further refine the orbiting route.
  • the refined orbiting route can meet the set vertical overlap rate, which is based on The refined circumnavigation route performs aerial photography missions, and the photos taken can be guaranteed to cover the entire building surface.
  • the unmanned aerial vehicle receives the refined orbital route, it flies along the refined orbital route and performs an aerial photography mission.
  • the unmanned aerial vehicle after the unmanned aerial vehicle flies to the preset shooting height, it further includes the steps of: sending the shot photos to the terminal; if the shooting interval reset by the terminal is received, flying to the reset The photos are taken at the location of the shooting interval and sent to the terminal. For example, after the unmanned aerial vehicle flies to a certain preset shooting height, it takes a photo at a preset shooting distance from the surface of the building, and then sends the photo to the terminal. After receiving the photo, the terminal finds that the clarity of the photo is not good. Too ideal, the resolution does not meet the requirements, so reset the shooting distance. When the unmanned aerial vehicle receives an instruction to update the shooting interval, it flies to a position from the surface of the building that is the reset shooting interval, re-takes the photo, and sends it to the terminal.
  • the unmanned aerial vehicle includes the resolution information of the photo in the photo sent to the terminal. After receiving the photo through the terminal, the user can directly read the photo resolution from the resolution information center in the photo, and Determine whether the resolution of the photo meets the needs of the user.
  • FIG. 7 it is a schematic structural diagram of an unmanned aerial vehicle, including: a wireless communication device 701, flying Control device 702 and PTZ 703;
  • the pan/tilt 703 is used to carry camera equipment
  • the wireless communication device 701 is used to establish a wireless channel with a terminal, and the UAV 702 uses the wireless channel for data transmission;
  • the flight control device 702 is configured to receive a preset shooting interval and a plurality of different preset shooting heights sent by the terminal; control the unmanned aerial vehicle to fly to the preset shooting height, wherein the unmanned aerial vehicle is at different locations.
  • the preset shooting height is described, the distance from the UAV to the surface of the building is the preset shooting interval; and the unmanned aerial vehicle is controlled to travel along the surrounding route at the multiple preset shooting heights.
  • the camera equipment mounted on the PTZ 703 takes photos.
  • the mutual connection relationship of each unit part is: the flight control device 702 is connected to the wireless communication device 701, and the wireless communication device 701 receives the flight control instruction through the established wireless channel, and then sends it to the flight control device 702 , The flight control device 702 controls and executes corresponding flight control instructions.
  • the wireless communication device 701 is also connected to a gimbal 703, which is equipped with a camera 7031. The gimbal 703 can ensure that the camera is in a stable shooting position and a good shooting angle during flight, and can prevent flying In the process of taking pictures, there was jitter, resulting in unclear pictures.
  • the unmanned aerial vehicle performs aerial photography tasks along the orbiting route generated by the method for determining the orbiting route.
  • the gimbal 703 can automatically adjust the shooting angle so that the camera on board can shoot The angle is a horizontal shooting angle. Since the UAV has the same horizontal distance from the surface of the building at each shooting position, the resolution of the photos taken by the shooting device is the same at each position along the surrounding route.
  • the flight control device 702 after the flight control device 702 receives the preset shooting interval and multiple different preset shooting heights sent by the terminal, it is also used to: receive the sub-floor height sent by the terminal and control the unmanned The aircraft flies to a sub-layer height of the sub-layer height to take photos; wherein, the sub-layer height is the terminal after generating a circle route according to the route radius of the plurality of preset shooting heights, according to the set
  • the vertical overlap ratio is calculated. For example: if an unmanned aerial vehicle performs an aerial photography mission according to a circumnavigation route determined by artificially marked feature points, the photos taken cannot cover the entire outer surface of the building. At this time, the circumnavigation route can be further refined to ensure sufficient verticality. Coverage rate.
  • the control terminal can calculate the height of the sub-layer according to the set vertical coverage rate, and then insert several sub-layers with the height of the sub-layer in the initial circle route generated by manually marking the feature points.
  • the channel sends the refined sub-layer information and the refined orbital route to the UAV 70.
  • the UAV 70 receives the corresponding instruction through the wireless channel established by the wireless communication device 701, and then the UAV 70
  • the control device 702 controls the unmanned aerial vehicle to fly to a position corresponding to the height of the sub-floor, and continues to perform the aerial photography mission along the refined circle route.
  • the terminal calculates the height of the sub-layer and inserts the sub-layer according to the set vertical coverage rate, which can refer to the corresponding content above, which will not be repeated here.
  • the UAV further includes an image transmission device 704.
  • the image transmission device 704 is connected to the wireless communication device 701 and the pan-tilt 703 for transmitting pictures.
  • the photo is first sent to the image transmission device 704.
  • the image transmission device 704 After the image transmission device 704 receives the photo, it is established through the wireless communication device 701 Wireless channel to send the photo to the control terminal.
  • the control terminal After the control terminal receives the photo sent by the unmanned aerial vehicle, if it decides to readjust the shooting interval according to the resolution information of the photo, the control terminal will resend a shooting interval to the unmanned aerial vehicle, and the unmanned aerial vehicle The aircraft flies to the position corresponding to the updated shooting interval, and after the photo is taken again, the image transmission device 704 sends the photo to the control terminal until the photo resolution meets the requirement.
  • the image transmission device 704 sends the photographed photos to the terminal through the wireless channel including the photo resolution.
  • An exemplary embodiment of the present invention also shows an unmanned aerial vehicle system, including an unmanned aerial vehicle and a terminal for determining a circumnavigation route.
  • the interaction block diagram between the unmanned aerial vehicle and the terminal is shown in FIG. 9;
  • the terminal sends a preset shooting interval and a plurality of different preset shooting heights to the unmanned aerial vehicle (S901), so that the unmanned aerial vehicle flies to the preset shooting altitude (S902).
  • the preset shooting height the distance from the UAV to the surface of the building is the preset shooting interval;
  • the unmanned aerial vehicle sends the photos taken at the preset shooting height to the terminal (S903);
  • Step S904 The terminal determines the route radius of the different preset shooting heights according to the preset shooting distance, and the terminal generates a circle route; and sends the circle route to the unmanned aerial vehicle (S905) , The unmanned aerial vehicle is made to take photos along the orbiting route (S906).
  • the resolutions of photos taken by the UAV along the orbiting route are all the same.
  • the terminal after the terminal generates a circumnavigation route, it further performs the following steps:
  • the unmanned aerial vehicle After the unmanned aerial vehicle receives the height of the sub-layer sent by the terminal, it flies to the sub-layer whose height is the height of the sub-layer and takes a picture.
  • the unmanned aerial vehicle after the unmanned aerial vehicle takes a photo along the orbiting route, it further includes sending the taken photo to the terminal, and the terminal receives the taken photo and obtains the photo resolution.
  • the photo resolution includes: a photo resolution calculated by the terminal according to a preset shooting distance, or a photo resolution carried in a photo sent by the UAV to the terminal.
  • the terminal is shown as the schematic structure of the remote controller 101 in the figure.
  • the structure diagram of the unmanned aerial vehicle system is shown in FIG. 10.
  • the interaction between the unmanned aerial vehicle in the unmanned aerial vehicle system and the terminal that determines the orbiting route is established through wireless communication to establish information transmission.
  • the system includes The human aircraft 100 is connected to the remote controller 101, and the wireless communication device 1001 of the UAV 100 is connected to the wireless communication device 1012 of the remote controller 101.
  • the remote controller 101 sends control instructions to the UAV 100 through the wireless channel established by the wireless communication device.
  • the aircraft 100 receives the control instruction, executes the corresponding instruction, and sends the captured photo to the remote control 101 through the wireless channel established by the wireless communication device.
  • the unmanned aerial vehicle When the unmanned aerial vehicle flies to a position with a preset shooting interval from the surface of the building, the user presses the shooting control part 1014 on the remote control 101. After the unmanned aerial vehicle 100 receives the shooting instruction, it takes a photo and transmits The device 1004 sends the photos to the remote control 101, and the user controls and views the received photos through the viewfinder operation component 1013 on the display screen of the remote control.
  • the shooting control component 1014, the flight control component 1014, and the viewfinder operation component 1013 may use an APP to realize their respective functions.
  • FIG. 11A In order to more intuitively explain and explain the technical solution in this application, take the "spring bamboo shoot”-shaped building shown in FIG. 11A as an example. If the surrounding flight method in the prior art is used to take aerial photography of this building, no one The flight path of the aircraft is shown in Figure 11A. At the position near the top of the "Chunsun” building, the shooting position of the UAV is far from the surface of the building, while in the middle and lower part of the "Chunsun” building, the UAV The shooting position is very close to the surface of the building, which results in the low resolution of the photos taken near the top of the building, and the high resolution of the photos taken in the lower part of the building.
  • the unmanned aerial vehicle receives the updated shooting interval, flies to the updated shooting position, takes the picture and sends it to the remote control
  • the terminal sends the taken photo again, and when the resolution of the photo obtained from the remote control terminal meets the requirement for the clarity of the photo, the user presses the dot button to mark the feature point. If the shooting distance is too small and is smaller than the safety distance that the UAV needs to maintain during the flight, the position of the feature point can be remarked to ensure the flight safety of the UAV.
  • the distance from the unmanned aerial vehicle to the surface of the "Chunsun” building at this time It is set to the shooting distance D, and at each preset shooting height, it is ensured that the distance between the UAV and the building surface is the shooting distance D.
  • the remote control terminal After the UAV has marked the characteristic points at height H1 and calculated the route radius at height H1, the remote control terminal generates a trajectory at height H1, then updates the preset shooting height to H2, and then The unmanned aerial vehicle sends a flight instruction. After the unmanned aerial vehicle receives the updated shooting height H2, it flies to the height H2, repeats the step of marking the feature points, and the remote control terminal generates a trajectory at the height H2. Repeat the above steps in turn to generate surround tracks of the 9 preset shooting heights from H1 to H9.
  • the remote control terminal can determine whether it is necessary to insert sub-layers between these layered orbiting tracks before generating a complete orbiting route based on these layered orbiting tracks. First set a vertical overlap rate, set to 70%, then the sub-layer height calculated according to the above formula (1) is h, that is to say, if the vertical overlap rate of 70% is to be met, then every The shooting height of one layer should be h. If H1-H2>h, insert a refined sub-layer between the heights H1 and H2. In fact, when users actually use manual dotting, generally in order to reduce the workload of marking feature points, the number of preset shooting heights is often selected, and the height of each layer is generally greater than the calculated sub-layer height h.
  • the orbiting trajectory generated by manual dotting can be refined by interpolating sub-layers.
  • the remote control terminal Assuming that the layered surround trajectory after interpolating the sub-layers is as shown in FIG. 11C, the remote control terminal generates a complete orbital route according to the orbital trajectory in FIG. 11C, and sends the orbiting route to the unmanned aerial vehicle. Perform aerial photography missions along the orbiting route.
  • the unmanned aerial vehicle takes aerial photography along the circumnavigation route generated by the above method, no matter which altitude the photo is taken, the distance from the surface of the "chunsun” building is always D, so the resolution of the photo is the same. This solves the problem of different resolutions of photos taken at different heights in the prior art.
  • the method of interpolating sub-layers is adopted, the user does not need to do a lot of work when manually marking the feature points. As long as the feature points are roughly marked at several preset shooting heights, the surrounding trajectory is generated, and then through the interior Insert the sub-layer to further refine the orbiting trajectory, thereby generating a refined and complete orbiting course.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de détermination d'une trajectoire de vol orbital, un procédé de photographie aérienne, un terminal, un engin volant sans pilote embarqué et un système. Le procédé de détermination d'une trajectoire de vol orbital consiste à : acquérir une distance de photographie prédéfinie et une pluralité de hauteurs de photographie prédéfinies différentes (S201) ; en fonction de la distance de photographie prédéfinie, déterminer des rayons de trajectoire de vol aux différentes hauteurs de photographie prédéfinies, les distances entre un engin volant sans pilote embarqué, lorsqu'il se trouve aux différentes hauteurs de photographie prédéfinies, et une surface d'un bâtiment étant toutes égales à la distance de photographie prédéfinie (S202) ; et en fonction des rayons de trajectoire de vol à la pluralité de hauteurs de photographie prédéfinies, générer une trajectoire de vol orbital (S203). À l'aide du procédé, la distance horizontale entre chaque point sur la trajectoire de vol orbital générée et la surface du bâtiment est la même, et lorsque l'engin volant sans pilote embarqué vole le long de la trajectoire de vol orbital pour exécuter une tâche de photographie aérienne, la résolution d'une photographie prise par l'engin volant sans pilote embarqué lorsqu'il vole à proximité de chaque position est uniforme, de sorte que les résolutions des photographies peuvent être maintenues uniformes lorsque la photographie aérienne est réalisée sur un bâtiment en forme de tour ou un bâtiment de largeurs/rayons supérieurs et inférieurs différents.
PCT/CN2019/098526 2019-07-31 2019-07-31 Procédé de détermination de trajectoire de vol orbital, procédé de photographie aérienne, terminal, engin volant sans pilote embarqué et système WO2021016907A1 (fr)

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CN201980032726.4A CN112154391A (zh) 2019-07-31 2019-07-31 确定环绕航线的方法、航拍方法、终端、无人飞行器及系统
PCT/CN2019/098526 WO2021016907A1 (fr) 2019-07-31 2019-07-31 Procédé de détermination de trajectoire de vol orbital, procédé de photographie aérienne, terminal, engin volant sans pilote embarqué et système

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CN113252008B (zh) * 2021-04-17 2022-09-20 应急管理部国家自然灾害防治研究院 一种航空遥感窄视场相机拍摄控制方法
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