WO2022077236A1

WO2022077236A1 - Control method for mapping camera, mapping camera, unmanned aerial vehicle, and mapping system

Info

Publication number: WO2022077236A1
Application number: PCT/CN2020/120703
Authority: WO
Inventors: 吴利鑫; 朱玲龙; 何纲; 方朝晖; 黄振昊
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2022-04-21
Also published as: CN113906362A

Abstract

A control method for a mapping camera (412, 50), the mapping camera (412, 50), an unmanned aerial vehicle (41), and a mapping system. The mapping camera (412, 50) is mounted to the unmanned aerial vehicle (41). The method comprises: S202, in the process of the unmanned aerial vehicle (41) performing a mapping operation according to a target route, determining a target position where a focusing lens group of a lens (51) of the mapping camera (412, 50) is located when the lens (51) is focused to infinity; and S204, adjusting the focusing lens group to the target position and performing focusing locking, so as to control the mapping camera (412, 50) to perform image acquisition in a mapping area during the flight of the unmanned aerial vehicle (41) according to the target route. Since the focusing lens group of the mapping camera (412, 50) is not physically locked, in the process of performing a mapping task, the target position where the focusing lens group is located when the lens (51) is focused to infinity in the current operating environment can be automatically determined, and the position of the focusing lens group is adjusted, so that the problem that acquired images are blurred due to the drift of the focal position of the mapping camera (412, 50) caused by temperature change can be solved.

Description

Control method of surveying and mapping camera, surveying and mapping camera, unmanned aerial vehicle and surveying and mapping system

technical field

The present application relates to the technical field of surveying and mapping, and in particular, to a control method of a surveying and mapping camera, a surveying and mapping camera, an unmanned aerial vehicle, and a surveying and mapping system.

Background technique

UAV has a wide range of applications in the field of surveying and mapping. Usually, a surveying and mapping camera is mounted on the UAV. When the UAV flies according to a predetermined route, the image of the surveying and mapping area is collected by the surveying and mapping camera. At present, the lens of the surveying and mapping camera is usually a non-detachable lens, and before the surveying and mapping camera leaves the factory, the position of the focusing lens group when the lens is focused to infinity is calibrated, and then the focusing lens group is fixed in this position by physical locking. Since the UAV needs to operate in different operating environments, the temperature of different operating environments will change, and the position of the focus will also drift with the temperature changes, resulting in blurred images of the collected surveying and mapping areas, which cannot be modeled. Therefore, it is necessary to provide a solution to the problem of the focus position drift of the surveying and mapping camera due to temperature changes, so as to ensure clear images collected during the surveying and mapping process.

SUMMARY OF THE INVENTION

In view of this, the present application provides a control method of a surveying and mapping camera, a surveying and mapping camera, an unmanned aerial vehicle, and a surveying and mapping system.

According to a first aspect of the present application, a method for controlling a surveying and mapping camera is provided, wherein the surveying and mapping camera is mounted on an unmanned aerial vehicle, and the method includes:

During the surveying and mapping operation of the drone according to the target route, determining the target position where the focusing lens group of the lens is located when the lens of the surveying and mapping camera is focused to infinity;

The focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.

According to a second aspect of the present application, a surveying and mapping camera is provided, the surveying and mapping camera is mounted on a drone, the surveying and mapping camera includes a processor, a memory, and a computer program stored in the memory for execution by the processor, When the processor executes the computer program, the following steps are implemented:

According to a third aspect of the present application, there is provided an unmanned aerial vehicle comprising the surveying and mapping camera of the above-mentioned second aspect.

According to a fourth aspect of the present application, a surveying and mapping system is provided, the surveying and mapping system includes a drone and a control terminal, the control terminal is installed with a designated APP, and the drone includes a surveying and mapping camera;

The designated APP is used to receive the target route input by the user and send it to the UAV;

The surveying and mapping camera includes a processor, a memory, and a computer program stored in the memory for execution by the processor. When the processor executes the computer program, the following steps are implemented:

During the process of the drone performing the surveying and mapping operation according to the target route, determining the target position where the focusing lens group of the lens is located when the lens of the surveying and mapping camera is focused to infinity;

According to a fifth aspect of the present application, there is provided a computer-readable storage medium on which computer program instructions are stored. When the instructions are executed by a processor, the method for controlling a surveying and mapping camera mentioned in the first aspect can be implemented.

By applying the solution provided in this application, in the process of the UAV performing the surveying and mapping task according to the target route, the target position of the focusing lens group when the lens of the surveying and mapping camera mounted on the UAV is focused to infinity can be automatically determined, and then the target position of the focusing lens group can be determined. The focusing lens group is adjusted to the target position and the focus is locked, so that the surveying and mapping camera can capture images of the surveying and mapping area. Since the focusing lens group of the surveying and mapping camera is not physically locked, during the execution of the surveying and mapping task, the target position of the focusing lens group when the lens is focused to infinity in the current operating environment can be automatically determined, and the position of the focusing lens group can be adjusted. It can solve the problem that the focus position of the surveying and mapping camera drifts due to temperature changes, resulting in blurred images.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 is a schematic diagram of an infinity focus range of a camera according to an embodiment of the present application.

FIG. 2 is a flowchart of a method for controlling a surveying and mapping camera according to an embodiment of the present application.

FIG. 3( a ) is a schematic diagram of a target route according to an embodiment of the present application.

Figure 3(b) is a schematic diagram of adding a buffer area outside the target flight route according to an embodiment of the present application.

FIG. 4 is a schematic diagram of an application scenario of an embodiment of the present application.

FIG. 5 is a schematic diagram of a logical structure of a surveying and mapping camera according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

When using a camera to capture an image, in order to capture a clear image, the object to be captured can be focused, and the focus can be adjusted to the plane where the object to be captured is located, so as to ensure that the captured image of the captured object is clear. The lens of a camera is generally composed of multiple groups of lenses. By adjusting the distance between one or more lens groups and other lens groups, the position of the focus can be adjusted. Among them, the lens group used to change the focus position is called focus. Lens group, the position of the focus can be changed by adjusting the position of the focusing lens group, such as moving the focus forward or backward, so that it is aimed at the target to be photographed.

The lens of the camera usually also includes an infinite distance threshold, which is related to the aperture, pixel, and sensor of the camera. When the distance between the photographed target and the lens exceeds the infinite distance threshold, the photographed target is focused, and the image of the photographed target greater than the infinite distance threshold in the camera is clear. For example, assuming that the infinity distance threshold of a certain type of surveying and mapping camera is 100m, when the distance between the surveying and mapping camera and the target being photographed is greater than 100m, focus the surveying and mapping camera, and use the surveying and mapping camera to shoot within the range of 100m to infinity. The photographed target is clear. As shown in Figure 1, when the distance between the photographed target and the lens of the surveying and mapping camera is greater than the infinity distance threshold d, it is generally said that the photographed target is located within the infinity focus range of the lens of the surveying and mapping camera. The imaging in the surveying and mapping camera is clear, and when the distance between the photographed target and the lens of the surveying and mapping camera is less than the infinity distance threshold d, it is generally said that the photographed target is outside the infinity focus range of the lens of the surveying and mapping camera. The image of the subject in the mapping camera is blurred.

In order to make the camera image clearly when shooting objects beyond the infinity distance threshold, the camera is usually focused at infinity (also called focusing to infinity), that is, the focus target is located within the camera's infinity focus range, and then The camera is used to focus on the focus target, so that the focus is aligned with the focus target, and the position of the focus lens group is determined at this time. This process is called focusing to infinity.

In the scene where the drone is equipped with a surveying and mapping camera to collect images of the surveying and mapping area, the distance between the lens of the surveying and mapping camera and the photographed target in the surveying and mapping area is relatively far, and the photographed target is usually located in the infinity focus range of the lens of the surveying and mapping camera. Therefore, generally before the surveying and mapping camera leaves the factory, the lens of the surveying and mapping camera will be pre-calibrated to infinity focus to determine the position of the focusing lens group of the lens when the lens of the surveying and mapping camera is focused to infinity, and then fixed by glue or bolts, etc. The focusing lens group is fixed in this position by means of physical locking, and the position of the focusing lens group cannot be moved during the subsequent operation of the surveying and mapping camera. However, due to the temperature difference of the operating environment during the operation of the UAV, the position of the focal point of the lens will drift with the change of the ambient temperature, resulting in blurred images of the surveying area collected by the surveying and mapping camera, which cannot be modeled.

Based on this, an embodiment of the present application provides a method for controlling a surveying and mapping camera, where the surveying and mapping camera is mounted on a drone. In order to adjust the position of the focusing lens group of the lens at any time during the surveying and mapping operation to change the focus position, so as to solve the problem of the focus position drift caused by the change of the operating environment temperature, the focusing lens group of the surveying and mapping camera in the embodiment of the present application It is not fixed by physical locking, but can automatically determine the position of the focusing lens group when the surveying and mapping camera focuses to infinity in the current environment during the surveying and mapping operation, adjust the position of the focusing lens group and lock the focus to ensure that the collected The image of the surveyed area is clear.

The surveying and mapping camera and the drone in the embodiment of the present application may be an integrated device. Of course, the surveying and mapping camera and the drone may also be two independent devices, and the surveying and mapping camera may communicate with the drone through a physical interface. The connection, of course, can also be communicated with the drone through a wireless communication network, which is not limited in this embodiment of the present application.

In the scenario where the drone and the surveying and mapping camera are an integrated device, the integrated device can share a set of processors, and thus, the control method of the surveying and mapping camera can be executed by the shared processor. In the scenario where the drone and the mapping camera are two independent devices, this control method can be performed by the mapping camera. Certainly, in some embodiments, part of the processing steps of the control method may be performed by a surveying and mapping camera, and some of the processing steps may be performed by an unmanned aerial vehicle.

The lens of the surveying and mapping camera in the embodiment of the present application may be a fixed-focus lens, that is, during use, the focal length of the surveying and mapping camera lens cannot be adjusted. Of course, in some scenarios, in order to meet the needs of different shooting scenarios, the The lens can also be a zoom lens.

Specifically, the control method of the surveying and mapping camera is shown in FIG. 2 and includes the following steps:

S202, in the process that described unmanned aerial vehicle carries out surveying and mapping operation according to target route, determine the target position where the focusing lens group of described lens is located when the lens of described surveying and mapping camera focuses to infinity;

S204. Adjust the focusing lens group to the target position and perform focus locking, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.

Usually, the user can control the UAV to perform surveying and mapping tasks through the control terminal, and the control terminal can install a designated APP. The user can set the target route of the UAV to perform the surveying and mapping task and control the flight of the UAV through the APP. After the user sets the target route, the drone will operate according to the target route. Since the surveying and mapping area is generally located within the infinity focus range of the surveying and mapping camera, the surveying and mapping camera can automatically determine the focus of the lens in the current environment during the operation of the drone according to the target route. The target position of the focusing lens group of the lens when reaching infinity. Usually, the focusing lens group can be adjusted within a certain range of positions. By driving the focusing lens group to move through the device in the surveying camera that drives the focusing lens group to move, its position can be changed. When the focusing lens group is located in different positions, the focus position of the camera will also occur. Variety. Due to changes in the working environment, the position of the focal point will change when the camera focuses to infinity. Therefore, it is necessary to determine the target position of the focusing lens group when the lens focuses to infinity according to the actual operating conditions. The timing of the target position can be determined according to actual needs. For example, it can be executed before each surveying and mapping task is performed, or in order to ensure that each image collected is clear, it can also be executed before each image is collected, or when the drone arrives on the route. Executed at the position specified in , or executed once at a certain time interval, which is not limited here.

After determining the target position of the focusing lens group when the lens is focused to infinity, the device that drives the focusing lens group to move in the surveying and mapping camera can adjust the focusing lens group to the target position, and then lock the focus. After the focus is locked, the position of the focus of the lens is fixed, and then the image of the surveying and mapping area is collected during the flight of the drone according to the target route, that is, a clear image can be collected.

Because the surveying and mapping camera provided by the embodiment of the present application is not factory-calibrated, that is, the position of the focusing lens group when the camera is focused to infinity is not calibrated, and then physically locked so that it cannot be changed. In the process of surveying and mapping, the target position of the focusing lens group when focusing to infinity is automatically determined at any time according to the actual operating environment, and then the position of the focusing lens group is adjusted, which can avoid the focus position drift due to temperature changes and the collected images are not clear. The problem.

In some embodiments, the UAV can include a gimbal, and the surveying and mapping camera can be mounted on the UAV through the gimbal, wherein the gimbal can be a single-axis gimbal or a multi-axis gimbal. In some embodiments, a three-axis pan/tilt may be used, and when the image of the surveying and mapping area is collected, the pan/tilt may be controlled to rotate, so that the surveying and mapping camera can take pictures of the surveying and mapping region at different angles.

In some embodiments, in order to determine the target position of the focusing lens group when the lens of the surveying and mapping camera is focused to infinity, it is possible to pre-calibrate the position of the focusing lens group of the lens when the lens of the surveying and mapping camera is focused to infinity under different temperatures. position to get the calibration data. Then, the target position of the focusing lens group when the lens is focused to infinity is determined according to the temperature of the environment where the lens is located and the calibration data. For example, before the surveying and mapping camera leaves the factory, a calibration plate can be used to perform infinity focus calibration on the lens to determine the position of the focusing lens group when the lens is focused to infinity under different temperatures, and then store it in the surveying and mapping camera. Of course, after the surveying and mapping camera leaves the factory, it can be calibrated by the user, and the calibration data is obtained and stored in the surveying and mapping camera. When the mapping camera performs the mapping operation, the temperature of the environment where the lens is located can be determined, and then the temperature is interpolated through the calibration data to obtain the target position of the focusing lens group at this temperature.

The temperature of the environment where the lens is located may be determined by the temperature of the surveying area obtained by the drone from the network. Of course, in some embodiments, a temperature sensor may also be set in or near the lens of the surveying and mapping camera. The temperature sensor acquires the temperature of the environment in which the lens is located.

Use the calibration data and lens temperature to determine the target position of the focusing lens group when the lens is focused to infinity, which can be executed before each mission of the UAV, or after it is detected that the ambient temperature change exceeds a certain threshold, or It is executed at a preset time interval, which can be flexibly set according to the actual operation needs.

In some embodiments, in order to determine the target position of the focusing lens group when the lens of the surveying and mapping camera is focused to infinity, the target position of the focusing lens group when the lens is focused to infinity can also be determined by means of automatic focusing. For example, a mapping camera can be focused on an object within the infinity focus range of the lens, and then an autofocus operation can be performed to determine the target location. In this way, there is no need to perform infinity focus calibration before leaving the factory, and the calibration data can be obtained, which can simplify the process of determining the target position.

Of course, since there may be an inaccuracy problem in determining the target position through calibration data or determining the target position through auto-focusing, in some embodiments, in order to determine the target position more accurately, the target position can also be determined according to the location of the lens. The target position is determined by the ambient temperature, calibration data, and auto-focusing method. For example, the target position determined by the two methods can be averaged or weighted to obtain the final target position of the focusing lens group.

When using autofocus to determine the target position of the focusing lens group when the lens is focused to infinity, it is necessary to ensure that the focusing target is located within the infinity focus range of the lens. Usually, the surveying and mapping camera does not have the function of positioning or ranging, but UAVs generally have the function of positioning or ranging, for example, positioning or ranging can be performed through the binocular vision sensor, lidar, GPS and other devices of the UAV. Therefore, in some embodiments, the UAV can be used for positioning or ranging. The positioning function or ranging function determines whether the focus target is within the infinity focus range of the lens. If the focus target is within the lens' infinity focus range, you can send an instruction to focus to infinity to the surveying and mapping camera. After the command to focus to infinity, perform an autofocus operation to determine the target position. If the focus target is not within the infinity focus range of the lens, the user can be prompted to adjust the flying height of the drone, or adjust the aperture of the mapping camera so that the focus target is within the lens' infinity focus range.

The focus target can be selected according to the actual situation. For example, the photographed target in the mapping area can be used as the focus target of the lens, or a specified target can be used as the focus target, which is not limited here. When judging whether the focus target is within the infinity focus range of the lens, it can be determined whether the drone is at the specified position. The camera sends a command to focus to infinity. The specified position can be a certain position in the target route, or the position after the drone flies from the take-off point to a certain height, as long as the drone is at the specified position, the focus target is within the infinity focus range of the lens. For example, a surveying and mapping camera can use a building in front of it as a focus target. During the flight of the drone, the distance between the drone and the focus target can be measured by the ranging device on the drone. When the distance between the drone and the building is greater than the infinity distance threshold, it sends an instruction to focus to infinity to the surveying and mapping camera, so that the surveying and mapping camera can perform an auto-focusing operation to determine the target position. In some embodiments, the instruction to focus to infinity may be transmitted to the surveying and mapping camera through a preset data transmission protocol by the flight control system of the UAV after determining that the UAV is located at the designated position. For example, a drone and a surveying and mapping camera can be two independent devices, and the two devices can transmit data through a predefined physical interface and data transmission protocol, or through a predefined wireless data transmission protocol. After the flight control system of the man-machine detects that the drone is at the specified position, it can send an instruction to focus to infinity to the surveying and mapping camera through a predefined data protocol, so that the surveying and mapping camera can perform automatic focusing operations.

When the UAV's flight control system sends the command to focus to infinity to the surveying and mapping camera in the above manner, the transmission link may be long and the transmission link may not be stable, resulting in a slow transmission efficiency of the command. In some embodiments, in order to improve the transmission efficiency of the instruction, the instruction can also be triggered through a pre-designed hardware trigger interface. After the UAV's flight control system determines that the UAV is located at the specified position, the instruction to focus to infinity can be triggered through the pre-designed hardware trigger interface on the mapping camera. For example, by pulling up or down the hardware interface level, and trigger the instruction focusing to infinity through pure hardware, so that the time for transmitting the instruction through the transmission link can be omitted, and the transmission efficiency of the instruction can be improved. Of course, when the UAV flies along the target route, the photographed targets in the surveying and mapping area on the ground are usually within the infinity focus range of the lens of the surveying and mapping camera. Therefore, in order to improve the operation efficiency, it can also be used when the UAV is on the target route. , and directly use the photographed target in the surveying and mapping area as the focusing target, so that the surveying and mapping camera can perform an automatic focusing operation to determine the target position. In order to ensure that the image collected by the surveying and mapping camera is clear during the flight of the UAV according to the target route, it is possible to perform an automatic focus before performing the task. Therefore, in some embodiments, the designated position may be the starting waypoint of the target route of the UAV. When the control system of the UAV detects that the UAV reaches the starting waypoint, the The flight control system can send an instruction to focus to infinity to the surveying and mapping camera. After the surveying and mapping camera receives the instruction, it can complete the operation of automatically focusing to infinity, determine the target position of the focusing lens group, and adjust the focusing lens group to After the target position, the focus is locked, so that during the flight of the drone according to the target route, the surveying and mapping camera collects images according to the determined position of the focusing lens group, and obtains a clear image.

In some embodiments, the designated location may also be a buffer area outside the target route. Usually, the target route can include multiple route segments. In some scenarios, the temperature of the surveying and mapping area corresponding to different route segments fluctuates greatly. If only one autofocus operation is performed at the starting waypoint of the target route, it may be possible to collect images later in the future. During the process, there will still be a phenomenon that the focus position drifts due to temperature changes, so that the collected images are not clear. In addition, when the UAV is currently switching between two flight segments, the UAV usually starts to decelerate before reaching the end point of the previous flight segment to adjust the course and switch to the next flight segment, as shown in Figure 3 As shown in (a), it is assumed that the target route includes route segment 1, route segment 2, and route segment 3. Point A in the figure is the starting waypoint. Usually, when the UAV has not reached the ending waypoint C of route segment 1, the Start to decelerate, as shown at point B in the figure, so that the speed of the drone is reduced to 0 at waypoint C, and then the course can be adjusted to switch to route segment 2, while the drone is decelerating (point B to C in the figure) Click this paragraph), the gimbal equipped with the surveying and mapping camera still needs to be rotated to different directions to collect images of the surveying and mapping area, which may cause the gimbal to hit the limit during rotation due to the rapid deceleration of the drone, which will also affect the collected The quality of the image of the mapped area.

In order to avoid the above problems, an additional buffer area can be added at the end waypoint of each route segment, as shown in Figure 3(b), the buffer area is the extension area of the end waypoint of each route segment (the dotted line in the figure). part), the buffer area can be a straight area or a curved area, which is not limited in this application. The UAV can switch between two flight segments through the buffer area. For example, the UAV arrives at the previous route. When the route segment (such as route segment 1) ends at waypoint C, the deceleration begins. During the deceleration process, no one will continue to fly for a while and adjust the heading. The area where the drone flies outside the route segment is the buffer area. In this way, when the UAV flies within the route segment, there is no need to decelerate, which can avoid the problem of hitting the limit when the gimbal rotates, and ensure the quality of the collected images. At the same time, by adding a buffer area outside the target route, it can provide time for the UAV to focus automatically without affecting the image acquisition of the surveying and mapping area. In some embodiments, when the drone is in the buffer area, the image capture can be stopped, so as to avoid affecting the auto-focus of the drone.

Of course, in some embodiments, the surveying and mapping camera can perform auto-focusing and focus-locking operations on other waypoints of the target route in addition to the starting waypoint of the target route and the buffer area. The locking operation, for example, at a certain time interval, or at every preset number of waypoints, that is, performing an automatic focus and focus locking operation, is not limited in this application.

In some embodiments, if the surveying and mapping cameras are mounted on the UAV through the gimbal, the orientations of the surveying and mapping cameras may also be located in different directions during the rotation of the gimbal. Therefore, before the surveying and mapping camera performs the automatic focusing operation to determine the target position, the gimbal can be controlled to rotate to ensure that the lens of the surveying and mapping camera faces the ground, and then the automatic focusing operation is performed.

At present, the lenses used in surveying and mapping cameras are non-removable lenses. When the lens is faulty or damaged, it needs to be returned to the factory for repair. Users cannot replace the lens by themselves. The maintenance cost is high and the fault tolerance is poor. In order to overcome this problem, in some embodiments, the lens of the surveying and mapping camera can be designed as an interchangeable lens, and the user can replace the lens of the surveying and mapping camera by himself. Since the parameters corresponding to the lens will also change after the lens is replaced, the lens parameters stored in the mapping camera system do not match the replaced lens.

In some embodiments, the lens parameters may include the target position of the focusing lens group when the lens is focused to infinity, internal parameters of the lens (such as focal length, sensor center offset, etc.), and distortion correction parameters of the lens. When the lens is replaced, these lens parameters will also change. If the lens parameters of the last lens stored in the system are still used, problems will occur in the captured images.

In some embodiments, a lens identifier that uniquely identifies the lens may be set for each lens, such as an SN number or other numbers or symbols identifying the lens. The lens parameters of each lens can be bound to the lens ID, and the body and lens of each mapping camera are also bound, for example, the lens ID of the lens is stored in the body of the mapping camera. When the lens is installed on the body of the surveying and mapping camera, the surveying and mapping camera will detect whether the lens identification of the current lens is consistent with the pre-stored lens identification, and if they are inconsistent, it is determined that the lens has been replaced.

In some embodiments, data transmission can be performed between the body and the lens of the surveying and mapping camera through a predefined data transmission protocol, and a lens identification field can be added to the data transmission protocol of the two. When the lens is installed on the body of the surveying and mapping camera When , the lens can transmit instructions to the surveying and mapping camera, and the body of the surveying and mapping camera can identify the lens identification in the data transmission protocol, so as to determine whether the lens is switched according to the lens identification.

In some embodiments, the lens parameters of various lenses may be pre-stored in the mapping camera, and when the replacement of the lens is detected, the replaced lens may be determined from the pre-stored lens parameters according to the lens identifier of the replaced lens. parameters, and then control the mapping camera for image acquisition according to the lens parameters of the replaced lens.

In some embodiments, after the replacement of the lens is detected, the user may be prompted to calibrate the parameters of the replaced lens through the interactive interface of the control terminal of the drone. For example, the user can be reminded through a pop-up window that the lens parameters stored in the system do not match the current lens. Please calibrate yourself. During the process of calibrating the lens parameters by yourself, you can display the detailed calibration steps to the user through the APP on the control terminal or Demonstrate a demo video to prompt users to calibrate the lens parameters by themselves.

In some embodiments, when calibrating the target position where the focusing lens group is located when the replaced lens is focused to infinity, there can be many kinds of calibration solutions. For example, a calibration board can be used for calibration, or the UAV can be controlled to perform a certain task, and the target position can be calibrated during the execution of the task. Therefore, multiple calibration schemes can be displayed through the interactive interface of the control terminal, and the user can select a calibration scheme through the interactive interface. After receiving the calibration scheme selected by the user, the surveying and mapping camera calibrates the target position based on the calibration scheme.

In some embodiments, when calibrating the target position where the focusing lens group is located when the replaced lens is focused to infinity, the target position can be calibrated by using a calibration plate. For example, the user can be prompted through the APP to place the calibration plate It is placed within the infinity focus range of the surveying and mapping camera, and then the user can trigger the surveying and mapping camera to perform infinity focus through the trigger control on the APP to determine the target position of the focusing lens group.

Of course, since the calibration using the calibration board needs to occupy a relatively large site, in some embodiments, in order to save the site, a specific route task can also be used to complete the calibration of the target position, for example, the drone can be controlled to a specified altitude Afterwards, adjust the lens of the surveying and mapping camera to face the ground, and perform the auto-focusing operation to demarcate the target position. Among them, after the drone flies to the specified height, the object on the ground is located in the infinity focus range of the surveying and mapping camera. Wherein, the specified height can be determined according to the infinite distance threshold, and the infinite distance threshold is calculated according to the following formula (1):

Among them, d _Inf is the infinite distance threshold. When the shooting distance is greater than this value and the focus is performed, the focus position of the focusing lens group is the infinity focus position; f is the focal length of the lens; d is the diameter of the sensor's circle of confusion, which is generally 2 sensor pixel width; F is the lens aperture value.

For the internal parameters and distortion correction parameters of the surveying and mapping camera, a small-area tilt surveying and mapping operation can be performed, which is calculated by the self-calibration iterative algorithm of the modeling software.

In some embodiments, after the user completes the calibration of the lens parameters of the replaced lens, the lens identifier of the replaced lens and the lens parameters of the replaced lens obtained by the user's calibration can be stored in the system of the surveying and mapping camera correspondingly middle. For example, the lens parameters obtained by calibration can be bound with the SN number of the replaced lens, and then stored in the surveying and mapping camera.

Since real-time autofocusing to determine the position of the lens to focus on the infinity focus lens group will seriously affect the work efficiency, usually when setting the target route, it will be ensured that the photographed target in the surveying and mapping area is within the infinity focus range of the surveying and mapping camera. For scenes with large altitude fluctuations in the surveying and mapping area, you can also combine the ground-imitation flight function or surface-imitation flight function of the UAV to always keep the target in the surveying and mapping area within the infinity focus range of the surveying and mapping camera. Of course, in some embodiments, since the infinity distance threshold of the surveying and mapping camera is related to the aperture of the camera, the distance between the surveying and mapping camera and the target to be photographed can also be monitored in real time through the distance measuring device of the drone. Outside the infinity focus range of the surveying and mapping camera, the aperture of the surveying and mapping camera can also be adjusted, and the infinity distance threshold of the surveying and mapping camera can be changed, so that the object to be photographed is located within the infinity focus range of the surveying and mapping camera, and then the image of the object to be photographed is collected. In this way, Mapping cameras can then be applied to scenes with a wide range of heights.

Of course, in some embodiments, in order to ensure that the images collected by the surveying and mapping cameras are clear during the flight of the UAV on the target route, when the target route is generated, each waypoint can be determined in combination with the elevation map of the surveying and mapping area. corresponding flight altitude. The elevation map can reflect the height of objects on the ground, and can determine the flying height of the drone according to the height of objects on the ground to ensure that all objects on the ground are within the infinite focusing range of the surveying and mapping camera.

In some embodiments, in order to ensure that the images collected by the surveying and mapping cameras are clear during the flight of the UAV on the target route, when the user sets the target route, for example, when the user inputs the flight altitude corresponding to each waypoint , the shooting distance of the surveying and mapping camera when shooting the object to be shot can be determined according to the flying height. If the shooting distance is less than the preset distance, it is considered that the object to be shot is located outside the infinity focus range of the surveying and mapping camera. The preset distance can be determined according to the infinity The long-distance threshold is determined. At this time, the user is prompted that the focus cannot be obtained, so that the user can adjust the input flying height. In this way, it can be ensured that when no one is at any position of the target route, the photographed target in the surveying and mapping area is in the infinite focus range of the surveying and mapping camera, and can be clearly imaged.

In some embodiments, the mapping camera can support lenses of different focal lengths. By equipped with lenses of different focal lengths, it can meet the shooting needs of different shooting scenes. For example, a lens with a longer focal length can be used to meet the needs of long-distance and close-up fine shooting modeling.

In order to further explain the control method of the surveying and mapping camera of the present application, an explanation is given below with reference to a specific embodiment.

As shown in FIG. 4 , it is a schematic diagram of an application scenario in an embodiment of the present application. The surveying and mapping drone 41 includes a three-axis gimbal 411, and a surveying and mapping camera 412 is mounted on the gimbal 411. The lens of the surveying and mapping camera can be a fixed-focus lens or a zoom lens, and the lens adopts a detachable design, and the surveying and mapping camera can support different focal lengths lens to suit the needs of different shooting scenes. Wherein, a temperature sensor is provided inside the lens or near the lens to detect the temperature of the environment where the lens is located. The user can control the movement of the drone through the control terminal 42, and a designated APP is installed on the control terminal 42, and the user can set the target route when the drone performs the surveying and mapping operation through the APP.

Among them, in order to prevent the focal position of the lens of the surveying and mapping camera from drifting with temperature changes, the focusing lens group of the lens is not physically locked. In the process of performing the surveying and mapping task, the surveying and mapping camera can automatically determine the focusing lens group when the lens is focused to infinity position, and then adjust the focus lens group to this position and lock the focus to complete the image acquisition of the mapping area.

The position of the focusing lens group when the lens is focused to infinity can be determined in the following ways:

(1) Determine the position of the focusing lens group by the temperature and calibration data of the environment where the lens is located

Before the lens of the surveying and mapping camera leaves the factory, infinity focus calibration is carried out at different temperatures to obtain the position of the focusing lens group when the lens focuses to infinity at different temperatures, and the calibration data is stored in the camera system, and the lens is used in actual operations. The temperature sensor inside the lens or near the lens detects the temperature, and calculates the position of the focusing lens group when the lens is focused to infinity by interpolation based on the calibrated data.

The timing of using this method to determine the position of the focusing lens group can be set according to actual needs, such as when the detected temperature change exceeds a preset threshold, or after every preset time period, or when the UAV is at the designated position of the target route , which is not limited here.

(2) Determine the position of the focusing lens group by means of automatic focusing

The user sets the target route when the drone performs the surveying and mapping task through the APP on the control terminal. Among them, the waypoints of the target route can be input by dotting on the map, and the flight altitude corresponding to each waypoint can be input by the user. The APP can obtain the elevation map of the surveying and mapping area, determine the height of each object in the surveying and mapping area according to the elevation map, and then determine that the drone is at the flight height entered by the user according to the infinite distance threshold of the surveying and mapping camera and the height of each object. Whether the object is within the infinity focus range of the surveying and mapping camera, if not, the user will be prompted that the object cannot be focused, so that the user can adjust the input flying height. Of course, the flying height can also be automatically determined by the APP according to the elevation map, the infinite distance threshold of the surveying and mapping camera, and the shooting accuracy.

After the user determines the target route through the APP, the APP can send the target route to the UAV's flight control system, and the UAV's flight control system can control the UAV to fly to the starting waypoint of the target route. When starting the waypoint, the flight control system can control the rotation of the gimbal to make the lens of the surveying and mapping camera face the ground, and then the flight control system sends an instruction to focus to infinity to the system of the surveying and mapping camera. After the surveying and mapping camera receives the instruction, it executes automatic focus operation.

Of course, in order to avoid the large temperature difference in the same surveying area, causing the focus position of the surveying camera to drift, a buffer area can also be set at the end position of each route segment, and the buffer area is the extension area of the end position of the route segment. When the UAV switches between different flight segments, when the UAV is in the buffer area, it starts to decelerate and switch the course, and stops the rotation of the gimbal and image acquisition at the same time. When the UAV flight control system detects that the UAV is in the buffer area , control the pan/tilt to rotate to make the lens face the ground, and then send an instruction to focus to infinity to the surveying and mapping camera system, so that the surveying and mapping camera can perform auto-focus and focus-locking operations again. By setting the buffer area, you can provide the camera with time to re-autofocus. At the same time, in the buffer area, the gimbal will stop rotating, which can avoid the risk of hitting the structure or software limit caused by the gimbal swinging backwards due to rapid deceleration.

Since the lens of the embodiment of the present application is a detachable lens, when the lens is replaced, the pre-calibrated lens parameters stored in the surveying and mapping camera system will no longer match the installed lens. Generally speaking, for a surveying and mapping camera, the camera system needs to be calibrated The lens parameters include the position of the focusing lens group when the lens is focused to infinity, the internal parameters of the camera (including the sensor center offset, focal length, etc.), and distortion correction parameters. If the calibrated lens parameters are calculated from an external system, the lens parameters can be passed through The APP, the storage interface of the surveying and mapping camera or the SD card of the surveying and mapping camera are stored in the camera system.

The embodiment of the present application adopts the following methods to solve the matching problem between lenses and lens parameters:

During the production process, the surveying and mapping camera and the lens are bound one by one, and the lens parameters and the lens SN calibrated at the factory are written into the surveying and mapping camera system together, and the lens SN field is added to the data transmission protocol between the lens and the camera body. After the camera system is started, the surveying and mapping camera system reads the lens SN and compares it with the lens SN stored in the camera body. If it is found that the user has changed the lens, the APP on the control terminal will prompt the user to perform a self-calibration operation.

For the position of the focusing lens group when the lens is focused to infinity, when the user calibrates himself, the following methods can be used to calibrate:

(1) Use the calibration plate to calibrate, place the surveying and mapping calibration plate in the range of the camera's infinity focus, and trigger the system through the APP to perform the focus calibration. After the focusing is successful, the lens SN and calibration parameters are automatically written into the camera system.

(2) In order to save space, the calibration can also be completed by using specific route tasks. For example, the flight control system can control the drone to fly over the take-off point or over the shooting point specified by the user. The flying height should be within the infinity focus range, and the flying height can be set according to the infinity distance threshold of the mapping camera.

When the drone reaches the designated position, the flight control system triggers the camera to focus, and the camera system writes the position of the focusing lens group and the lens SN into the system after successful focusing.

For camera internal parameters and distortion correction parameters, a small-area tilt mapping operation can be carried out, which is calculated by the self-calibration iterative algorithm of the modeling software. The relevant parameter files can be imported into the camera system through the storage interface of the APP surveying and mapping camera or the SD card of the surveying and mapping camera. Neutralize and bind with lens SN.

In the surveying and mapping camera provided by the embodiments of the present application, because the method of physically locking the lens focusing lens group is not adopted, the lens can complete the focusing operation at different shooting distances, so that the application scenarios of the surveying and mapping camera are wider, such as close-up photography, such as continuous video recording. Autofocus, by performing autofocus and focus lock on the route, it can compensate for the focus temperature drift problem that may be caused by the temperature change of the operating environment. In addition, the position of the focusing lens group can be determined when focusing to infinity by combining the temperature and calibration data. The probability of focusing failure can be reduced. In addition, by adopting the interchangeable lens, when the lens is damaged, only the lens needs to be replaced, which reduces the maintenance cost when the system is damaged, and the system is more fault-tolerant. At the same time, the interchangeable lens design is adopted, which can be equipped with lenses of different focal lengths. For example, the use of longer focal length lenses can meet the needs of long-distance and close-up fine shooting modeling.

In addition, the present application also provides a surveying and mapping camera, which is mounted on an unmanned aerial vehicle. As shown in FIG. 5 , the surveying and mapping camera 50 includes a lens 51 , a processor 52 , a memory 53 , and a camera stored in the memory 53 . A computer program for the processor 52 to execute, when the processor 52 executes the computer program, the following steps are implemented:

In some embodiments, when the processor is configured to determine the target position where the focusing lens group of the lens is located when the lens of the mapping camera is focused to infinity, the processor is specifically configured to:

The target position is determined according to the temperature of the environment where the lens of the surveying and mapping camera is located and calibration data, and the calibration data is used to represent the position of the focusing lens group when the lens of the surveying and mapping camera is focused to infinity at different temperatures, and / or

The target position is determined by means of automatic focusing.

In some embodiments, the surveying camera includes a temperature sensor, and the temperature of the environment where the lens of the surveying camera is located is obtained by the temperature sensor.

In some embodiments, when the processor is configured to determine the target position by means of automatic focusing, it is specifically configured to:

When an instruction to focus to infinity is received, an auto-focusing operation is performed to determine the target position, wherein the instruction to focus to infinity is triggered when the drone is at a specified position, and the unmanned When the camera is located at the designated position, the focus target is located within the infinity focus range of the lens.

In some embodiments, the instruction to focus to infinity is sent to the surveying and mapping by the flight control system of the UAV when it is determined that the UAV is located at the designated position through a preset data transmission protocol camera; or

The instruction to focus to infinity is sent to the mapping camera through a hardware trigger interface by the flight control system of the UAV when it is determined that the UAV is located at the designated position.

In some embodiments, the focus target is a photographed target within the mapping area, and the specified position includes:

the starting waypoint of the target route; and/or

A buffer area outside the target route; wherein the target route includes a plurality of route segments, the buffer area is an extension area of the termination waypoint of each route segment, and the buffer area is used to realize the The man-machine switching between the two described flight segments.

In some embodiments, the mapping camera stops capturing images when the drone is in the buffer area.

In some embodiments, the UAV includes a gimbal, and the mapping camera is mounted on the UAV through the gimbal.

In some embodiments, before the processor is configured to perform the autofocus operation, the processor is further configured to:

The pan/tilt is controlled to rotate to adjust the lens of the surveying camera to face the ground.

In some embodiments, the processor is also used to:

When it is detected that the lens of the surveying and mapping camera is replaced, the user is prompted to calibrate the lens parameters of the replaced lens through the interactive interface of the control terminal of the drone.

In some embodiments, the lens parameters include one or more of the following:

The target position where the focusing lens group is located when the lens is focused to infinity, the internal parameters of the lens, and the distortion correction parameters of the lens.

In some embodiments, the lens parameter is the target position, and after prompting the user to calibrate the lens parameter of the replaced lens through the interactive interface of the control terminal of the drone, the method further includes:

receiving a calibration scheme for calibrating the target position selected by the user through the interactive interface;

The target position is calibrated based on the calibration scheme.

In certain embodiments, the calibration scheme includes:

using a calibration plate to calibrate the target position; and/or

After controlling the drone to fly to a specified height, adjust the lens to face the ground, and perform an auto-focusing operation to calibrate the target position. The object is within the infinity focus range of the mapping camera.

In some embodiments, the lens identifier of the lens is bound to the lens parameter, and the processor is configured to detect that the lens of the mapping camera is replaced, and is specifically configured to:

When it is detected that the lens identification of the current lens is inconsistent with the lens identification stored by the surveying and mapping camera, it is determined that the lens of the surveying and mapping camera is replaced.

In some embodiments, the data transfer protocol between the lens of the surveying camera and the body of the surveying camera includes a lens identification field.

In some embodiments, after the processor is configured to prompt the user to calibrate the lens parameters of the replaced lens, the processor is further configured to:

The lens identifier of the replaced lens and the lens parameter of the replaced lens obtained by user calibration are stored correspondingly.

In some embodiments, the processor is also used to:

When it is detected that the lens of the surveying and mapping camera has been replaced, the lens parameters of the replaced lens are searched from the lens parameters of various types of lenses stored in advance based on the lens identifier of the replaced lens.

In some embodiments, the processor is configured to collect images of the surveying and mapping area during the flight of the UAV according to the target route, and is specifically configured to:

When it is determined that the photographed target is located outside the infinity focus range of the surveying and mapping camera, the aperture of the surveying and mapping camera is adjusted so that the photographed target is located within the infinity focus range of the surveying and mapping camera, and then the captured image is collected. describe the image of the subject being photographed.

In some embodiments, the target route is determined based on:

obtaining an elevation map of the surveying and mapping area;

The flying height of the UAV is determined according to the elevation map, so as to generate the target route according to the flying height.

In some embodiments, the mapping camera supports lenses of different focal lengths.

The specific implementation details of using the surveying and mapping camera to collect the image of the surveying and mapping area may refer to the description of each embodiment in the above method, which will not be repeated here.

In addition, the present application also provides an unmanned aerial vehicle, which is the surveying and mapping camera in any of the above-mentioned embodiments.

Further, the application also provides a surveying and mapping system, the surveying and mapping system includes an unmanned aerial vehicle and a control terminal, the control terminal is installed with a designated APP, and the unmanned aerial vehicle includes a surveying and mapping camera;

In some embodiments, the designated APP is further configured to prompt the user to calibrate the lens parameters of the replaced lens through an interactive interface when the lens of the surveying and mapping camera is replaced.

In some embodiments, the designated APP is further configured to display a calibration scheme for calibrating lens parameters to the user through an interactive interface, receive an instruction from the user to select a calibration scheme, and prompt the user to adjust the lens parameters based on the calibration scheme selected by the user. Calibration is performed.

In some embodiments, the designated APP is further configured to receive the flying height input by the user, and determine the shooting distance for the surveying and mapping camera to capture the image of the photographed target in the surveying and mapping area according to the flying height; When the above-mentioned shooting distance is less than the preset distance, the user will be prompted that the focus cannot be focused through the interactive interface.

Correspondingly, an embodiment of the present specification further provides a computer storage medium, where a program is stored in the storage medium, and when the program is executed by a processor, the control method for a surveying and mapping camera in any of the foregoing embodiments is implemented.

Embodiments of the present specification may take the form of a computer program product embodied on one or more storage media having program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like. Computer-usable storage media includes permanent and non-permanent, removable and non-removable media, and storage of information can be accomplished by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

For the apparatus embodiments, since they basically correspond to the method embodiments, reference may be made to the partial descriptions of the method embodiments for related parts. The device embodiments described above are only illustrative, wherein 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 over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. The terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The methods and devices provided by the embodiments of the present invention have been described in detail above. The principles and implementations of the present invention are described in this paper by using specific examples. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. To sum up, the content of this description should not be construed as a limitation to the present invention. .

Claims

A method for controlling a surveying and mapping camera, wherein the surveying and mapping camera is mounted on a drone, and the method includes:

During the surveying and mapping operation of the drone according to the target route, determining the target position where the focusing lens group of the lens is located when the lens of the surveying and mapping camera is focused to infinity;

The focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.
The method according to claim 1, wherein determining the target position of the focusing lens group of the lens when the lens of the surveying and mapping camera is focused to infinity, comprising:

The target position is determined according to the temperature of the environment where the lens of the surveying and mapping camera is located and calibration data, and the calibration data is used to represent the position of the focusing lens group when the lens of the surveying and mapping camera is focused to infinity at different temperatures, and / or

The target position is determined by means of automatic focusing.
The method according to claim 2, wherein the mapping camera comprises a temperature sensor, and the temperature of the environment where the lens of the mapping camera is located is obtained by the temperature sensor.
The method according to claim 2 or 3, wherein determining the target position by means of automatic focusing, comprising:

When an instruction to focus to infinity is received, an auto-focusing operation is performed to determine the target position, wherein the instruction to focus to infinity is triggered when the drone is at a specified position, and the unmanned When the camera is located at the designated position, the focus target is located within the infinity focus range of the lens.
The method according to claim 4, wherein the instruction to focus to infinity is transmitted by the flight control system of the UAV through preset data when it is determined that the UAV is located at the designated position agreement to the mapping camera; or

The instruction to focus to infinity is triggered by the flight control system of the UAV through a hardware trigger interface on the mapping camera when it is determined that the UAV is located at the designated position.
The method according to claim 4 or 5, wherein the focusing target is a photographed target in the surveying and mapping area, and the designated position comprises:

the starting waypoint of the target route; and/or

A buffer area outside the target route; wherein the target route includes a plurality of route segments, the buffer area is an extension area of the termination waypoint of each route segment, and the buffer area is used to realize the The man-machine switching between the two described flight segments.
The method according to claim 6, wherein when the drone is located in the buffer area, the mapping camera stops capturing images.
The method according to any one of claims 4-7, wherein the UAV comprises a gimbal, and the mapping camera is mounted on the UAV through the gimbal.
The method according to claim 8, further comprising:

The pan/tilt is controlled to rotate to adjust the lens of the surveying camera to face the ground.
The method according to any one of claims 1-9, wherein the method further comprises:

When it is detected that the lens of the surveying and mapping camera is replaced, the user is prompted to calibrate the lens parameters of the replaced lens through the interactive interface of the control terminal of the drone.
The method according to claim 10, wherein the lens parameters include one or more of the following:

The target position where the focusing lens group is located when the lens is focused to infinity, the internal parameters of the lens, and the distortion correction parameters of the lens.
The method according to claim 11, wherein the lens parameter is the target position, and after prompting the user to calibrate the lens parameters of the replaced lens through the interactive interface of the control terminal of the drone, the include:

receiving a calibration scheme for calibrating the target position selected by the user through the interactive interface;

The target position is calibrated based on the calibration scheme.
The method according to claim 12, wherein the calibration scheme comprises:

using a calibration plate to calibrate the target position; and/or

After controlling the drone to fly to a specified height, adjust the lens to face the ground, and perform an auto-focusing operation to calibrate the target position. The object is within the infinity focus range of the mapping camera.
The method according to any one of claims 10-13, wherein the lens identifier of the lens is bound to the lens parameter, and detecting that the lens of the surveying and mapping camera is replaced comprises:

When it is detected that the lens identification of the current lens is inconsistent with the lens identification stored by the surveying and mapping camera, it is determined that the lens of the surveying and mapping camera is replaced.
The method according to claim 14, wherein the data transmission protocol between the lens of the surveying camera and the body of the surveying camera includes a lens identification field.
The method according to any one of claims 10-15, wherein after prompting the user to calibrate the lens parameters of the replaced lens, the method further comprises:

The lens identifier of the replaced lens and the lens parameter of the replaced lens obtained by user calibration are stored correspondingly.
The method according to any one of claims 1-9, wherein the method further comprises:

When it is detected that the lens of the surveying and mapping camera has been replaced, the lens parameters of the replaced lens are searched from the lens parameters of various types of lenses stored in advance based on the lens identifier of the replaced lens.
The method according to claim 1, wherein the image acquisition of the surveying and mapping area during the flight of the unmanned aerial vehicle according to the target route includes:

When it is determined that the photographed target is located outside the infinity focus range of the surveying and mapping camera, the aperture of the surveying and mapping camera is adjusted so that the photographed target is located within the infinity focus range of the surveying and mapping camera, and then the captured image is collected. describe the image of the subject being photographed.
The method according to any one of claims 1-18, wherein the target route is determined based on:

obtaining an elevation map of the surveying and mapping area;

The flying height of the UAV is determined according to the elevation map, so as to generate the target route according to the flying height.
The method according to any one of claims 1-19, wherein the mapping camera supports lenses of different focal lengths.
A surveying and mapping camera, characterized in that the surveying and mapping camera is mounted on an unmanned aerial vehicle, and the surveying and mapping camera includes a processor, a memory, and a computer program stored in the memory for execution by the processor, and the processor executes When the computer program is implemented, the following steps are implemented:

During the surveying and mapping operation of the drone according to the target route, determining the target position where the focusing lens group of the lens is located when the lens of the surveying and mapping camera is focused to infinity;

The focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.
The surveying and mapping camera according to claim 21, wherein when the processor is configured to determine the target position where the focusing lens group of the lens is located when the lens of the surveying and mapping camera is focused to infinity, the processor is specifically configured to:

The target position is determined according to the temperature of the environment where the lens of the surveying and mapping camera is located and calibration data, and the calibration data is used to represent the position of the focusing lens group when the lens of the surveying and mapping camera is focused to infinity at different temperatures, and / or

The target position is determined by means of automatic focusing.
The surveying and mapping camera according to claim 22, wherein the surveying and mapping camera comprises a temperature sensor, and the temperature of the environment where the lens of the surveying and mapping camera is located is acquired by the temperature sensor.
The surveying and mapping camera according to claim 22 or 23, wherein when the processor is used to determine the target position by means of automatic focusing, it is specifically used for:

When an instruction to focus to infinity is received, an auto-focusing operation is performed to determine the target position, wherein the instruction to focus to infinity is triggered when the drone is at a specified position, and the unmanned When the camera is located at the designated position, the focus target is located within the infinity focus range of the lens.
The surveying and mapping camera according to claim 24, wherein the instruction to focus to infinity is determined by the flight control system of the UAV through preset data when determining that the UAV is at the designated position a transfer protocol to the surveying camera; or

The instruction to focus to infinity is triggered by the flight control system of the UAV through a hardware trigger interface on the mapping camera when it is determined that the UAV is located at the designated position.
The surveying and mapping camera according to claim 24 or 25, wherein the focus target is a photographed target in the surveying and mapping area, and the specified position includes:

the starting waypoint of the target route; and/or

A buffer area outside the target route; wherein the target route includes a plurality of route segments, the buffer area is an extension area of the termination waypoint of each route segment, and the buffer area is used to realize the The man-machine switching between the two described flight segments.
The surveying and mapping camera according to claim 26, wherein when the drone is located in the buffer area, the surveying and mapping camera stops capturing images.
The surveying and mapping camera according to any one of claims 24 to 27, wherein the unmanned aerial vehicle comprises a gimbal, and the surveying and mapping camera is mounted on the unmanned aerial vehicle through the gimbal.
The surveying and mapping camera according to claim 28, wherein before the processor is used for performing the auto-focusing operation, it is further used for:

The pan/tilt is controlled to rotate to adjust the lens of the surveying camera to face the ground.
The surveying and mapping camera according to any one of claims 21-29, wherein the processor is further configured to:

When it is detected that the lens of the surveying and mapping camera is replaced, the user is prompted to calibrate the lens parameters of the replaced lens through the interactive interface of the control terminal of the drone.
The surveying and mapping camera according to claim 30, wherein the lens parameters include one or more of the following:

The target position where the focusing lens group is located when the lens is focused to infinity, the internal parameters of the lens, and the distortion correction parameters of the lens.
The surveying and mapping camera according to claim 31, wherein the lens parameter is the target position, and after prompting the user to calibrate the lens parameters of the replaced lens through the interactive interface of the control terminal of the drone, Also includes:

receiving a calibration scheme for calibrating the target position selected by the user through the interactive interface;

The target position is calibrated based on the calibration scheme.
The surveying and mapping camera of claim 32, wherein the calibration scheme comprises:

using a calibration plate to calibrate the target position; and/or

After controlling the drone to fly to a specified height, adjust the lens to face the ground, and perform an auto-focusing operation to calibrate the target position. The object is within the infinity focus range of the mapping camera.
The surveying and mapping camera according to any one of claims 30-33, wherein the lens identifier of the lens is bound to the lens parameter, and the processor is configured to detect that the lens of the surveying and mapping camera is replaced, Specifically for:

When it is detected that the lens identification of the current lens is inconsistent with the lens identification stored by the surveying and mapping camera, it is determined that the lens of the surveying and mapping camera is replaced.
The surveying and mapping camera according to claim 34, wherein the data transmission protocol between the lens of the surveying camera and the body of the surveying camera includes a lens identification field.
The surveying and mapping camera according to any one of claims 30-35, wherein after the processor is used to prompt the user to calibrate the lens parameters of the replaced lens, the processor is further used to:

The lens identifier of the replaced lens and the lens parameter of the replaced lens obtained by user calibration are stored correspondingly.
The surveying and mapping camera according to any one of claims 21-29, wherein the processor is further configured to:

When it is detected that the lens of the surveying and mapping camera has been replaced, the lens parameters of the replaced lens are searched from the lens parameters of various types of lenses stored in advance based on the lens identifier of the replaced lens.
The surveying and mapping camera according to claim 21, wherein the processor is used to collect images of the surveying and mapping area during the flight of the unmanned aerial vehicle according to the target route, and is specifically used for:

When it is determined that the photographed object is located outside the infinity focus range of the surveying and mapping camera, the aperture of the surveying and mapping camera is adjusted so that the photographed object is located within the infinity focus range of the surveying and mapping camera, and then the captured image is collected. describe the image of the subject being photographed.
The surveying and mapping camera according to any one of claims 21-38, wherein the target route is determined based on:

obtaining an elevation map of the surveying and mapping area;

The flying height of the UAV is determined according to the elevation map, so as to generate the target route according to the flying height.
The surveying and mapping camera according to any one of claims 22-39, wherein the surveying and mapping camera supports lenses of different focal lengths.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises the surveying and mapping camera according to any one of claims 21-40.
A surveying and mapping system, characterized in that the surveying and mapping system comprises a drone and a control terminal, the control terminal is installed with a designated APP, and the drone comprises a surveying and mapping camera;

The designated APP is used to receive the target route input by the user and send it to the UAV;

The surveying and mapping camera includes a processor, a memory, and a computer program stored in the memory for execution by the processor. When the processor executes the computer program, the following steps are implemented:

During the process of the drone performing the surveying and mapping operation according to the target route, determining the target position where the focusing lens group of the lens is located when the lens of the surveying and mapping camera is focused to infinity;

The focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.
The surveying and mapping system according to claim 42, wherein the designated APP is further configured to prompt the user to calibrate the lens parameters of the replaced lens through an interactive interface when the lens of the surveying and mapping camera is replaced.
The surveying and mapping system according to claim 42, wherein the designated APP is further configured to display a calibration scheme for calibrating lens parameters to the user through an interactive interface, receive an instruction from the user to select the calibration scheme, and based on the calibration scheme selected by the user The user is prompted to calibrate the lens parameters.
The surveying and mapping system according to claim 42, wherein the designated APP is further configured to receive a flight height input by a user, and determine the surveying and mapping camera to image the photographed target in the surveying and mapping area according to the flight height The captured shooting distance; when the shooting distance is less than the preset distance, the user is prompted through the interactive interface that the focus cannot be focused.