WO2023115342A1 - 一种带状目标的无人机航测方法、装置、系统及存储介质 - Google Patents

一种带状目标的无人机航测方法、装置、系统及存储介质 Download PDF

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Publication number
WO2023115342A1
WO2023115342A1 PCT/CN2021/140129 CN2021140129W WO2023115342A1 WO 2023115342 A1 WO2023115342 A1 WO 2023115342A1 CN 2021140129 W CN2021140129 W CN 2021140129W WO 2023115342 A1 WO2023115342 A1 WO 2023115342A1
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WIPO (PCT)
Prior art keywords
route
shooting
image
photographing
waypoint
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Ceased
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PCT/CN2021/140129
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English (en)
French (fr)
Inventor
杨志华
梁家斌
张明磊
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2021/140129 priority Critical patent/WO2023115342A1/zh
Priority to CN202180101679.1A priority patent/CN117881943A/zh
Publication of WO2023115342A1 publication Critical patent/WO2023115342A1/zh
Priority to US18/749,651 priority patent/US20240338041A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/689—Pointing payloads towards fixed or moving targets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G05D1/2245—Optic providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality
    • G05D1/2246—Optic providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality displaying a map of the environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/87—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for exploration, e.g. mapping of an area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/89—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for inspecting structures, e.g. wind mills, bridges, buildings or vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/25—Rotorcrafts
    • G05D2109/254—Flying platforms, e.g. multicopters
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/30—Flight plan management

Definitions

  • the present application relates to the technical field of UAV route planning, in particular, to a UAV aerial survey method, device, system and storage medium for strip-shaped targets.
  • UAV unmanned aerial vehicle
  • An unmanned aerial vehicle is an unmanned aircraft operated by radio-controlled equipment and self-contained program controls, or operated entirely or intermittently autonomously by an on-board computer.
  • UAVs are widely used in many fields such as aerial photography, surveying and mapping, agricultural plant protection, express transportation, disaster relief, observing wild animals, monitoring infectious diseases, news reports, power inspections, disaster relief, or film and television shooting.
  • one of the purposes of the present application is to provide a method, device, system and storage medium for UAV aerial survey of strip targets.
  • the embodiment of the present application provides a UAV aerial survey method for a belt-shaped target, the UAV is provided with a photographing device, the photographing device includes a photosensitive element, and the method includes:
  • a shooting route for shooting the strip-shaped target is planned, the shooting route includes a first route and a second route, and the extension directions of the first route and the second route are consistent with the The extension directions of the strip targets are roughly the same, and the length of the first route is shorter than the length of the second route;
  • the first route includes a first shooting waypoint
  • the second route includes a second shooting waypoint
  • the second image captured at the second shooting waypoint is used to generate the aerial survey result of the belt-shaped target, the direction of the projection of the photosensitive element corresponding to the first image on the horizontal plane and the photosensitive element corresponding to the second image
  • the projection of the element on the horizontal plane is oriented differently.
  • an aerial survey device which includes:
  • processors one or more processors
  • the one or more processors execute the executable instructions, they are individually or collectively configured to execute the method described in the first aspect.
  • the embodiment of the present application provides an aerial survey system, including an unmanned aerial vehicle and the aerial survey device described in the second aspect;
  • the aerial survey device is used to send the planned shooting route for shooting strip targets to the UAV;
  • the unmanned aerial vehicle is used to fly according to the photographing route, and during the flight, the photographing device is used to capture the first image at the first photographing waypoint of the first route, and at the second photographing waypoint of the second route Take the second image.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores executable instructions, and when the executable instructions are executed by a processor, the method described in the first aspect is implemented.
  • a UAV aerial survey method, device, system, and storage medium for a belt-shaped target can plan a shooting route for shooting a belt-shaped target according to the position information of the belt-shaped target.
  • the route includes the first route and the second route.
  • the extension directions of the first route and the second route are roughly the same as the extension direction of the strip target, and the length of the first route is shorter than the length of the second route, and the overall route length is shorter , which is conducive to shortening the voyage and improving flight efficiency;
  • the first route includes the first shooting waypoint, and the UAV captures the first image at the first shooting waypoint, and the second route includes the second shooting waypoint, and the UAV captures the first image at the first shooting waypoint.
  • the second image is captured by the second shooting waypoint, and the orientation of the projection of the photosensitive element corresponding to the first image on the horizontal plane is different from the orientation of the projection of the photosensitive element corresponding to the second image on the horizontal plane, which is conducive to improving the image quality based on the first image. and the accuracy of the aerial survey results generated from the second image.
  • FIG. 1 is a schematic diagram of a shooting route in the related art
  • Fig. 2 is a schematic diagram of a shooting route obtained by the inventor's preliminary improvement provided in the embodiment of the present application;
  • FIG. 3 is a schematic structural diagram of a photographing device provided in an embodiment of the present application.
  • Fig. 4 is a schematic diagram of an unmanned aerial system provided by an embodiment of the present application.
  • FIG. 5 is a schematic flow chart of a UAV aerial survey method for a strip target provided in an embodiment of the present application
  • FIG. 6 is a map provided by an embodiment of the present application that includes strip targets such as rivers;
  • FIG. 7A is a schematic diagram of a shooting route provided by an embodiment of the present application.
  • Fig. 7B is a schematic diagram of another shooting route provided by the embodiment of the present application.
  • Fig. 8A is a schematic diagram of calculating the position of the principal point image when the photosensitive elements corresponding to the three images provided by the present application are projected in the same orientation on the horizontal plane;
  • Fig. 8B is a schematic diagram of calculating the position of the principal point image when the photosensitive elements corresponding to the three images provided by the present application are projected in different orientations on the horizontal plane;
  • Fig. 9A is a schematic diagram of calculating the focal length when the orientation of the shooting device corresponding to the three images provided by the present application is the same as the direction of gravity;
  • Fig. 9B is a schematic diagram of calculating the focal length when the orientation of the shooting device corresponding to the three images provided by the present application is different from the direction of gravity;
  • Fig. 10A is a schematic diagram of the direction of the photographing device of the first photographing waypoint in the first route provided by the present application, which is tilted to the right relative to the direction of gravity;
  • Fig. 10B is a schematic diagram of the direction of the shooting device of the second shooting waypoint in the second route provided by the present application, which is tilted to the left relative to the direction of gravity;
  • Fig. 11 is a schematic diagram of the angle between the direction of the camera device and the direction of gravity when the UAV is flying along the first route provided by the present application, first becomes smaller and then becomes larger;
  • Fig. 12 is a schematic diagram of the second route provided by this application including the first sub-route and the second sub-route;
  • Fig. 13 is a schematic structural diagram of an aerial survey device provided by the present application.
  • Strip targets such as rivers, roads, railway tracks, oil pipelines or natural gas pipelines are usually tens of kilometers in length and tens of meters in width.
  • the embodiment of the present application provides a UAV aerial survey method for this type of strip target.
  • Fig. 1 shows a kind of photographing route 01 aimed at the belt-shaped target in the related art
  • this photographing route 01 is "bow-shaped" route
  • "bow-shaped" route includes The first course and the second course perpendicular to the strip target, since the second course perpendicular to the strip target needs to meet the preset side overlap ratio, the distance between two adjacent second courses is relatively small.
  • the inventor initially thought of improving the shooting route used for shooting strip targets to a shooting route 03 as shown in Figure 2, and the shooting route 03 is a "single route" with only one route , the heading of the shooting route 03 is the same as the extension direction of the belt-shaped target, the UAV can fly according to the shooting route 03 and control the shooting device in the UAV during the flight to take photos of the belt-shaped target at the shooting waypoint. image.
  • the UAV is provided with a photographing device, and the photographing device includes a photosensitive element, a photosensitive element
  • the photographing device includes a photosensitive element, a photosensitive element
  • CMOS complementary metal oxide semiconductor
  • CCD Charge-coupled Device
  • the installation position of the photosensitive element in the photographing device is generally fixed.
  • the edge 10 of the photosensitive element is projected as the projected edge 11 in FIG. 2 .
  • the edge 10 in FIG. 2 corresponds to The projection edges 11 are all on the same side. In this case, it can be considered that the orientations of the projections of the photosensitive elements of the shooting device on the horizontal plane at different shooting waypoints are the same.
  • the embodiment of the present application provides a UAV aerial survey method for strip targets, which can be based on The location information of the strip target is used to plan a shooting route for shooting the strip target, which is different from the "bow-shaped" route and "single route” in the related art.
  • the shooting route for photographing the band-shaped target planned in the embodiment of the present application includes a first route and a second route, the extension directions of the first route and the second route are approximately the same as the extension direction of the band-shaped target, and the The length is shorter than the length of the second route, the number of routes is less than the number of "bow-shaped" routes, and the length of the first route is shorter, which is conducive to shortening the flight distance and improving flight efficiency;
  • the first route includes the first shooting waypoint , the UAV captures the first image at the first shooting waypoint, the second route includes the second shooting waypoint, the UAV captures the second image at the second shooting waypoint, and the photosensitive element corresponding to the first image is in the horizontal plane
  • the orientation of the projection on the horizontal plane is different from the orientation of the projection of the photosensitive element corresponding to the second image on the horizontal plane, which is conducive to improving the accuracy of the aerial survey results generated based on the first image and the second image.
  • the UAV aerial survey method for strip targets provided in the embodiments of the present application can be applied to aerial survey devices.
  • the aerial survey device may be a mobile phone, a computer, a tablet, a wearable device or a remote controller, and the like.
  • the UAV aerial survey method for a strip target provided in the embodiment of the present application may be a program product integrated in an aerial survey device.
  • the aerial survey device includes a memory, and the method for aerial survey of a belt-shaped object provided by the embodiment of the present application may be an executable instruction stored in the memory.
  • FIG. 4 shows a schematic diagram of an unmanned aerial system
  • the unmanned aerial system includes a remote control device 100 and a drone 200; the remote control device 100 is provided with a display 101 , the drone 200 is provided with a photographing device 201 .
  • the remote control device 100 can execute the UAV 200 aerial survey method for the belt-shaped target provided in the embodiment of the present application, obtain the position information of the belt-shaped target, and plan the shooting route for shooting the belt-shaped target according to the position information of the belt-shaped target , and then the relevant information of the planned shooting route can be sent to the UAV 200, and the UAV 200 can control the shooting device 201 to take images related to the belt-shaped target during the flight process according to the shooting route.
  • the drone 200 may send the captured image to the remote control device 100 , so that the remote control device 100 generates an aerial survey result of the belt-shaped target based on the captured image, and displays the aerial survey result of the belt-shaped target on the display 101 .
  • the UAV 200 can also generate the aerial survey result of the strip target based on the captured image, and then send the aerial survey result of the strip target to the remote control device 100, and the strip target can be displayed on the display 101 of the remote control device 100 aerial survey results.
  • the UAV 200 can send the captured image to the preset server, and the preset server generates the aerial survey result of the strip target based on the captured image and sends it to the remote control device 100.
  • the display 101 in the remote control device 100 can The aerial survey results of the strip target are displayed in .
  • the aerial survey results include but are not limited to orthophotos, digital elevation models, digital surface models, digital line drawings or 3D models.
  • the unmanned aerial vehicle may be a rotorcraft, for example, a multi-rotor unmanned aerial vehicle propelled by a plurality of propulsion devices through the air, the embodiments of the present application are not limited thereto, the unmanned aerial vehicle Other types of drones are also possible.
  • FIG. 5 is a schematic flowchart of a UAV aerial survey method for a belt-shaped target provided in an embodiment of the present application, and the method is applied to an aerial survey device.
  • the aerial survey device may be a remote control device for controlling a drone.
  • the methods include:
  • step S101 the location information of the strip-shaped object is acquired.
  • a shooting route for shooting the strip-shaped target is planned, the shooting route includes a first route and a second route, and the first route and the second route
  • the extension direction of is approximately the same as the extension direction of the strip-shaped target, and the length of the first route is shorter than the length of the second route; wherein, the first route includes the first shooting waypoint, and the second The route includes a second shooting waypoint, and the first image taken by the UAV at the first shooting waypoint and the second image taken by the UAV at the second shooting waypoint are used to generate the
  • the orientation of the projection of the photosensitive element on the horizontal plane corresponding to the first image is different from the orientation of the projection of the photosensitive element on the horizontal plane corresponding to the second image.
  • the embodiment of the present application does not impose any restrictions on the acquisition process of the location information of strip objects such as rivers, roads, railroad tracks, oil pipelines, or natural gas pipelines, and specific settings can be made according to actual application scenarios.
  • the remote control device includes a display, and can display a map including the strip target on the display according to the actual needs of the user, and then obtain the position information of the strip target according to the user's selected operation on the map.
  • rivers ribbon targets
  • the user can select the area where the river is located in the map in Figure 6, and the remote control device can The location information of the river is obtained according to the location selected by the user on the map, and then the shooting route for shooting the river is planned according to the location information of the river.
  • the position information of the band-shaped target may also be the result of the user directly inputting it into the remote control device.
  • the user may obtain the latitude and longitude information of the band-shaped target by means of the positioning device, and then input the longitude and latitude information of the band-shaped target into the remote control device.
  • the remote control device can plan a shooting route for shooting the belt-shaped target according to the position information of the belt-shaped target, and send the relevant information of the shooting route to the UAV, so that the UAV can fly according to the shooting route, And control the shooting device to take pictures about the belt target during the flight.
  • the shooting route planned in the embodiment of the present application may include a first route and a second route, and the extension direction of the first route and the second route is substantially the same as the extension direction of the band-shaped object.
  • “approximately the same” includes two situations, one is that the extension direction of the first route and the second route completely coincides with the extension direction of the strip target, and the other is that the extension direction of the first route and the second route coincides with the extension direction of the band target.
  • There is a deviation of the preset angle in the extension direction of the shape object and the angle value of the preset angle is small, such as less than 10°, and its specific value can be set according to the actual application scene.
  • the first route includes a first shooting waypoint
  • the second route includes a second shooting waypoint
  • the second image captured at the second shooting waypoint is used to generate the aerial survey result of the belt-shaped target, the direction of the projection of the photosensitive element corresponding to the first image on the horizontal plane and the photosensitive element corresponding to the second image
  • the orientations of the projections of the components on the horizontal plane are different, which is beneficial to improve the accuracy of the aerial survey results.
  • the purpose of planning the first route in the present application is to obtain the first image in which the orientation of the projection of the photosensitive element on the horizontal plane is different from the orientation of the projection of the photosensitive element on the horizontal plane corresponding to the second image, so as to assist the shooting device
  • the internal reference calculation is accurate and the accuracy of the aerial survey results is improved, that is, the first route plays an auxiliary role. Therefore, in the embodiment of the present application, the length of the first route is set to be shorter than the length of the second route, which is beneficial to improve flight efficiency.
  • the length of the first route cannot be set too short. If the length is set too short, it may not be possible to collect a sufficient number of first images.
  • the internal reference of the photographing device The accuracy cannot be guaranteed, which will affect the accuracy of aerial survey results. Therefore, the length of the first route can be adaptively set according to the length of the second route.
  • the ratio between the length of the first route and the length of the second route can be set to be greater than a preset ratio, and the preset The ratio can be specifically set according to the actual application scenario, for example, the preset ratio is 1:2, or the preset ratio is 2:5, etc.
  • the shooting route planned in the embodiment of the present application may be the shooting route shown in FIG. 7A and FIG. There is a first shooting waypoint 21 , and the second route 30 includes a second shooting waypoint 31 .
  • the end point of the first route 20 is the same as the starting point of the second route 30, it may be a shooting route as shown in FIG.
  • the heading of the second route 30 is approximately the same as the extension direction of the strip target; during the flight of the unmanned aerial vehicle according to the shooting route, after the unmanned aerial vehicle takes off from the starting point of the first route 20, it will be in situ at the end of the first route 20
  • the UAV can adjust the course by turning the direction of the nose at the end of the first route 20 , and then fly according to the second route 30 .
  • the first route 20 and the second route 30 can be roughly located in the band. above the centerline of the target.
  • “approximately above the central line of the strip-shaped target” may include several situations: one is that the projection of the first route 20, the second route 30 and the central line of the strip-shaped target on the horizontal reference plane at least partially coincides; Another kind is that the interval of the projection of the first route 20, the second route 30 and the strip target centerline on the horizontal reference plane is less than the preset distance, and the preset distance is smaller; there is also a kind of first route 20, the second route The included angle between the second flight line 30 and the projection of the central line of the belt-shaped target on the horizontal reference plane is smaller than a preset angle, and the preset angle is relatively small.
  • the specific numerical values of the above preset values may be specifically set according to actual application scenarios.
  • the end point of the first route 20 is different from the starting point of the second route 30, it may be a shooting route as shown in FIG. , and the heading of the second route 30 is approximately the same as the extending direction of the strip-shaped object.
  • the shooting route also includes a third route 40 formed by the end point of the first route 20 and the starting point of the second route 30; the third route 40 can be a straight-line flight track or a curved line. flight trajectory.
  • the UAV When the UAV flies to the end of the first route 20 according to the first route 20, the UAV adjusts its course from the course of the first route 20 to the course of the second route 30 through the third route 40, such as The UAV can adjust its course by turning the direction of the nose during the flight according to the third route 40 .
  • the first route 20 when the end point of the first route 20 is different from the starting point of the second route 30, it is considered that the first route 20 mainly plays an auxiliary role in improving the accuracy of the aerial survey results, while the second route 30 is mainly used to shoot the second image about the belt-shaped target, so in order to achieve accurate shooting of the belt-shaped target, the second route 30 can be roughly located above the center line of the belt-shaped target, and the first route 20 is located at the One side of the second route 30 .
  • FIG. 7A and FIG. 7B exemplarily show the projection orientation of the photosensitive element of the photographing device on the horizontal plane in the first route, and the photosensitive element of the photographing device in the second route.
  • the installation position of the photosensitive element in the shooting device is fixed.
  • FIG. 3 taking the projected edge 11 of one of the edges (edge 10) of the photosensitive element on the horizontal plane as an example.
  • the projection edge 11 of the edge 10 of the photosensitive element on the horizontal plane is on different sides, that is, the orientation of the projection of the photosensitive element of the photographing device on the horizontal plane in the first route is the orientation of the projection of the photosensitive element of the photographing device on the horizontal plane in the second route different.
  • the projection edges 11 of the edges 10 of the photosensitive elements corresponding to different shooting waypoints in the same route on the horizontal plane are on the same side, that is, the projection orientations of the photosensitive elements corresponding to different first shooting waypoints in the first route on the horizontal plane
  • the orientations of projections on the horizontal plane of the photosensitive elements corresponding to different second shooting waypoints in the second route are the same.
  • the first image captured by the photographing device at the first photographing waypoint of the first route and the second image photographed at the second photographing waypoint of the second route are used to generate the strip target
  • the basic principle of aerial survey results is to calculate the shooting pose of each image, and then use image fusion algorithms to fuse multiple images into an aerial survey image that can measure geographic information, such as orthophotos, digital elevation models, digital surface models, digital At least one of a line drawing or a 3D model.
  • the internal reference of the photographing device includes the focal length of the photographing device and/or the image position of the principal point of the photographing device.
  • the image position of the principal point of image refers to the intersection point of the main optical axis of the lens of the shooting device and the image plane (that is, the photosensitive element).
  • the focal length refers to the distance between the optical center and the photosensitive element. When the photosensitive element is fixed, the focal length of the shooting device can be obtained by determining the optical center.
  • the geographic coordinates can be determined through the data collected by the relevant positioning module in the UAV.
  • the orientation of the projection of the photosensitive element of the photographing device on the horizontal plane in the first route is different from the orientation of the projection of the photosensitive element of the photographing device on the horizontal plane in the second route, then
  • the first image taken by the UAV at the first shooting waypoint and the second image taken by the UAV at the second shooting waypoint can obtain accurate internal parameters of the shooting device, and then based on the internal parameters of the shooting device and
  • the second image generates a higher-precision aerial survey result, improving the accuracy of the aerial survey result.
  • the aerial survey result may also be generated based on the internal reference of the photographing device, the first image and the second image, which is not limited in this embodiment.
  • the process of using the first image and the second image to generate the aerial survey result can be carried out in an offline environment of the remote control device, or it can be performed by the remote control device in real time. ongoing.
  • the remote control device may calculate the internal parameters of the photographing device according to the target image square points in the first image and the second image.
  • the target image square point is an image point of the target object on the first image and the second image respectively in the shooting environment of the shooting device.
  • the target image square point on the first type of image and the target image square point on the second type of image can be understood as a pair of related image square points, and the related image square point is for a certain target object, If the target object is captured in both the first image and the second image captured by the device, the corresponding image square point in the first image and the corresponding image square point in the second image of the target object are a pair of related image square points.
  • the internal reference of the shooting device includes the image position of the main point as an example for illustration: Referring to FIG. 8A, when the UAV flies according to the “single route” shown in FIG. The orientations of the projections of the photosensitive elements on the horizontal plane are the same, and in this case, the image position of the principal point of the camera is calculated.
  • 801a refers to the photosensitive element in the photographing device, and A, B and C are photographed by the photographing device in the UAV at three different photographing waypoints of the "single route" shown in Fig. 2 Target image square points on three images.
  • the main optical axis of the shooting device is 802a
  • one of the three images has an optical path that passes through the main optical axis and the target image space point and converges at the object space point 1a, that is to say, when the main optical axis is 802a, there is an object space point
  • the principal point of image is the intersection point of the principal optical axis of the camera and the photosensitive element. Therefore, under the assumption 802a of the principal optical axis, a principal point of image O is determined.
  • the target image square point on the captured image can be calculated to obtain the principal image positions of at least two photographing devices, and the remote control device cannot determine which of the two principal point image positions is selected as the correct photographing device If the wrong image position of the image principal point is selected as the internal reference of the shooting device, the final generated aerial survey results will be offset in the horizontal direction.
  • multiple principal optical axes can be calculated when using the aerial triangulation algorithm to calculate the internal parameters of the shooting device, so as to obtain the image positions of the principal points of multiple shooting devices If it is not possible to accurately determine which principal optical axis is the principal optical axis of the target, it is also impossible to accurately determine the image position of the principal point of the shooting device, and the internal reference of the shooting device is inaccurate, resulting in errors in the final generated aerial survey results.
  • the orientation of the projection of the photosensitive element of the photographing device on the horizontal plane in the first route is different from the orientation of the photosensitive element of the photographing device on the horizontal plane in the second route.
  • the orientation of the projection is different, in which case the image position of the image principal point of the camera is calculated.
  • 801b refers to the photosensitive element in the shooting device
  • a and B are the target image square points on the two second images respectively
  • C is the target image square point on the first image
  • the projection orientation on the horizontal plane is different from the projection orientation of the photosensitive elements corresponding to the two second images on the horizontal plane.
  • Fig. 8B if the main optical axis is assumed to be 802b, the three optical paths passing through the main optical axis and the three target image space points can converge at the object space point 1b, which conforms to the projection model of the shooting device. At this time, according to the main optical axis 802b and the image position of the principal point determined by the photosensitive element are O. If it is assumed that the main optical axis is 803b, it can be seen from FIG. 8B that the optical path passing through the target image space point on the two second images and the main optical axis 803b intersects at the object space point 2b.
  • the obtained target image-space point corresponding to the object-space point 2b on the first image is not C, but becomes C', which does not conform to the projection model of the shooting device. That is to say, the main optical axis at this time is wrong.
  • a principal optical axis 802b can be uniquely determined in FIG. 8B , and the image principal point image position O determined according to the principal optical axis 802b is the correct internal reference of the photographing device.
  • the orientation of the projection of the photosensitive element corresponding to the first image on the horizontal plane is different from the orientation of the projection of the photosensitive element corresponding to the second image on the horizontal plane, it can be uniquely determined when using the aerial triangulation algorithm to calculate the internal parameters of the shooting device.
  • a principal optical axis and then determine the accurate image position of the principal point, and realize the accurate calculation of the internal parameters of the shooting device, which is conducive to improving the accuracy of aerial survey results.
  • the UAV is provided with a pan-tilt.
  • the projection of the photosensitive element of the photographing device on the horizontal plane in the first route can be controlled by controlling the rotation of the pan-tilt.
  • the orientation of is different from the orientation of the projection of the photosensitive element of the photographing device on the horizontal plane in the second route.
  • the direction of the nose can be changed so that the direction of the projection of the photosensitive element of the shooting device on the horizontal plane in the first route is the same as that in the second route.
  • the direction of the projection of the photosensitive element of the photographing device on the horizontal plane is different.
  • the orientation of the projection of the photosensitive element corresponding to the first image on the horizontal plane may be opposite to the orientation of the projection of the photosensitive element corresponding to the second image on the horizontal plane.
  • the wrong object space point 2b cannot be projected onto the image space point, which does not satisfy the projection model, and the correct key light can be identified based on the aerial triangulation algorithm axis, so as to obtain accurate internal references of the shooting device (like the principal point image position).
  • the direction of the nose of the UAV when flying along the first route can be set to be opposite to the direction of the nose when flying along the second route, so that the photosensitive element corresponding to the first image is in the horizontal plane
  • the direction of the projection on the horizontal plane is opposite to the direction of the projection of the photosensitive element corresponding to the second image on the horizontal plane.
  • the density of the first shooting waypoint in the first route can be set Higher than the density of the second shooting waypoint in the second route.
  • FIG. 7A and FIG. 7B For example, from the perspective of the distance between adjacent shooting waypoints, the distance between two adjacent first shooting waypoints in the first route is smaller than that in the second route. The distance between the two second shooting waypoints, that is, the distance between two adjacent first shooting waypoints will be smaller, so that the first shooting waypoints in the first route are denser.
  • the first images captured by the photographing device at two adjacent first shooting waypoints satisfy the first overlap rate, and the photographing device respectively captures at two adjacent second shooting waypoints
  • the second image satisfies the second overlap rate
  • the first overlap rate is greater than the second overlap rate, for example, the first overlap rate is 70%
  • the second overlap rate is 50%, that is, the shooting device
  • the overlapping ratio of the first images respectively captured by a shooting waypoint will be larger, so that the first shooting waypoints in the first route are denser.
  • the first shooting waypoints in the first route are set to be denser, so that a sufficient number of first images can be collected to participate in the internal reference (image) of the shooting device.
  • Principal point image position) solution is helpful to determine the correct image principal point image position.
  • the internal parameters of the camera include a focal length and/or a principal point image position of the camera.
  • the orientation of the projection of the photosensitive element corresponding to the first image on the horizontal plane is different from the orientation of the projection of the photosensitive element corresponding to the second image on the horizontal plane, and the correct calculation can be realized. image position of the image principal point.
  • the focal length of the shooting device cannot be accurately determined when using the aerial triangulation algorithm to calculate the internal parameters of the shooting device, resulting in the generated aerial survey results. Elevation error (for related content, please refer to the description in the embodiment shown in FIG. 9A ). Therefore, in order to obtain the correct focal length, it is possible to ensure the accuracy of the calculated focal length of the photographing device by setting different orientations of the photographing device in different shooting waypoints.
  • FIG. 9A an example is given here to illustrate the calculation relationship between the orientation of the shooting device and the focal length of the shooting device.
  • the unmanned The orientation of the photographing device when the aircraft is flying along the first route and the direction of the photographing device when flying along the second route are the same as the direction of gravity, and in this case the focal length of the photographing device is calculated.
  • 901a is the photosensitive element
  • a and B are the target image square points on the two second images
  • C is the target image square point on the first image, where the first image and the two second images
  • the orientation of the corresponding shooting devices is the same as the direction of gravity.
  • the optical paths passing through the optical center 902a and the three target image space points intersect at the object space point 1a, which conforms to the projection model of the shooting device, indicating that the optical center 902a can be the optical center of the shooting device, and the optical center 902a
  • the distance f to the photosensitive element 901a represents the focal length of the imaging device.
  • the orientation of the photographing device for photographing the waypoint is different from the direction of gravity, and in this case the focal length of the photographing device is calculated.
  • 901b is a photosensitive element, assuming that A and B are the target image square points on the two second images, and C is the target image square point on the first image, the first image and the two second images
  • the orientation of at least one corresponding camera device is different from the direction of gravity.
  • the camera corresponding to the first image is oriented 10° to the left relative to the direction of gravity
  • the camera corresponding to the second image is oriented 10° to the right relative to the direction of gravity.
  • the three optical paths passing through the optical center 902b and the three target points can converge at the object space point 1b, which conforms to the projection model of the shooting device, indicating that 902b is the optical center of the shooting device, and further the optical center 902b
  • the distance from the photosensitive plane 901b is taken as the focal length f of the photographing device.
  • the orientation of the photographing device when the drone is flying along the first route is different from the orientation of the photographing device when flying along the second route.
  • the angle between the orientation of the camera device and the direction of gravity when the UAV flies along the first route can be set to be equal to the angle between the orientation of the camera device and the direction of gravity when the drone is flying along the second route. is the opposite number.
  • FIG. 10A and FIG. 10B show that the shooting device of the first shooting waypoint in the first route is tilted to the right relative to the direction of gravity.
  • the direction of the shooting device of the second shooting waypoint is inclined to the left relative to the direction of gravity, which realizes that the direction of the shooting device of different shooting waypoints is different relative to the direction of gravity, realizes the accurate determination of the focal length of the shooting device, and improves the accuracy of the subsequent aerial survey results. Elevation accuracy.
  • the angles of the shooting devices corresponding to different first shooting waypoints can be the same or different from the direction of gravity; similarly, in the second route, different second shooting waypoints
  • the angles at which the respective corresponding photographing devices are slanted relative to the direction of gravity may be the same or different.
  • the camera orientations corresponding to different first shooting waypoints are inclined to the right relative to the direction of gravity, and the angle of inclination (that is, the orientation of the camera device and the direction of gravity The included angle) is different, for example, it can gradually increase from 0° to the preset angle, or it can gradually decrease from the preset angle to 0°, the specific value of the preset angle and the change of increase or decrease
  • the rules can be set according to the actual application scenario. This embodiment does not impose any restrictions on this. For example, the angle difference between the direction of the camera device corresponding to the adjacent shooting waypoints and the direction of gravity is the same, or the geometric sequence, equi-difference series etc.
  • the camera orientations corresponding to different first shooting waypoints are inclined to the left relative to the direction of gravity, and the angle of inclination (that is, the angle between the orientation of the camera device and the direction of gravity Angle) is different, for example, it may gradually increase from 0° to a preset angle, or gradually decrease from a preset angle to 0°.
  • the orientation of the photographing device changes gradually when the drone flies along the first route.
  • the angle 110 between the direction of the photographing device and the direction of gravity when the UAV flies along the first route can be reduced first and then becomes larger, that is, the direction of the camera in the first route shows a convergence trend.
  • the three projection lines cannot intersect at one object space point, which does not satisfy the projection
  • the correct optical center can be identified, and then the accurate internal reference (focal length) of the shooting device can be obtained.
  • the angle 110 between the direction of the shooting device corresponding to the first first shooting waypoint in the first route and the direction of gravity is a preset angle greater than 0°, and the angle 110 corresponding to the next first shooting waypoint
  • the angle 110 can be reduced by a certain angle value on the basis of the included angle 110 corresponding to the last first shooting waypoint (can be set according to the actual application scene), until the included angle 110 corresponding to the first shooting waypoint is 0 (ie The direction of the shooting device corresponding to the first shooting waypoint is the same as the direction of gravity), and the included angle 110 corresponding to the next first shooting waypoint can be increased by a certain angle value on the basis of the included angle 110 corresponding to the previous first shooting waypoint , to achieve the effect that the included angle 110 between the orientation of the photographing device corresponding to each of the first photographing waypoints in the first flight route and the direction of gravity can first decrease and then increase.
  • the remote control device may calculate the internal parameters of the photographing device according to the target image square points in the first image and the second image.
  • the target image square point is an image point of the target object on the first image and the second image respectively in the shooting environment of the shooting device, that is to say, the first image and the second image need to include the same target object. Then it can be set that the second image captured by the photographing device at a part of the second shooting waypoint of the second route and the first image captured at the first shooting waypoint of the first route have a preset lateral overlap rate, Therefore, it is ensured that part of the second image and the first image have the target image square point, so as to calculate the internal reference of the shooting device.
  • the specific value of the side overlap rate may be specifically set according to an actual application scenario, and this embodiment of the present application does not impose any limitation on this.
  • the second route includes a first sub-route and a second sub-route, wherein the second image captured by the photographing device at the second shooting waypoint of the first sub-route and the The first image captured at the first shooting waypoint of a route has a preset side overlap ratio, and the second image captured by the shooting device at the second shooting waypoint of the second sub-route and the second image captured at the second sub-route
  • the first images captured at the first shooting waypoint of a route do not overlap.
  • FIG. 12 shows that the second route 30 includes a first sub-route 32 and a second sub-route 33 .
  • the remote control device may determine the internal reference of the shooting device according to the first image and the second image, Furthermore, the aerial survey results of the band-shaped target are generated according to the internal reference of the photographing device and the second image.
  • the shooting pose when the photographing device captures the second image can be determined according to the internal reference of the photographing device and the geographic coordinates when the photographing device captures the second image, and then According to the shooting position and posture of the second image captured by the shooting device and combined with the image fusion algorithm, the aerial survey results of the belt-shaped target are generated, and the aerial survey results include but are not limited to orthophotos, digital elevation models, digital surface models, digital line drawings or 3D model etc.
  • the aerial survey result of the belt-shaped target can also be generated according to the internal reference of the photographing device, the first image and the second image.
  • the generation timing of aerial survey results can be selected according to actual needs.
  • the remote control device after the remote control device acquires the first image and the second image, it can determine the internal parameters of the shooting device according to the first image and the second image in real time, and then according to the shooting device The internal reference and the second image generate the aerial survey results of the strip target.
  • the remote control device after the remote control device acquires the first image and the second image, it may also use the first image and the second image to generate an aerial survey result of the strip target in an offline environment.
  • the embodiment of the present application also provides an aerial survey device 300, the drone is provided with a photographing device, the photographing device includes a photosensitive element, and the device includes:
  • memory 301 for storing executable instructions
  • processors 302 one or more processors 302;
  • processors 302 execute the executable instructions, they are individually or collectively configured to execute the above method.
  • the aerial survey device 300 may be the remote control device 100 as shown in FIG. 4 .
  • the processor 302 executes the executable instructions included in the memory 301, and the processor 302 can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory 301 stores the executable instructions of the UAV aerial survey method, and the memory 301 can include at least one type of storage medium, and the storage medium includes flash memory, hard disk, multimedia card, card type memory (for example, SD or DX memory, etc. etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), Magnetic Memory, Diskettes, CDs, etc. Also, the device may cooperate with a network storage device that performs a storage function of the memory through a network connection.
  • the storage 301 may be an internal storage unit of the device 300 , such as a hard disk or a memory of the device 300 .
  • the memory 301 can also be an external storage device of the device 300, such as a plug-in hard disk equipped on the device 300, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card (Flash Card) wait. Further, the memory 301 may also include both an internal storage unit of the device 300 and an external storage device.
  • the memory 301 is used to store the computer program for the aerial survey method of the UAV and other programs and data required by the device.
  • the memory 301 can also be used to temporarily store data that has been output or will be output.
  • the processor 302 is configured to:
  • a shooting route for shooting the strip-shaped target is planned, the shooting route includes a first route and a second route, and the extension directions of the first route and the second route are consistent with the The extension directions of the strip targets are roughly the same, and the length of the first route is shorter than the length of the second route;
  • the first route includes a first shooting waypoint
  • the second route includes a second shooting waypoint
  • the second image captured at the second shooting waypoint is used to generate the aerial survey result of the belt-shaped target, the direction of the projection of the photosensitive element corresponding to the first image on the horizontal plane and the photosensitive element corresponding to the second image
  • the projection of the element on the horizontal plane is oriented differently.
  • the projection direction of the photosensitive element corresponding to the first image on the horizontal plane is opposite to the projection direction of the photosensitive element corresponding to the second image on the horizontal plane.
  • the direction of the nose of the UAV when flying along the first route is opposite to the direction of the nose when flying along the second route, so that the photosensitive element corresponding to the first image is in the horizontal plane
  • the direction of the projection on the horizontal plane is opposite to the direction of the projection of the photosensitive element corresponding to the second image on the horizontal plane.
  • the distance between two adjacent first shooting waypoints in the first route is smaller than the distance between two adjacent second shooting waypoints in the second route.
  • the first images captured by the photographing device at two adjacent first photographing waypoints meet the first overlap ratio;
  • the second images captured respectively adjacent to the two second shooting waypoints satisfy a second overlap rate; wherein, the first overlap rate is greater than the second overlap rate.
  • the orientation of the photographing device when the UAV is flying along the first route is different from the orientation of the photographing device when flying along the second route.
  • the angle between the direction of the camera device and the direction of gravity when the UAV flies along the first route is opposite to the angle between the direction of the camera device and the direction of gravity when it flies along the second route.
  • the direction of the photographing device changes gradually.
  • the angle between the orientation of the photographing device and the direction of gravity first decreases and then increases.
  • a ratio between the length of the first route and the length of the second route is greater than a preset ratio.
  • the end point of the first route is the same as the starting point of the second route, and the UAV turns the direction of the nose at the end point of the first route; or the end point of the first route is the same as the starting point of the second route.
  • the starting point of the second route is different, and the shooting route also includes a third route formed by the end point of the first route and the starting point of the second route; the drone is flying according to the third route During the process, turn the direction of the nose.
  • the third route is a straight line or a curve.
  • the end point of the first route is different from the starting point of the second route, the second route is roughly located above the central line of the strip target, and the first route is located at the end of the second route. one side.
  • the second route includes a first sub-route and a second sub-route
  • the second image captured by the shooting device at the second shooting waypoint of the first sub-route and the second image captured on the first sub-route has a preset side overlap ratio.
  • the aerial survey results include at least one of an orthophoto, a digital elevation model, a digital surface model, a digital line drawing, or a 3D model.
  • Various implementations described herein can be implemented using a computer readable medium such as computer software, hardware, or any combination thereof.
  • the embodiments described herein can be implemented by using Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays ( FPGA), processors, controllers, microcontrollers, microprocessors, electronic units designed to perform the functions described herein.
  • ASICs Application Specific Integrated Circuits
  • DSPs Digital Signal Processors
  • DSPDs Digital Signal Processing Devices
  • PLDs Programmable Logic Devices
  • FPGA Field Programmable Gate Arrays
  • processors controllers, microcontrollers, microprocessors, electronic units designed to perform the functions described herein.
  • an embodiment such as a procedure or a function may be implemented with a separate software module that allows at least one function or operation to be performed.
  • the software codes can be implemented by a software application (or program
  • the embodiment of the present application also provides an aerial survey system, including a drone and the aforementioned aerial survey device 300 .
  • the aerial survey device 300 may be the remote control device 100 as shown in FIG. 4 .
  • the aerial surveying device 300 is used to send the planned shooting route for shooting strip targets to the UAV.
  • the unmanned aerial vehicle is used to fly according to the photographing route, and during the flight, the photographing device is used to capture the first image at the first photographing waypoint of the first route, and at the second photographing waypoint of the second route Take the second image.
  • non-transitory computer-readable storage medium including instructions, such as a memory including instructions, which are executable by a processor of an apparatus to perform the above method.
  • the non-transitory computer readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • a non-transitory computer-readable storage medium enabling the terminal to execute the above method when instructions in the storage medium are executed by a processor of the terminal.

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Abstract

一种带状目标的无人机航测方法、装置、系统及存储介质。方法包括：获取带状目标的位置信息(S101)；根据带状目标的位置信息，规划用于拍摄带状目标的拍摄航线，拍摄航线包括第一航线(20)和第二航线(30)，第一航线(20)和第二航线(30)的延伸方向与带状目标的延伸方向大致相同，第一航线(20)的长度短于第二航线(30)的长度；其中，第一航线(20)包括第一拍摄航点(21)，第二航线(30)包括第二拍摄航点(31)，无人机(200)在第一拍摄航点(21)拍摄的第一图像和无人机(200)在第二拍摄航点(31)拍摄的第二图像用于生成带状目标的航测结果，第一图像对应的感光元件在水平面上的投影的朝向和第二图像对应的感光元件在水平面上的投影的朝向不同(S102)。从而得到的拍摄航线的飞行效率高且能够生成精度较高的航测结果。

Description

一种带状目标的无人机航测方法、装置、系统及存储介质 技术领域
本申请涉及无人机航线规划技术领域，具体而言，涉及一种带状目标的无人机航测方法、装置、系统及存储介质。
背景技术
无人机(UAV)是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机，或者由机载计算机完全地或间歇地自主地操作。无人机广泛应用于在航拍、测绘、农业植保、快递运输、灾难救援、观察野生动物、监控传染病、新闻报道、电力巡检、救灾或者影视拍摄等诸多领域。
在无人机测绘领域中，其中一种需求是针对于河流、道路、铁轨、石油管道或者天然气管道等带状目标进行测绘，这些带状目标通常长度较长，宽度较窄，对这些带状目标进行测绘对于观察带状目标的健康状况、发现带状目标的附近存在的隐患以及资源部署等方面存在较大参考意义。
但是，现有的针对于河流、道路、铁轨、石油管道或者天然气管道等带状目标的无人机航测方法存在航程较长、航测效率低、图像采集工作量大等问题。
发明内容
有鉴于此，本申请的目的之一是提供一种带状目标的无人机航测方法、装置、系统及存储介质。
第一方面，本申请实施例提供了一种带状目标的无人机航测方法，所述无人机设置有拍摄装置，所述拍摄装置包括感光元件，所述方法包括：
获取所述带状目标的位置信息；
根据所述带状目标的位置信息，规划用于拍摄带状目标的拍摄航线，所述拍摄航线包括第一航线和第二航线，所述第一航线和所述第二航线的延伸方向与所述带状目标的延伸方向大致相同，所述第一航线的长度短于所述第二航线的长度；
其中，所述第一航线包括第一拍摄航点，所述第二航线包括第二拍摄航点，所述无人机在所述第一拍摄航点拍摄的第一图像和所述无人机在所述第二拍摄航点拍摄的第二图像用于生成所述带状目标的航测结果，所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向不同。
第二方面，本申请实施例提供了一种航测装置，所述装置包括：
用于存储可执行指令的存储器；
一个或多个处理器；
其中，所述一个或多个处理器执行所述可执行指令时，被单独地或共同地配置成执行第一方面所述的方法。
第三方面，本申请实施例提供了一种航测系统，包括无人机以及第二方面所述的航测装置；
所述航测装置用于将规划得到的用于拍摄带状目标的拍摄航线发送给所述无人机；
所述无人机用于根据所述拍摄航线飞行，并在飞行过程中利用拍摄装置在第一航线的第一拍摄航点处拍摄第一图像，以及在第二航线的第二拍摄航点处拍摄第二图像。
第四方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有可执行指令，所述可执行指令被处理器执行时实现第一方面所述的方法。
本申请实施例所提供的一种带状目标的无人机航测方法、装置、系统及存储介质，能够根据带状目标的位置信息，规划出用于拍摄带状目标的拍摄航线，所述拍摄航线包括第一航线和第二航线，第一航线和第二航线的延伸方向均与带状目标的延伸方向大致相同，且第一航线的长度短于第二航线的长度，整体航线长度较短，从而有利于缩短航程，提高飞行效率；第一航线包括第一拍摄航点，无人机在第一拍摄航点拍摄得到第一图像，第二航线包括第二拍摄航点，无人机在第二拍摄航点拍摄得到第二图像，第一图像对应的感光元件在水平面上的投影的朝向和第二图像对应的感光元件在水平面上的投影的朝向不同，从而有利于提高基于第一图像和第二图像生成的航测结果的精度。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是相关技术中的一种拍摄航线的示意图；
图2是本申请实施例提供的发明人初步改进得到的一种拍摄航线的示意图；
图3是本申请实施例提供的一种拍摄装置的结构示意图；
图4是本申请实施例提供的一种无人飞行系统的示意图；
图5是本申请实施例提供的一种带状目标的无人机航测方法的流程示意图；
图6是本申请实施例提供的包括有河流等带状目标的地图；
图7A是本申请实施例提供的一种拍摄航线的示意图；
图7B是本申请实施例提供的另一种拍摄航线的示意图；
图8A是本申请提供的三张图像对应的感光元件在水平面上投影的朝向相同的情况下，进行像主点图像位置解算的示意图；
图8B是本申请提供的三张图像对应的感光元件在水平面上投影的朝向不同的情况下，进行像主点图像位置解算的示意图；
图9A是本申请提供的三张图像对应的拍摄装置的朝向与重力方向相同的情况下，解算焦距的示意图；
图9B是本申请提供的三张图像对应的拍摄装置的朝向与重力方向不同的情况下，解算焦距的示意图；
图10A是本申请提供的第一航线中第一拍摄航点的拍摄装置朝向相对于重力方向往右侧倾斜的示意图；
图10B是本申请提供的第二航线中第二拍摄航点的拍摄装置朝向相对于重力方向往左侧倾斜的示意图；
图11是本申请提供的无人机沿所述第一航线飞行时的拍摄装置朝向与重力方向的夹角先变小后变大的示意图；
图12是本申请提供的第二航线包括第一子航线和第二子航线的示意图；
图13是本申请提供的一种航测装置的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
河流、道路、铁轨、石油管道或者天然气管道等带状目标通常长度达数十公里，宽度较窄数十米。本申请实施例提供了针对于该类带状目标的无人机航测方法。
请参阅图1，图1示出了相关技术中的一种针对于带状目标的拍摄航线01，该拍摄航线01为“弓字型”航线，“弓字型”航线包括平行于带状目标的第一航线和垂直于带状目标的第二航线，由于垂直于带状目标的第二航线之间需要满足预设的旁向重叠率，使得相邻两个第二航线之间的间距较短，导致“弓字型”航线的航程较长；在“弓字型”航线的航程较长的情况下，需要拍摄图像的拍摄航点02数量增多，图像采集工作量大，且针对于图像的数据处理量也较大；并且从图1可以看出，在无人机沿着该“弓字型”航线进行航拍的过程中，需要频繁调整航向，也导致飞行效率低下。
针对于相关技术中的问题，发明人初步想到将用于拍摄带状目标的拍摄航线改进为如图2所示的一种拍摄航线03，该拍摄航线03为仅有一条航线的“单航线”，该拍摄航线03的航向与带状目标的延伸方向相同，无人机可以按照拍摄航线03飞行并在飞行过程中控制无人机中的拍摄装置在拍摄航点处拍摄有关于带状目标的图像。而发明人发现，该类“单航线”中，如图2所示，在不同拍摄航点04处拍摄装置的感光元件在水平面上的投影05的朝向一般都是相同的(以下结合图3对感光元件在水平面上的投影的朝向进行说明)。而基于空中三角测量算法可知，使用图2所示的拍摄航线03采集的带状目标图像进行拍摄装置内参解算的结果是不准确(在图8A所示的实施例中进行说明)，导致利用该类图像解算得到的带状目标的航测结果也是不准确的。因此，该类图像仅能用于观赏目的，而无法用于测绘参考。
为了便于理解本申请实施例提供的带状目标的无人机航测方法，这里先对感光元件在水平面上的投影的朝向进行说明：无人机设置有拍摄装置，拍摄装置包括感光元件，感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器或电荷耦合元件(Charge-coupled Device，CCD)传感器。请参阅图3，在按下快门之后，外部环境中的光线透过拍摄装置中的镜头组件照射到感光元件(如图3中的CMOS)，感光元件将接收到的光信号转换为电信号，进而通过后续一系列处理生成图像。其中，感光元件在拍摄装置中的安装位置一般是固定的。以感光元件的其中一个边缘(边缘10)进行举例说明，将感光元件在水平面上进行投影之后，感光元件的边缘10投影为图2中的投影边缘11，可以看出，图2中边缘10对应的投影边缘11均处于同一侧，该种情况下可以认为不同拍摄航点处拍摄装置的感光元件在水平面上的投影的朝向相同。
针对于相关技术中图1所示的“弓字型”航线以及图2所示的“单航线”中的问 题，本申请实施例提供了一种带状目标的无人机航测方法，能够根据带状目标的位置信息，规划出用于拍摄带状目标的拍摄航线，该拍摄航线不同于相关技术中的“弓字型”航线和“单航线”。本申请实施例规划的用于拍摄带状目标的拍摄航线包括第一航线和第二航线，第一航线和第二航线的延伸方向均与带状目标的延伸方向大致相同，且第一航线的长度短于第二航线的长度，航线数量少于“弓字型”航线的数量，且第一航线的长度较短，从而有利于缩短航程，提高飞行效率；第一航线包括第一拍摄航点，无人机在第一拍摄航点拍摄得到第一图像，第二航线包括第二拍摄航点，无人机在第二拍摄航点拍摄得到第二图像，第一图像对应的感光元件在水平面上的投影的朝向和第二图像对应的感光元件在水平面上的投影的朝向不同，从而有利于提高基于第一图像和第二图像生成的航测结果的精度。
本申请实施例提供的带状目标的无人机航测方法可应用于航测装置中。示例性的，所述航测装置可以是手机、电脑、平板、可穿戴设备或者遥控器等等。在一个例子中，本申请实施例提供的带状目标的无人机航测方法可以是集成于航测装置中的程序产品。在另一个例子中，航测装置包括有存储器，本申请实施例提供的带状目标的无人机航测方法可以是存储在存储器中的可执行指令。
在一个示例性的应用场景中，请参阅图4，图4示出了一种无人飞行系统的示意图，无人飞行系统包括有遥控设备100和无人机200；遥控设备100设置有显示器101，无人机200设置有拍摄装置201。其中，遥控设备100可以执行本申请实施例提供的带状目标的无人机200航测方法，获取带状目标的位置信息，并根据带状目标的位置信息规划用于拍摄带状目标的拍摄航线，进而可以将规划好的拍摄航线的相关信息发送给无人机200，无人机200在按照拍摄航线飞行的过程中，可以控制拍摄装置201拍摄有关于带状目标的图像。
示例性的，无人机200可以将拍摄的图像发送给遥控设备100，以便由遥控设备100基于拍摄的图像生成带状目标的航测结果，并在显示器101中显示带状目标的航测结果。示例性的，无人机200也可以基于拍摄的图像生成带状目标的航测结果，然后将带状目标的航测结果发送给遥控设备100，可以在遥控设备100中的显示器101中显示带状目标的航测结果。示例性的，无人机200可以将拍摄的图像发送给预设服务器，由预设服务器基于拍摄的图像生成带状目标的航测结果并发送给遥控设备100，可以在遥控设备100中的显示器101中显示带状目标的航测结果。其中，所述航测结果包括但不限于正射影像、数字高程模型、数字表面模型、数字线画图或者3D模型。
对于本领域技术人员将会显而易见的是，可以不受限制地使用其他类型的无人机， 本申请的实施例可以应用于各种类型的无人机。例如，无人机可以是小型或大型的无人机。在某些实施例中，无人机可以是旋翼无人机(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼无人机，本申请的实施例并不限于此，无人机也可以是其它类型的无人机。
请参阅图5，图5为本申请实施例提供的一种带状目标的无人机航测方法的流程示意图，所述方法应用于航测装置。示例性的，航测装置可以是用于控制无人机的遥控设备。所述方法包括：
在步骤S101中，获取所述带状目标的位置信息。
在步骤S102中，根据所述带状目标的位置信息，规划用于拍摄带状目标的拍摄航线，所述拍摄航线包括第一航线和第二航线，所述第一航线和所述第二航线的延伸方向与所述带状目标的延伸方向大致相同，所述第一航线的长度短于所述第二航线的长度；其中，所述第一航线包括第一拍摄航点，所述第二航线包括第二拍摄航点，所述无人机在所述第一拍摄航点拍摄的第一图像和所述无人机在所述第二拍摄航点拍摄的第二图像用于生成所述带状目标的航测结果，所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向不同。
可以理解的是，本申请实施例对于河流、道路、铁轨、石油管道或者天然气管道等带状目标的位置信息的获取过程不做任何限制，可依据实际应用场景进行具体设置。
示例性的，遥控设备包括有显示器，可以根据用户的实际需要在显示器中显示包括有带状目标的地图，进而根据用户在地图中针对于带状目标的选定操作获取带状目标的位置信息。如图6所示，在图6的地图中显示有河流(带状目标)，在规划用于拍摄河流的拍摄航线之前，用户可以在图6中的地图中选定河流所在区域，遥控设备可以根据用户在地图中选定的位置获取河流位置信息，进而根据河流的位置信息规划用于拍摄河流的拍摄航线。
示例性的，带状目标的位置信息也可以是用户直接在遥控设备中输入的结果，比如用户可以借助定位设备获得带状目标的经纬度信息，进而将带状目标的经纬度信息输入遥控设备。
在一些实施例中，遥控设备可以根据带状目标的位置信息，规划用于拍摄带状目标的拍摄航线，并将拍摄航线的相关信息发送给无人机，以便无人机按照拍摄航线飞行，并在飞行过程中控制拍摄装置拍摄有关于带状目标的图像。
本申请实施例规划得到的拍摄航线可以包括第一航线和第二航线，所述第一航线和所述第二航线的延伸方向与所述带状目标的延伸方向大致相同。其中，“大致相同” 包括两种情况，一种为第一航线和第二航线的延伸方向与带状目标的延伸方向完全重合，另一种为第一航线和第二航线的延伸方向与带状目标的延伸方向存在预设角度的偏差，该预设角度的角度值较小，比如小于10°，其具体数值可依据实际应用场景进行具体设置。
其中，所述第一航线包括第一拍摄航点，所述第二航线包括第二拍摄航点，所述无人机在所述第一拍摄航点拍摄的第一图像和所述无人机在所述第二拍摄航点拍摄的第二图像用于生成所述带状目标的航测结果，所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向不同，从而有利于提高航测结果的准确性。
并且，本申请规划出第一航线的目的，是为了获得感光元件在水平面上的投影的朝向与第二图像对应的感光元件在水平面上的投影的朝向不同的第一图像，从而辅助拍摄装置的内参解算准确，提高航测结果的精准度，即第一航线起到辅助作用，因此本申请实施例设置第一航线的长度短于所述第二航线的长度，从而有利于提高飞行效率。
在一可能的实施方式中，为了进一步提高拍摄装置的内参解算准确，第一航线的长度也不能设置地过短，长度设置过短可能无法采集到足够数量的第一图像，拍摄装置的内参的准确性无法保证，进而影响航测结果的精度。因此，第一航线的长度可依据第二航线的长度来适应性设置，比如可以设置所述第一航线的长度与所述第二航线的长度之间的比值大于预设比值，所述预设比值可依据实际应用场景进行具体设定，比如该预设比值为1:2，或者该预设比值为2:5等等。
在一示例性的实施例中，本申请实施例规划得到的拍摄航线可以是如图7A和图7B所示的拍摄航线，拍摄航线包括第一航线20和第二航线30，第一航线20包括有第一拍摄航点21，第二航线30包括有第二拍摄航点31。
示例性的，在第一航线20的终点与第二航线30的起点相同的情况下，可以是如图7A所示的拍摄航线，第一航线20的航向与第二航线30的航向相反，且第二航线30的航向与带状目标的延伸方向大致相同；在无人机按照拍摄航线飞行的过程中，无人机从第一航线20的起点起飞后，在第一航线20的终点原地调整航向，比如无人机可以通过在所述第一航线20的终点原地掉转机头方向来实现航向的调整，进而按照第二航线30飞行。
在一可能的实施方式中，为了实现精准拍摄带状目标，在第一航线20的终点与第二航线30的起点相同的情况下，第一航线20与第二航线30可以大致位于所述带状目 标中心线的上方。其中，“大致位于所述带状目标中心线的上方”可以包括几种情况：一种为第一航线20、第二航线30与带状目标中心线在水平参考面上的投影至少部分重合；另一种为第一航线20、第二航线30与带状目标中心线在水平参考面上的投影的间隔小于预设距离，该预设距离较小；还有一种是第一航线20、第二航线30与带状目标中心线在水平参考面上的投影的夹角小于预设角度，该预设角度较小。上述预设值的具体数值可依据实际应用场景进行具体设置。
示例性的，在第一航线20的终点与所述第二航线30的起点不同的情况下，可以是如图7B所示的拍摄航线，第一航线20的航向与第二航线30的航向相反，且第二航线30的航向与带状目标的延伸方向大致相同。所述拍摄航线还包括由所述第一航线20的终点和所述第二航线30的起点构成的第三航线40；所述第三航线40可以是直线型的飞行轨迹，也可以是曲线型的飞行轨迹。在无人机按照第一航线20飞行至第一航线20的终点时，无人机通过第三航线40来将自身的航向从第一航线20的航向调整为第二航线30的航向，比如所述无人机可以在按照所述第三航线40飞行的过程中通过掉转机头方向来达到调整航向的目的。
在一可能的实施方式中，在第一航线20的终点与所述第二航线30的起点不同的情况下，考虑到第一航线20主要起到提高航测结果精度的辅助作用，而第二航线30主要用于拍摄有关于带状目标的第二图像，因此为了实现精准拍摄带状目标，第二航线30可以大致位于所述带状目标中心线的上方，所述第一航线20位于所述第二航线30的其中一侧。
在一些实施例中，请参阅图7A以及图7B，图7A和图7B示例性示出了第一航线中拍摄装置的感光元件在水平面上的投影的朝向，以及第二航线中拍摄装置的感光元件在水平面上的投影的朝向。感光元件在拍摄装置中的安装位置是固定的，请参考图3，以感光元件的其中一个边缘(边缘10)在水平面上的投影边缘11为例，在图7A和图7B中，不同航线中感光元件的边缘10在水平面上的投影边缘11处于不同侧，即第一航线中拍摄装置的感光元件在水平面上的投影的朝向与第二航线中拍摄装置的感光元件在水平面上的投影的朝向不同。其中，同一航线中不同拍摄航点对应的感光元件的边缘10在水平面上的投影边缘11处于同一侧，即第一航线中不同的第一拍摄航点对应的感光元件在水平面上的投影的朝向相同，第二航线中不同的第二拍摄航点对应的感光元件在水平面上的投影的朝向相同。
在一些实施例中，拍摄装置在第一航线的第一拍摄航点处拍摄的第一图像和在第二航线的第二拍摄航点处拍摄的第二图像用于生成所述带状目标的航测结果，其基本 原理是计算各个图像的拍摄位姿，然后利用图像融合算法把多张图像融合成一张可以测量地理信息的航测影像，比如可以是正射影像、数字高程模型、数字表面模型、数字线画图或者3D模型中的至少一个。
在计算各个图像的拍摄位姿时，需要获取拍摄装置在拍摄各个图像时的拍摄装置内参和地理坐标。其中，拍摄装置内参包括拍摄装置的焦距和/或拍摄装置的像主点图像位置。像主点图像位置是指拍摄装置的镜头主光轴与像平面(也即感光元件)的交点，在感光元件固定不变时，确定了拍摄装置的镜头主光轴便可确定像主点图像位置。焦距是指光心与感光元件之间的距离，在感光元件固定不变时，确定了光心便可得到拍摄装置的焦距。地理坐标可以通过无人机中的相关定位模块采集的数据确定。
为了提高航测结果的精度，本申请实施例中实现在第一航线中拍摄装置的感光元件在水平面上的投影的朝向与第二航线中拍摄装置的感光元件在水平面上的投影的朝向不同，则无人机在所述第一拍摄航点拍摄的第一图像和所述无人机在所述第二拍摄航点拍摄的第二图像能够得到准确的拍摄装置内参，然后可以基于拍摄装置内参和第二图像生成较高精度的航测结果，提高航测结果的精准性。当然，也可以基于拍摄装置内参、第一图像和第二图像生成航测结果，本实施例对此不做任何限制。其中，在无人机通过拍摄装置拍摄得到第一图像和第二图像之后，利用第一图像和第二图像生成航测结果的过程可以是遥控设备处于离线环境下进行的，也可以是遥控设备实时进行的。
在确定拍摄装置内参时，遥控设备可以根据第一图像和第二图像中的目标像方点，计算得到拍摄装置的内参。其中，所述目标像方点为拍摄装置的拍摄环境中目标物体分别在第一图像和第二图像上的图像点。其中，第一类图像上的目标像方点和第二类图像上的目标像方点可以理解为一对相关的像方点，所述相关的像方点是针对某个目标物体，在拍摄装置拍摄的第一图像和第二图像中都拍摄到了该目标物体，则目标物体在第一图像中对应的像方点和第二图像中对应的像方点为一对相关的像方点。
在一示例性的实施例中，以拍摄装置内参包括像主点图像位置为例进行说明：参考图8A，无人机按照如图2所示的“单航线”飞行时，不同拍摄航点处感光元件在水平面上的投影的朝向相同，在此情况下计算拍摄装置的像主点图像位置。在图8A中801a是指拍摄装置中的感光元件，A、B和C分别为无人机中的拍摄装置在图2所示的“单航线”的三个不同的拍摄航点处拍摄得到的三张图像上的目标像方点。假设拍摄装置的主光轴为802a，三张图像中都有一条通过主光轴和目标像方点的光路汇聚在物方点1a，也就是说当主光轴为802a时，存在一个物方点使得投影刚好和三个目标 像方点重叠，符合拍摄装置的投影模型。像主点为拍摄装置的主光轴与感光元件的交点，因此，在假设802a为主光轴的情况下，确定出一个像主点O。
若假设主光轴为803a，从图8A中不难看出，仍然存在一个物方点2a，使得通过主光轴803a和三个目标像方点的光路相交于该点，此种情况也符合拍摄装置的投影模型，因此，根据主光轴803a可确定拍摄装置的像主点为O’。由此可见，在图8A中，无人机按照如图2所示的“单航线”飞行时，如果不同拍摄航点中感光元件在水平面上的投影的朝向相同，则基于在拍摄航点中拍摄得到的图像上的目标像方点，可计算得到至少两个拍摄装置的像主点图像位置，遥控设备无法确定选择两个像主点图像位置中哪个像主点图像位置作为正确的拍摄装置的像主点图像位置，如果选择了错误的像主点图像位置作为拍摄装置的内参就会导致最终生成的航测结果在水平方向上产生偏移。
显然，如果不同拍摄航点中感光元件在水平面上的投影的朝向相同，利用空中三角测量算法计算拍摄装置内参时可计算得到多个主光轴，从而得到多个拍摄装置的像主点图像位置，在不能准确的确定哪条主光轴是目标主光轴，也就不能准确的确定拍摄装置的像主点图像位置，拍摄装置的内参不准确，导致最后生成的航测结果存在误差。
参考图8B，无人机在按照本申请实施例提供的拍摄航线飞行时，第一航线中拍摄装置的感光元件在水平面上的投影的朝向与第二航线中拍摄装置的感光元件在水平面上的投影的朝向不同，在该种情况下计算拍摄装置的像主点图像位置。在图8B中801b是指拍摄装置中的感光元件，A和B分别为两个第二图像上的目标像方点，C为第一图像上的目标像方点，第一图像对应的感光元件在水平面上的投影的朝向和两个第二图像对应的感光元件在水平面上的投影的朝向不同。在图8B中，若假设主光轴为802b时，通过主光轴和三个目标像方点的三条光路可汇聚在物方点1b处，符合拍摄装置的投影模型，此时根据主光轴802b和感光元件确定的像主点图像位置为O。若假设主光轴为803b时，由图8B中可以看出，通过两个第二图像上的目标像方点与主光轴803b的光路相交于物方点2b，在此种情况下，如果将物方点2b投影到第一图像上，得到的在第一图像上的与物方点2b对应的目标像方点不是C，而变成了C’，这样不符合拍摄装置的投影模型，也就说明此时的主光轴是错误的。由此可见，通过图8B中可唯一确定出一个主光轴802b，根据主光轴802b确定出的像主点图像位置O即为拍摄装置正确的拍摄装置的内参。
显然，如果第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对 应的感光元件在水平面上的投影的朝向不同，利用空中三角测量算法计算拍摄装置内参时可唯一确定出一个主光轴，进而确定出准确的像主点图像位置，实现对拍摄装置内参的准确解算，有利于提高航测结果的精度。
在一些可能的实施方式中，无人机设置有云台，在无人机按照拍摄航线飞行的过程中，可以通过控制云台转动以使得第一航线中拍摄装置的感光元件在水平面上的投影的朝向与第二航线中拍摄装置的感光元件在水平面上的投影的朝向不同。
在另一些可能的实施方式中，在无人机按照拍摄航线飞行的过程中，可以通过改变机头方向以使得第一航线中拍摄装置的感光元件在水平面上的投影的朝向与第二航线中拍摄装置的感光元件在水平面上的投影的朝向不同。
为了进一步提高航测结果的精度，可以设置第一图像对应的感光元件在水平面上的投影的朝向和第二图像对应的感光元件在水平面上的投影的朝向相反。这样，在进行拍摄装置的内参解算时，比如在图8B中，错误的物方点2b就投影不到像方点上，不满足投影模型，基于空中三角测量算法可甄别出正确的主光轴，进而获得精确的拍摄装置内参(像主点图像位置)。
示例性的，可以设置无人机在沿所述第一航线飞行时的机头方向与沿所述第二航线飞行时的机头方向相反，以使得所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向相反。在一个例子中，请参阅图7A和图7B，无人机在飞行到第一航线的终点时，可以通过掉转机头方向来改变航向，继续第二航线的飞行，并且在这个过程中也实现了第一航线中拍摄装置的感光元件在水平面上的投影的朝向与第二航线中拍摄装置的感光元件在水平面上的投影的朝向不同。
在一些实施例中，在第一航线的长度短于第二航线的长度的情况下，为了提高拍摄装置内参(像主点图像位置)，可以设置第一航线中第一拍摄航点的密集度高于第二航线中第二拍摄航点的密集度。示例性的，请参阅图7A和图7B，比如从相邻拍摄航点的距离来看，则有第一航线中相邻两个第一拍摄航点的距离小于所述第二航线中相邻两个第二拍摄航点的距离，即相邻两个第一拍摄航点之间的距离会更小，从而第一航线中第一拍摄航点更密集。示例性的，从图像角度来看，则有拍摄装置在相邻两个第一拍摄航点分别拍摄的第一图像满足第一重叠率，拍摄装置在相邻两个第二拍摄航点分别拍摄的第二图像满足第二重叠率，所述第一重叠率大于所述第二重叠率，比如第一重叠率为70％，第二重叠率为50％，即拍摄装置在相邻两个第一拍摄航点分别拍摄的第一图像的重叠率会更大，从而第一航线中第一拍摄航点更密集。本实施例在第 一航线的长度短于第二航线的长度的情况下，实现设置第一航线中第一拍摄航点更密集，从而能够采集到足够数量的第一图像参与拍摄装置内参(像主点图像位置)解算，有利于确定正确的像主点图像位置。
在一些实施例中，拍摄装置内参包括焦距和/或拍摄装置的像主点图像位置。通过采集第一图像和第二图像，所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向不同，可以实现解算出正确的像主点图像位置。另外，考虑到如果不同拍摄航点中拍摄装置朝向均与重力方向相同，此时在利用空中三角算法计算拍摄装置的内参时，不能准确的确定出拍摄装置的焦距，从而导致生成的航测结果存在高程误差(相关内容请参见图9A所示实施例中的说明)。因此，为了实现解算出正确的焦距，可以通过设置不同拍摄航点中拍摄装置的朝向有所差异来保证计算的拍摄装置的焦距的准确性。
在一示例性的实施例中，这里对拍摄装置的朝向与拍摄装置的焦距之间的解算关系进行举例说明，请参阅图9A和图9B，图9A所示实施例中，所述无人机沿所述第一航线飞行时的拍摄装置朝向与沿所述第二航线飞行时的拍摄装置朝向均与重力方向相同，在该种情况下计算拍摄装置的焦距。在图9A中，901a为感光元件，A和B为两个第二图像上的目标像方点，C为第一图像上的目标像方点，此处的第一图像和两个第二图像对应的拍摄装置朝向均与重力方向相同。若假设902a为光心时，通过光心902a和三个目标像方点的光路相交于物方点1a，符合拍摄装置的投影模型，说明光心902a可以为拍摄装置的光心，光心902a到感光元件901a的距离f表示拍摄装置的焦距。
若假设903a为光心时，由图9A中可知，通过光心903a和三个目标像方点的光路仍能相交于物方点2a，也符合拍摄装置的投影模型，说明光心903a也可以是拍摄装置的光心，光心903a到感光元件901a的距离f’表示拍摄装置的焦距。由此可知，如果拍摄装置拍摄第一图像和第二图像时对应的拍摄装置朝向与重力方向相同，则至少可得到两个拍摄装置的焦距，不能准确的从至少两个焦距中选择出哪个是正确的拍摄装置的焦距，如果一旦选择了错误的拍摄装置的焦距，会导致航测结果在高程上出现误差。
参考图9B所示实施例中，拍摄航点的拍摄装置朝向与重力方向不同，在该种情况下计算拍摄装置的焦距。在图9B中，901b为感光元件，假设A和B为两个第二图像上的目标像方点，C为第一图像上的目标像方点，第一图像和两个第二图像中的至少一个对应的拍摄装置朝向与重力方向不同。比如，第一图像对应的拍摄装置朝向相 对于重力方向往左侧倾斜10°，第二图像对应的拍摄装置朝向相对于重力方向往右侧倾斜10°。若假设902b为光心，则通过光心902b和三个目标点的三条光路可以汇聚于物方点1b，符合拍摄装置的投影模型，说明902b是拍摄装置的光心，进一步的将光心902b与感光平面901b之间的距离作为拍摄装置的焦距f。
在图9B中若假设903b为光心，通过光心903b和两个第二图像上的两个目标像方点的两条光路可以相较于物方点2b，但是物方点2b投影到目标图像上的像方点为C’，与第一图像上的目标像方点不相同，这种现象不符合拍摄装置的投影模型，因此可确定光心903b不是拍摄装置的光心。同理的，对于通过除了光心902b之外的其他光心确定的物方点都不满足拍摄装置的投影模型，在此不一一列出。综上所述，在图9B中有且只有一个光心902b满足投影模型，因此将光心902b与感光元件的距离f作为拍摄装置的焦距。
综上所述，拍摄装置通过设置拍摄航点的拍摄装置朝向与重力方向不同，可以避免了计算出多个拍摄装置的焦距，可较为准确的确定出拍摄装置唯一的焦距，从而提高了后续生成的航测结果的高程精度。
在一种可能的实施方式中，可以设置无人机沿所述第一航线飞行时的拍摄装置朝向与沿所述第二航线飞行时的拍摄装置朝向不同。示例性的，比如可以设置所述无人机沿所述第一航线飞行时的拍摄装置朝向与重力方向的夹角与沿所述第二航线飞行时的拍摄装置朝向与重力方向的夹角互为相反数。在一个例子中，请参阅图10A和图10B，图10A示出了第一航线中第一拍摄航点的拍摄装置朝向相对于重力方向往右侧倾斜，图10B示出了第二航线中第二拍摄航点的拍摄装置朝向相对于重力方向往左侧倾斜，实现了不同拍摄航点的拍摄装置朝向相对于重力方向有所差异，实现拍摄装置的焦距准确确定，提高后续生成的航测结果的高程精度。
示例性的，在第一航线中，不同第一拍摄航点分别对应的拍摄装置朝向相对于重力方向倾斜的角度可以相同也可以不同；同理，在第二航线中，不同第二拍摄航点分别对应的拍摄装置朝向相对于重力方向倾斜的角度可以相同也可以不同。
在一个例子中，请参阅图10A，假设在第一航线中，不同第一拍摄航点分别对应的拍摄装置朝向相对于重力方向往右侧倾斜，且倾斜的角度(即拍摄装置朝向与重力方向的夹角)不同，比如可以是从0°逐渐增大至预设角度，也可以是从预设角度逐渐减小为0°，所述预设角度的具体数值以及增大或减小的变化规则可依据实际应用场景进行具体设置，本实施例对此不做任何限制，比如相邻拍摄航点分别对应的拍摄装置朝向与重力方向的夹角差值相同、或者满足等比数列、等差数列等。
同理，请参阅图10B，假设在第二航线中，不同第一拍摄航点分别对应的拍摄装置朝向相对于重力方向往左侧倾斜，且倾斜的角度(即拍摄装置朝向与重力方向的夹角)不同，比如可以是从0°逐渐增大至预设角度，也可以是从预设角度逐渐减小为0°。
在另一种可能的实施方式中，可以设置所述无人机沿所述第一航线飞行时的拍摄装置朝向逐渐变化。示例性的，为了提高拍摄装置的焦距的解算准确性，请参阅图11，所述无人机沿所述第一航线飞行时的拍摄装置朝向与重力方向的夹角110可以先变小后变大，即第一航线中的拍摄装置朝向呈现出汇聚趋势，这样，在进行拍摄装置的内参解算时，比如在图9B中，三条投影线就不能交汇于一个物方点，不满足投影模型，基于空中三角测量算法可甄别出正确的光心，进而获得精确的拍摄装置内参(焦距)。
在一个例子中，第一航线中的第一个第一拍摄航点对应的拍摄装置朝向与重力方向的夹角110为大于0°的预设角度，接下来的第一拍摄航点对应的夹角110可以在上一个第一拍摄航点对应的夹角110的基础上减少一定角度值(可根据实际应用场景进行具体设置)，直到出现第一拍摄航点对应的夹角110为0(即第一拍摄航点对应的拍摄装置朝向与重力方向相同)，接下来的第一拍摄航点对应的夹角110可以在上一个第一拍摄航点对应的夹角110的基础上增加一定角度值，实现第一航线中各个第一拍摄航点对应的拍摄装置朝向与重力方向的夹角110可以先变小后变大的效果。
在一些实施例中，在确定拍摄装置内参时，遥控设备可以根据第一图像和第二图像中的目标像方点，计算得到拍摄装置的内参。其中，所述目标像方点为拍摄装置的拍摄环境中目标物体分别在第一图像和第二图像上的图像点，即是说，第一图像和第二图像需包括同一目标物体。则可以设置所述拍摄装置在第二航线的部分第二拍摄航点处拍摄的第二图像和在第一航线的第一拍摄航点处拍摄的第一图像具有预设的旁向重叠率，从而保证部分第二图像和第一图像中具有目标像方点，以便于计算拍摄装置的内参。当然，所述旁向重叠率的具体数值可依据实际应用场景进行具体设置，本申请实施例对此不做任何限制。
示例性的，所述第二航线包括第一子航线和第二子航线，其中，所述拍摄装置在所述第一子航线的第二拍摄航点处拍摄的第二图像和在所述第一航线的第一拍摄航点处拍摄的第一图像具有预设的旁向重叠率，且所述拍摄装置在第二子航线的第二拍摄航点处拍摄的第二图像和在所述第一航线的第一拍摄航点处拍摄的第一图像不重叠，比如请参阅图12，示出了所述第二航线30包括第一子航线32和第二子航线33。
在一些实施例中，在获取拍摄装置在第一航线中拍摄的第一图像和在第二航线中拍摄的第二图像之后，遥控设备可以根据第一图像和第二图像确定拍摄装置的内参， 进而根据拍摄装置的内参和第二图像生成带状目标的航测结果，比如可以根据拍摄装置的内参和拍摄装置拍摄第二图像时的地理坐标确定拍摄装置拍摄第二图像时的拍摄位姿，进而根据拍摄装置拍摄第二图像时的拍摄位姿并结合图像融合算法生成带状目标的航测结果，所述航测结果包括但不限于正射影像、数字高程模型、数字表面模型、数字线画图或者3D模型等。当然，也可以根据拍摄装置的内参、第一图像和第二图像生成带状目标的航测结果。
其中，可以根据实际需要选择航测结果的生成时机，在一个例子中遥控设备在获取第一图像和第二图像之后，可以实时根据第一图像和第二图像确定拍摄装置的内参，进而根据拍摄装置的内参和第二图像生成带状目标的航测结果。在另一个例子中，遥控设备在获取第一图像和第二图像之后，也可以在离线环境下利用第一图像和第二图像生成带状目标的航测结果。
以上实施方式中的各种技术特征可以任意进行组合，只要特征之间的组合不存在冲突或矛盾，因此上述实施方式中的各种技术特征的任意进行组合也属于本说明书公开的范围。
相应地，请参阅图13，本申请实施例还提供了一种航测装置300，所述无人机设置有拍摄装置，所述拍摄装置包括感光元件，所述装置包括：
用于存储可执行指令的存储器301；
一个或多个处理器302；
其中，所述一个或多个处理器302执行所述可执行指令时，被单独地或共同地配置成执行上述的方法。
示例性的，所述航测装置300可以是如图4所示的遥控设备100。
所述处理器302执行所述存储器301中包括的可执行指令，所述处理器302可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器301存储无人机航测方法的可执行指令，所述存储器301可以包括至少一种类型的存储介质，存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存 储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等等。而且，装置可以与通过网络连接执行存储器的存储功能的网络存储装置协作。存储器301可以是装置300的内部存储单元，例如装置300的硬盘或内存。存储器301也可以是装置300的外部存储装置，例如装置300上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，存储器301还可以既包括装置300的内部存储单元也包括外部存储装置。存储器301用于存储用于无人机航测方法的计算机程序以及装置所需的其他程序和数据。存储器301还可以用于暂时地存储已经输出或者将要输出的数据。
在一些实施例中，所述处理器302用于：
获取所述带状目标的位置信息；
根据所述带状目标的位置信息，规划用于拍摄带状目标的拍摄航线，所述拍摄航线包括第一航线和第二航线，所述第一航线和所述第二航线的延伸方向与所述带状目标的延伸方向大致相同，所述第一航线的长度短于所述第二航线的长度；
其中，所述第一航线包括第一拍摄航点，所述第二航线包括第二拍摄航点，所述无人机在所述第一拍摄航点拍摄的第一图像和所述无人机在所述第二拍摄航点拍摄的第二图像用于生成所述带状目标的航测结果，所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向不同。
可选地，所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向相反。
可选地，所述无人机在沿所述第一航线飞行时的机头方向与沿所述第二航线飞行时的机头方向相反，以使得所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向相反。
可选地，所述第一航线中相邻两个第一拍摄航点的距离小于所述第二航线中相邻两个第二拍摄航点的距离。
可选地，所述第一航线中，所述拍摄装置在相邻两个第一拍摄航点分别拍摄的第一图像满足第一重叠率；所述第二航线中，所述拍摄装置在相邻两个第二拍摄航点分别拍摄的第二图像满足第二重叠率；其中，所述第一重叠率大于所述第二重叠率。
可选地，所述无人机沿所述第一航线飞行时的拍摄装置朝向与沿所述第二航线飞行时的拍摄装置朝向不同。
可选地，所述无人机沿所述第一航线飞行时的拍摄装置朝向与重力方向的夹角与 沿所述第二航线飞行时的拍摄装置朝向与重力方向的夹角互为相反数。
可选地，所述无人机沿所述第一航线飞行时的拍摄装置朝向逐渐变化。
可选地，所述无人机沿所述第一航线飞行时的拍摄装置朝向与重力方向的夹角先变小后变大。
可选地，所述第一航线的长度与所述第二航线的长度之间的比值大于预设比值。
可选地，所述第一航线的终点与所述第二航线的起点相同，所述无人机在所述第一航线的终点原地掉转机头方向；或者所述第一航线的终点与所述第二航线的起点不同，所述拍摄航线还包括由所述第一航线的终点和所述第二航线的起点构成的第三航线；所述无人机在按照所述第三航线飞行的过程中掉转机头方向。
可选地，所述第三航线为直线或者曲线。
可选地，所述第一航线的终点与所述第二航线的起点不同，所述第二航线大致位于所述带状目标中心线的上方，所述第一航线位于所述第二航线的其中一侧。
可选地，所述第二航线包括第一子航线和第二子航线，所述拍摄装置在所述第一子航线的第二拍摄航点处拍摄的第二图像和在所述第一航线的第一拍摄航点处拍摄的第一图像具有预设的旁向重叠率。
可选地，所述航测结果包括正射影像、数字高程模型、数字表面模型、数字线画图或者3D模型中的至少一个。
这里描述的各种实施方式可以使用例如计算机软件、硬件或其任何组合的计算机可读介质来实施。对于硬件实施，这里描述的实施方式可以通过使用特定用途集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理装置(DSPD)、可编程逻辑装置(PLD)、现场可编程门阵列(FPGA)、处理器、控制器、微控制器、微处理器、被设计为执行这里描述的功能的电子单元中的至少一种来实施。对于软件实施，诸如过程或功能的实施方式可以与允许执行至少一种功能或操作的单独的软件模块来实施。软件代码可以由以任何适当的编程语言编写的软件应用程序(或程序)来实施，软件代码可以存储在存储器中并且由控制器执行。
相应的，在一些实施例中，本申请实施例还提供了一种航测系统，包括无人机以及上述的航测装置300。请参阅图4，航测装置300可以是如图4所示的遥控设备100。
所述航测装置300用于将规划得到的用于拍摄带状目标的拍摄航线发送给所述无人机。
所述无人机用于根据所述拍摄航线飞行，并在飞行过程中利用拍摄装置在第一航线的第一拍摄航点处拍摄第一图像，以及在第二航线的第二拍摄航点处拍摄第二图像。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器，上述指令可由装置的处理器执行以完成上述方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
一种非临时性计算机可读存储介质，当存储介质中的指令由终端的处理器执行时，使得终端能够执行上述方法。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (18)

  1. 一种带状目标的无人机航测方法，其特征在于，所述无人机设置有拍摄装置，所述拍摄装置包括感光元件，所述方法包括：
    获取所述带状目标的位置信息；
    根据所述带状目标的位置信息，规划用于拍摄带状目标的拍摄航线，所述拍摄航线包括第一航线和第二航线，所述第一航线和所述第二航线的延伸方向与所述带状目标的延伸方向大致相同，所述第一航线的长度短于所述第二航线的长度；
    其中，所述第一航线包括第一拍摄航点，所述第二航线包括第二拍摄航点，所述无人机在所述第一拍摄航点拍摄的第一图像和所述无人机在所述第二拍摄航点拍摄的第二图像用于生成所述带状目标的航测结果，所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向不同。
  2. 根据权利要求1所述的方法，其特征在于，所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向相反。
  3. 根据权利要求2所述的方法，其特征在于，所述无人机在沿所述第一航线飞行时的机头方向与沿所述第二航线飞行时的机头方向相反，以使得所述第一图像对应的感光元件在水平面上的投影的朝向和所述第二图像对应的感光元件在水平面上的投影的朝向相反。
  4. 根据权利要求1所述的方法，其特征在于，所述第一航线中相邻两个第一拍摄航点的距离小于所述第二航线中相邻两个第二拍摄航点的距离。
  5. 根据权利要求4所述的方法，其特征在于，所述第一航线中，所述拍摄装置在相邻两个第一拍摄航点分别拍摄的第一图像满足第一重叠率；
    所述第二航线中，所述拍摄装置在相邻两个第二拍摄航点分别拍摄的第二图像满足第二重叠率；
    其中，所述第一重叠率大于所述第二重叠率。
  6. 根据权利要求1所述的方法，其特征在于，所述无人机沿所述第一航线飞行时的拍摄装置朝向与沿所述第二航线飞行时的拍摄装置朝向不同。
  7. 根据权利要求6所述的方法，其特征在于，所述无人机沿所述第一航线飞行时的拍摄装置朝向与重力方向的夹角与沿所述第二航线飞行时的拍摄装置朝向与重力方向的夹角互为相反数。
  8. 根据权利要求1所述的方法，其特征在于，所述无人机沿所述第一航线飞行时的拍摄装置朝向逐渐变化。
  9. 根据权利要求8所述的方法，其特征在于，所述无人机沿所述第一航线飞行时的拍摄装置朝向与重力方向的夹角先变小后变大。
  10. 根据权利要求1所述的方法，其特征在于，所述第一航线的长度与所述第二航线的长度之间的比值大于预设比值。
  11. 根据权利要求1所述的方法，其特征在于，所述第一航线的终点与所述第二航线的起点相同，所述无人机在所述第一航线的终点原地掉转机头方向；或者
    所述第一航线的终点与所述第二航线的起点不同，所述拍摄航线还包括由所述第一航线的终点和所述第二航线的起点构成的第三航线；所述无人机在按照所述第三航线飞行的过程中掉转机头方向。
  12. 根据权利要求11所述的方法，其特征在于，所述第三航线为直线或者曲线。
  13. 根据权利要求1所述的方法，其特征在于，所述第一航线的终点与所述第二航线的起点不同，所述第二航线大致位于所述带状目标中心线的上方，所述第一航线位于所述第二航线的其中一侧。
  14. 根据权利要求1所述的方法，其特征在于，所述第二航线包括第一子航线和第二子航线，所述拍摄装置在所述第一子航线的第二拍摄航点处拍摄的第二图像和在所述第一航线的第一拍摄航点处拍摄的第一图像具有预设的旁向重叠率。
  15. 根据权利要求1所述的方法，其特征在于，所述航测结果包括正射影像、数字高程模型、数字表面模型、数字线画图或者3D模型中的至少一个。
  16. 一种航测装置，其特征在于，所述装置包括：
    用于存储可执行指令的存储器；
    一个或多个处理器；
    其中，所述一个或多个处理器执行所述可执行指令时，被单独地或共同地配置成执行权利要求1至15任意一项所述的方法。
  17. 一种航测系统，其特征在于，包括无人机以及如权利要求16所述的航测装置；
    所述航测装置用于将规划得到的用于拍摄带状目标的拍摄航线发送给所述无人机；
    所述无人机用于根据所述拍摄航线飞行，并在飞行过程中利用拍摄装置在第一航线的第一拍摄航点处拍摄第一图像，以及在第二航线的第二拍摄航点处拍摄第二图像。
  18. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有可执行指令，所述可执行指令被处理器执行时实现如权利要求1至15任一项所述的方法。
PCT/CN2021/140129 2021-12-21 2021-12-21 一种带状目标的无人机航测方法、装置、系统及存储介质 Ceased WO2023115342A1 (zh)

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