WO2021056411A1 - Air route adjustment method, ground end device, unmanned aerial vehicle, system, and storage medium - Google Patents

Abstract

An air route adjustment method, a ground end device, an unmanned aerial vehicle, a system, and a storage medium. The method comprises: acquiring a first image capture air route and a second image capture air route, the first image capture air route being used to acquire image data of a preconfigured object along a first image capture angle of view by means of a camera apparatus on the unmanned aerial vehicle, the second image capture air route being used to acquire image data of the preconfigured object along a second image capture angle of view by means of the camera apparatus of the unmanned aerial vehicle, and the first image capture angle of view being different from the second image capture angle of view (S1); determining a first flight altitude corresponding to the first image capture air route (S2); and determining, according to the first flight altitude, a second flight altitude corresponding to the second image capture air route, such that a difference between a first image capture resolution and a second image capture resolution is less than or equal to a preconfigured threshold, wherein the first image capture resolution corresponds to the first image capture air route, and the second image capture resolution corresponds to the second image capture air route (S3).

Description

Route adjustment method, ground terminal equipment, drone, system and storage medium Technical field

The present invention relates to the field of communication technology, in particular to a route adjustment method, ground terminal equipment, unmanned aerial vehicle, system and storage medium.

Background technique

With the rapid development of science and technology, the technological development of unmanned aerial vehicles has become more and more mature, and users can carry other devices through unmanned aerial vehicles to perform various operations. When the drone is equipped with a camera for shooting, the flight path of the drone may include the flight path of vertical photography and the flight path of oblique photography. When shooting with the same shooting device and at the same optical axis position, there is a certain gap between the shooting resolution obtained by obliquely photographing the flight path and the shooting resolution obtained by vertical shooting the flight path. The gap will have a greater impact on data processing, thereby reducing the accuracy of data processing.

Summary of the invention

The present invention provides a route adjustment method, ground-end equipment, unmanned aerial vehicle, system, and storage medium, which are used to solve the problem of the shooting resolution obtained by obliquely photographed flight routes and the flight by vertical photography in the prior art. There is a certain gap between the shooting resolutions obtained by the route, and this gap will have a greater impact on the data processing, thereby reducing the accuracy of the data processing.

The first aspect of the present invention is to provide a route adjustment method, including:

Acquire a first shooting route and a second shooting route, the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone, and the second shooting route is used to pass unmanned The camera's shooting device acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view;

Determining the first flight altitude corresponding to the first shooting route;

The second flying height corresponding to the second shooting route is determined according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, wherein, The first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.

The second aspect of the present invention is to provide a route adjustment system, including:

Memory, used to store computer programs;

The processor is configured to run a computer program stored in the memory to realize:

Acquire a first shooting route and a second shooting route, the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone, and the second shooting route is used to pass unmanned The camera's shooting device acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view;

Determining the first flight altitude corresponding to the first shooting route;

The second flying height corresponding to the second shooting route is determined according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, wherein, The first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.

The third aspect of the present invention is to provide a ground terminal equipment including: the route adjustment system described in the second aspect.

The fourth aspect of the present invention is to provide an unmanned aerial vehicle including: the route adjustment system described in the second aspect.

The fifth aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the first aspect. The route adjustment method described above.

The route adjustment method, ground terminal equipment, drone, system and storage medium provided by the present invention determine the first flight altitude corresponding to the first shooting route by acquiring the first shooting route and the second shooting route, and then according to the first shooting route. A flight altitude determines the second flight altitude corresponding to the second shooting route, and then it can be realized: when the drone executes the first shooting route at the first flight altitude and executes the second shooting route according to the second flight altitude, you can Make the difference between the first shooting resolution and the second shooting resolution less than or equal to the preset threshold, which means that the shooting resolution for data collection of the preset object remains approximately unchanged, providing for subsequent data processing operations This provides convenience, helps improve the accuracy of data processing, ensures the practicability of the method, and is beneficial to market promotion and application.

Description of the drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:

Figure 1 is a schematic diagram of a vertical photography provided by the prior art;

Fig. 2 is a schematic diagram of oblique photography provided by the prior art;

FIG. 3 is a schematic diagram of multiple second shooting routes provided by the prior art;

4 is a schematic flowchart of a route adjustment method provided by an embodiment of the present invention;

FIG. 5 is a schematic flowchart of determining the first flying height corresponding to the first shooting route according to an embodiment of the present invention;

6 is a schematic diagram of a process of determining the first flying height according to the first shooting resolution according to an embodiment of the present invention;

FIG. 7 is a schematic flowchart of determining the first flying height according to the first shooting resolution and image acquisition parameters according to an embodiment of the present invention;

FIG. 8 is a schematic flowchart of determining a second flying height corresponding to the second shooting route according to the first flying height according to an embodiment of the present invention;

9 is a schematic diagram of the principle of vertical photography relative to the ground according to an embodiment of the present invention;

10 is a schematic diagram of the principle of oblique photography relative to the ground according to an embodiment of the present invention;

FIG. 11 is a schematic flowchart of determining the second flying height according to the first flying height and the inclination angle according to an embodiment of the present invention;

FIG. 12 is a schematic flowchart of another route adjustment method according to an embodiment of the present invention;

FIG. 13 is a schematic flowchart of yet another route adjustment method according to an embodiment of the present invention;

14 is a schematic diagram of a flow of controlling the drone to execute the first shooting route and the second shooting route according to the execution sequence according to an embodiment of the present invention;

FIG. 15 is a schematic flowchart of still another route adjustment method according to an embodiment of the present invention;

16 is a schematic flowchart of a route adjustment method provided by an application embodiment of the present invention;

FIG. 17 is a schematic structural diagram of a route adjustment system provided by an embodiment of the present invention;

FIG. 18 is a schematic structural diagram of another route adjustment system provided by an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

In order to facilitate the understanding of the technical solution of this application, the following briefly describes the prior art:

In the aerial survey using drones, a 5-direction flight operation method can be used, where the 5-direction can include a vertical photographing direction and four photographing directions, as shown in Figures 1 to 3. For a certain area to be inspected, it is possible to obtain the flight operation route in 5 directions corresponding to the area to be inspected. Among them, the vertical shooting direction corresponds to the vertical shooting route. At this time, the camera on the drone (for example, : Camera) is the area to be inspected. Corresponding to the four shooting directions is an oblique shooting route. The oblique shooting route can be offset by a certain distance forward, backward, left, and right according to the set camera tilt angle. At this time, the drone is shooting in different tilt shooting routes The area is the detection range of the area to be detected.

However, when shooting with the same camera and at the same position of the optical axis, there is a certain gap between the shooting resolution obtained by obliquely shooting the flight path and the shooting resolution obtained by vertical shooting the flight path. , Such a gap will have a greater impact on data processing, thereby reducing the accuracy of data processing. For example: in the process of 3D modeling for a preset object, in order to better obtain the side texture of the preset object, an airplane is used for oblique photography.

When the UAV executes the vertical shooting route and the oblique shooting route, the vertical shooting image and the oblique shooting image can be obtained. After obtaining the vertical and oblique images, the photos taken at different angles can be combined to create the map. Therefore, it is required that the resolution difference of the photos taken at different angles for the same feature is within a certain range, otherwise the same name will be given later Point recognition and empty three solution bring bad effects. However, due to the change of the shooting angle, the corresponding shooting resolution (Ground Sample Distance, GSD for short) will also change accordingly. At this time, for the photos taken by the same camera, the vertical and tilted images are different. It's bigger.

At this time, in order to avoid the increase in the complexity and difficulty of data processing due to the difference between the shooting resolution corresponding to the vertical shooting route and the shooting resolution corresponding to the oblique shooting resolution, the existing solutions provide two solutions :

One solution is to use a larger flight platform equipped with a 5-direction lens camera for data collection. In a group of 5-direction photography lenses, the set focal length of the center camera is different from the setting focal length of the surrounding lenses, so that the same lens is used. The GSD of the vertical shooting route and the oblique shooting route can be maintained at the same level. However, this method requires multiple sensors and multiple lenses, and the weight and power consumption will increase accordingly, making it mostly used on larger flying platforms. For small areas, it is relatively bulky.

Another solution is to use a single-lens small drone to perform tilt photogrammetry for multiple sets of routes. In the route design process, the different GSD problems caused by oblique and orthophotographs at the same height were not considered, which may cause problems. Bring adverse effects to the subsequent picture processing.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. As long as there is no conflict between the various embodiments, the following embodiments and the features in the embodiments can be combined with each other.

Fig. 4 is a schematic flow chart of a route adjustment method provided by an embodiment of the present invention; referring to Fig. 4, in order to solve the above-mentioned problems in the prior art, this embodiment provides a route adjustment method. Yes, the route adjustment method can be applied to ground-end equipment and/or drones, that is, the execution subject of the route adjustment method can be ground-end equipment; or, the execution subject of the route adjustment method can also be a drone, At this time, the ground-end equipment may be used to display route information; or, the execution subject of the route adjustment method may include the ground-end equipment and the drone, and at this time, the ground-end equipment may be communicatively connected with the drone. The following takes the ground-end equipment or drone as the execution subject as an example for description. At this time, the method may include:

S1: Acquire a first shooting route and a second shooting route, where the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone, and the second shooting route is used to pass through The camera of the drone acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view.

Among them, the first shooting route can be a vertical shooting route, and the second shooting route is an oblique shooting route; the vertical shooting route is used to obtain the top image data (top texture data) of the preset object along the vertical shooting angle of view by the camera on the drone , The oblique shooting route is used to obtain the side image data (side texture data) of the preset object along the oblique shooting angle of view by the camera on the drone; alternatively, the first shooting route can be the first oblique shooting route, and the second shooting route is The second oblique shooting route; the first oblique shooting route is used to obtain the first side image data of the preset object along the first oblique shooting angle of view by the camera on the drone, and the second oblique shooting route is used to shoot on the drone The device acquires the second side image data of the preset object along the second oblique shooting angle of view. In specific applications, the oblique shooting route may include at least one of the following types of routes: an oblique shooting route for shooting on the left side of a preset object, an oblique shooting route for shooting on the right side of a preset object, and an oblique shooting route for shooting on the right side of a preset object. The oblique shooting route for shooting from the side and the oblique shooting route for shooting behind the preset object. It is understandable that those skilled in the art can set specific route types for the first shooting route and the second shooting route according to specific application requirements, which will not be repeated here.

In addition, this embodiment does not limit the acquisition methods of the first shooting route and the second shooting route. For example, the first shooting route and the second shooting route can be obtained through pre-configured system parameters, where the system parameters may include at least the following One: flight height, flight speed, overlap rate, outer margin. Of course, those skilled in the art can also use other methods to obtain the first shooting route and the second shooting route according to specific application scenarios and design requirements, as long as the accuracy and reliability of the first shooting route and the second shooting route can be guaranteed. Yes, I won’t repeat them here.

S2: Determine the first flight altitude corresponding to the first shooting route.

Among them, the first flying height can be a user pre-configured height parameter, for example: the user can set the first flying height according to the application scenario and application requirements; or the first flying height can also be obtained based on the analysis and processing of other parameters For example, the detection area, wind speed information, wind direction information, and working time information of the preset object can be obtained, and the first shot can be determined according to the size of the detection area, wind speed information, wind direction information, and working time information. The first flight altitude corresponding to the route.

Of course, those skilled in the art may also use other methods to determine the first flight altitude corresponding to the first shooting route, as long as the accuracy and reliability of the first flight altitude determination can be ensured, which will not be repeated here.

S3: Determine the second flying height corresponding to the second shooting route according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, where the first The shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.

Wherein, when the same camera is used to obtain the image data of the preset object (for example: top image data and side image data, or first side image data and second side image data), in order to ensure the location of the first shooting route The corresponding first shooting resolution and the second shooting resolution corresponding to the second shooting route meet the preset requirements (the difference between the first shooting resolution and the second shooting resolution is less than or equal to the preset threshold), The first flying height corresponding to a shooting route and the second flying height corresponding to the second shooting route satisfy a preset relationship. After the first flying height is acquired, the first flying height can be analyzed and processed, so that the second flying height corresponding to the second shooting route can be determined. Furthermore, it can be realized that when the drone executes the first shooting route at the first flight height and executes the second shooting route according to the second flight height, the difference between the first shooting resolution and the second shooting resolution can be made Less than or equal to the preset threshold, where the first shooting resolution is the shooting resolution corresponding to the shooting device when the drone is executing the first shooting route; the second shooting resolution is that the drone is executing the second shooting route When, the shooting resolution corresponding to the shooting device. Further, in order to facilitate data processing, when the drone executes the first shooting route, the first shooting resolution corresponds to the main optical axis of the shooting device; and/or, when the drone executes the second shooting route, The second shooting resolution corresponds to the main optical axis of the shooting device.

In the route adjustment method provided in this embodiment, the first flight altitude corresponding to the first shooting route is determined by acquiring the first shooting route and the second shooting route, and then the first flight altitude corresponding to the second shooting route is determined according to the first flight altitude. The second flying height can further realize: when the drone executes the first shooting route at the first flying height and executes the second shooting route according to the second flying height, the first shooting resolution and the second shooting resolution can be made The difference between is less than or equal to the preset threshold, that is, the shooting resolution for data collection of the preset object remains approximately unchanged, which provides convenience for subsequent data processing operations and helps improve the accuracy of data processing. The practicability of the method is ensured, which is beneficial to the promotion and application of the market.

Fig. 5 is a schematic diagram of the process of determining the first flying height corresponding to the first shooting route provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to Fig. 5, the determination in this embodiment is the same as the first flight altitude. The first flight altitude corresponding to a shooting route may include:

S21: Acquire a first shooting resolution corresponding to the first shooting route.

The first shooting resolution may be a resolution parameter pre-configured by the user. For example, the user may set different first shooting resolutions according to different application scenarios and application requirements. Of course, those skilled in the art can also use other methods to obtain the first shooting resolution corresponding to the first shooting route, as long as the accuracy and reliability of the first shooting resolution can be ensured, which will not be repeated here. .

S22: Determine the first flying height according to the first shooting resolution.

After the first shooting resolution is acquired, the first shooting resolution can be analyzed and processed, so that the first flying height can be determined. Specifically, referring to FIG. 6, determining the first flying height according to the first shooting resolution in this embodiment may include:

S221: Acquire image acquisition parameters when the drone executes the first shooting route.

Among them, the image acquisition parameters include at least one of the following: pixel size, focal length. The above-mentioned pixel size is related to the model and structure of the shooting device; the focal length can be preset or set by the user, and the user can also adjust the focal length of the shooting device according to different application scenarios.

S222: Determine the first flying height according to the first shooting resolution and image acquisition parameters.

After the first shooting resolution and image acquisition parameters are acquired, the first shooting resolution and image acquisition parameters can be analyzed and processed, so that the first flying height can be determined. Specifically, referring to FIG. 7, when the first shooting route is a vertical shooting route and the second shooting route is an oblique shooting route, the first flying height is determined according to the first shooting resolution and image acquisition parameters in this embodiment. Can include:

S2221: Obtain a product value of the first shooting resolution and the focal length.

S2222: Determine the ratio of the product value to the pixel size as the first flying height.

Specifically, after the first shooting resolution, focal length, and pixel size are obtained, the first flying height can be determined according to the following formula:

Among them, h is the first flying height, GSD _{ortho is} the first shooting resolution corresponding to the vertical shooting route, f is the focal length, and l is the pixel size.

The above formula can not only accurately obtain the first flying height, but also improve the flexibility and reliability of the first flying height. That is, users can not only pre-configure the first flying height, but also use the first shooting resolution. To obtain the first flying height, the flexibility and reliability of the method is further improved.

FIG. 8 is a schematic diagram of a flow chart of determining a second flight height corresponding to a second shooting route according to the first flight height provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, continue to refer to FIG. 8 as shown in this embodiment The specific implementation manner of determining the second flight altitude corresponding to the second shooting route according to the first flight altitude is not limited, and those skilled in the art can set it according to specific application requirements and design requirements. Preferably, this embodiment The determining of the second flight altitude corresponding to the second shooting route according to the first flight altitude in may include:

S31: Obtain the inclination angle of the oblique shooting route relative to the ground.

S32: Determine the second flying height according to the first flying height and the tilt angle.

Among them, in order to facilitate the understanding of the implementation principle in this embodiment, first, the association relationship existing between the first flying height and the second flying height will be described. Specifically, refer to Figures 9-10. Assuming that the focal length of the camera is f (the vertical line of the small triangle in the figure) and the pixel size is l, when the drone executes a vertical shooting route, the altitude of the flight to the ground is h; the tilt angle of the main optical axis of the tilt shooting route is the ground The included angle is ∠α (the angle is 90 degrees in orthophotos);

For vertical shooting routes, there are formulas:

For oblique shooting routes, there are formulas:

From the above two formulas, it can be known that for the same shooting device, also at the main optical axis, _{the magnitude of the second shooting resolution GSD tilt is} 1/sinα times of the first shooting resolution GSD ortho. For example: when the inclination angle is 45 degrees, the GSD size (ie resolution) difference between the two sets of images obtained by oblique shooting route and vertical shooting route is about 1.4 times, which has a greater impact on the subsequent data processing process .

In order to avoid affecting the data processing process due to different shooting resolutions, after the first flying height is acquired, the second flying height corresponding to the second shooting route can be determined by the above formula, and the second flying height can make the second shooting The resolution is approximately the same as the first shooting resolution. At this time, the inclination angle of the oblique shooting route relative to the ground can be obtained first. In specific applications, in order to improve the quality and efficiency of the oblique angle acquisition, the inclination angle of the main optical axis of the oblique shooting route relative to the ground can be obtained, namely The inclination angle of the main optical axis with respect to the ground is taken as a representative of the inclination angle of the oblique shooting route with respect to the ground. Specifically, when acquiring the tilt angle, the pose information of the camera can be acquired first, and the tilt angle can be determined by the position information of the camera; of course, those skilled in the art can also use other methods to obtain the tilt angle. This will not be repeated here.

After the inclination angle of the oblique shooting route with respect to the ground is obtained, the second flying height can be determined according to the first flying height and the inclination angle; specifically, referring to FIG. 11, according to the first flying height in this embodiment And the inclination angle to determine the second flight altitude, including:

S321: Obtain the sine value of the tilt angle.

S322: Determine the ratio of the first flying height to the sine value as the second flying height.

Specifically, when the above formula (1) and formula (2) are obtained, when the GSD _{ortho shot} and the GSD _{tilt are} approximately the same, it can be obtained that there _{is a} difference between the first flight height h ortho shot and the second flight height h _tilt. The relationship is as follows:

h _tilt =h _ortho /sinα;

Therefore, after obtaining the tilt angle, the sine value of the tilt angle can be obtained, and the ratio of the first flying height to the sine value can be determined as the second flying height according to the above formula, thereby effectively ensuring that the second flying height is obtained The accuracy and reliability of the method further improve the stability and reliability of the method.

Fig. 12 is a schematic flow chart of another route adjustment method provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to Fig. 12, in order to improve the flexibility and reliability of the method, the method in this embodiment Methods can also include:

S101: Acquire shooting requirement information for the oblique shooting route.

S102: Adjust the tilt angle according to the shooting requirement information.

When performing data collection on the side data of a preset object, different application scenarios and application requirements can collect different side data. Specifically, users can input different shooting requirements information for oblique shooting routes according to application requirements and design requirements, and the shooting requirements information may include: requirements for obtaining relatively deep side texture data or requirements for obtaining relatively fine side texture data, etc.; After obtaining the shooting demand information, you can adjust the tilt angle according to the shooting demand information. For example, you can adjust the tilt angle to 45° or 60°, etc. When you adjust the tilt angle, you can adjust the attitude of the pan/tilt. Adjust the angle to achieve. It should be noted that the larger the inclination angle to the ground, the more suitable for shooting side texture data with a deeper depth; the smaller the inclination angle to the ground, the more suitable it is to capture the side texture data finely. Based on the above adjustment principle, those skilled in the art can adjust the tilt angle to other angles according to different shooting requirements, such as 30°, 50°, etc., which will not be repeated here.

In this embodiment, by acquiring the shooting requirement information for the oblique shooting route, and then adjusting the inclination angle according to the shooting requirement information, the various shooting requirements of the user are effectively met, and the stable and reliable use of the method is ensured.

Fig. 13 is a schematic flow chart of another route adjustment method provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to Fig. 13 continuously, in order to improve the safety and reliability of the method, the method in this embodiment Methods can also include:

S201: Acquire the execution sequence between the first shooting route and the second shooting route.

S202: Control the drone to execute the first shooting route and the second shooting route according to the execution sequence.

Among them, when using the same drone to execute the first shooting route and the second shooting route, the execution order of the first shooting route and the second shooting route can be pre-configured or a user-specified order; generally, vertical shooting The execution order of the route takes precedence over the execution order of the oblique shooting route, that is, when there is a vertical shooting route and an oblique shooting route to be executed, the drone will execute the vertical shooting route first, and then execute the oblique shooting route after the execution of the vertical shooting route is completed. . Of course, those skilled in the art can also set other execution sequences according to specific application scenarios and requirements. For example, the drone can also execute the oblique shooting route first, and then execute the vertical shooting route after the oblique shooting route is executed.

After the execution sequence is acquired, the drone can be controlled to execute the first shooting route and the second shooting route according to the execution sequence. Specifically, referring to FIG. 14, the control of the drone to execute the first shooting route and the second shooting route according to the execution sequence in this embodiment may include:

S301: Control the drone to execute the first shooting route at the first flight altitude;

S302: Control the drone to execute the second shooting route at the second flying height.

Among them, the execution order of step S301 and step S302 is the execution order between the first shooting route and the second shooting route acquired in the above embodiment. It can be understood that the execution order of step S301 and step S302 is not limited to The sequence defined by the above sequence number, that is, step S302 may also be executed before step S301. Specifically, when the drone is controlled to execute the first shooting route at the first flying height and the second shooting route is executed at the second flying height, it can effectively ensure that the drone is performing the first shooting route and the second shooting route. The corresponding shooting resolution is basically the same.

It should be noted that the control of the drone to execute the first shooting route and the second shooting route according to the execution sequence in this embodiment may have different execution subjects in different application scenarios. Specifically, one application scenario is: execution The main body is the ground-side equipment. At this time, the ground-side equipment can communicate with the UAV, and the ground-side equipment can directly control the UAV to execute the first shooting route and the second shooting route according to the execution sequence. Another application scenario is: the execution subject is a drone. At this time, after the drone acquires the execution sequence, the first shooting route, and the second shooting route, the first shooting route and the second shooting route can be directly executed according to the execution order. Shooting the route, the ground-side equipment at this time can be used to display the first shooting route and the second shooting route executed by the drone. Another application scenario is: the execution subject includes ground-end equipment and drones. At this time, the method steps in this embodiment are adaptively adjusted to the following steps:

S202a: The ground terminal device sends the first shooting route, the second shooting route, and the execution sequence to the drone.

S202b: The drone receives the first shooting route, the second shooting route, and the execution sequence sent by the ground terminal device, and executes the first shooting route and the second shooting route according to the execution sequence.

At this time, the ground-end equipment can generate the first shooting route and the second shooting route, and the execution order can be acquired for the first shooting route and the second shooting route. In order to realize the control of the drone, the ground-end equipment can set the first shooting route and the second shooting route. The shooting route, the second shooting route and the execution order are sent to the drone. After the drone receives the first shooting route, the second shooting route and the execution order, it can execute the first shooting route and the second shooting according to the execution order The route is used to obtain the image data of the preset object through the camera on the drone, thereby effectively ensuring the quality and efficiency of the drone operation.

15 is a schematic flowchart of another route adjustment method provided by an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to FIG. 15, the first shooting route is executed by controlling the drone at the first flight height After that, the method in this embodiment further includes:

S401: Obtain the height difference between the first flying height and the second flying height of the drone.

S402: When the height difference is greater than or equal to the preset distance threshold, adjust the first flying height of the drone to the second flying height.

Specifically, after the drone is controlled to execute the first shooting route at the first flight altitude, the drone can be controlled to execute the second shooting route at the second flight altitude. At this time, the current flight altitude of the drone is the first flight altitude. Flight altitude, in order to achieve accurate control of the drone, the altitude difference between the first flight altitude and the second flight altitude of the drone needs to be obtained. After the altitude difference is obtained, the altitude difference can be calculated Analyze and compare with the preset distance threshold. When the height difference is less than the distance threshold, it can be explained that the first flying height is approximately the same as the second flying height. At this time, there is no need to adjust the flying height of the drone; When the altitude difference is greater than or equal to the distance threshold, it means that the first flight altitude is different from the second flight altitude. At this time, in order to enable the drone to execute the first shooting resolution corresponding to the first shooting route and execute the second When shooting the route, the corresponding second shooting resolution is approximately the same, and the first flying height of the drone needs to be adjusted to the second flying height, so that the drone can be controlled to execute the second shooting route at the second flying height.

For example: when fine 3D modeling of a preset object is required, the top image data and side image data of the preset object need to be acquired. At this time, if a camera equipped with a single lens is used to shoot a preset object, orthophoto and oblique photography are required, that is, the drone needs to perform one vertical shooting route and four oblique shooting routes. In the operation process, you can first use orthophoto shooting. From directly above the area, control the drone to execute the vertical shooting route at the first flight height. At this time, the camera is facing down to take pictures, and the focus is on shooting the texture directly above the preset object. information. After completing the photogrammetry in the orthophoto direction, you can adjust the angle of the camera gimbal, adjust the drone's flying height from the first flying height to the second flying height, and start to execute multiple oblique photography routes in sequence. Accurately obtain multiple side texture data of preset objects.

Further, after obtaining the top image data and side image data of the preset object, the method in this embodiment may further include:

S501: Perform three-dimensional modeling processing on the preset object according to the top image data and the side image data of the preset object to obtain a three-dimensional model corresponding to the preset object.

Among them, in order to be able to perform three-dimensional modeling processing on the preset object, the side image data of the preset object may include: left side image data for the left side of the preset object, and right side for the right side of the preset object. Image data, front side image data shot for the front side of the preset object, back side image data shot for the back side of the preset object; at this time, the obtained top image data and side image data of the preset object can be combined Performing three-dimensional modeling processing on the preset object, and then obtain a three-dimensional model corresponding to the preset object, so that the user can intuitively understand the morphological characteristics of the preset object, and the practicability of the method is improved.

For specific applications, referring to Figure 16, this application embodiment provides an adjustable height route adjustment method. The execution body of the method includes ground-end equipment and drones. When performing the above route adjustment method, it can be realized: when the user uses a single-lens shooting device, and based on the drone, the vertical shooting route and multiple oblique shooting routes (such as 5 routes) for data collection for preset objects, the ground The angle value of the gimbal can be set in the terminal device. According to the angle value of the gimbal and the angle value of the current route, it can be judged whether the current route is a vertical shooting route (ortho route) or an oblique shooting route. After determining the vertical shooting route and the oblique shooting route, the user can set the vertical shooting route, and the ground-side equipment can calculate the orthographic route height and the oblique route height according to the settings. Or, the user can directly set the height of the ortho-shooting route for the vertical shooting route, and the ground-side equipment can calculate the height of the inclined route according to the set inclination angle to the gimbal, realizing the height between the vertical shooting route and the oblique shooting route The information is determined and adjusted to ensure that the resolution of the orthophoto and the oblique photo are at the same level.

Specifically, the method may include the following steps:

step1: The user sets the orthographic resolution corresponding to the vertical shooting route through the ground terminal equipment.

step2: Determine the orthographic flight height corresponding to the vertical shooting route according to the orthographic resolution.

Specifically, in the process of setting up aerial survey flight missions using ground-end equipment, the ground-end equipment can support the setting of GSD resolution, so that the orthographic resolution can be obtained, and the orthographic flight height can be calculated according to the resolution. The element size is l and the focal length is f, then the orthographic flight height corresponding to the vertical shooting route can be calculated using the following formula, namely

=.

It should be noted that when a user uses a camera with multiple lenses to collect data on a preset object, the focal lengths of the multiple lenses may be different. Specifically, an orthophoto lens can be determined from a plurality of lenses, and then the orthophoto focal length of the orthophoto lens can be obtained, and the corresponding relationship between the orthophoto focal length of the orthophoto lens and the oblique focal lengths of other lenses can be obtained, and the orthophoto lens can be obtained. The angle is scaled down to determine the oblique focal length corresponding to other lenses. After that, the orthographic flying height and the oblique flying height can be obtained by using the above-mentioned data processing method.

Different from the above-mentioned embodiment, there is another achievable way, specifically as follows:

step2a: The user sets the orthographic flight height corresponding to the vertical shooting route to h through the ground-side equipment.

step3: Determine the inclined flight height corresponding to the inclined shooting route according to the orthographic flight height.

Specifically, if the tilt angle of the oblique shooting route is set to ground ∠α, the oblique flight height corresponding to the oblique shooting route can be calculated based on the orthographic flight height, the tilt angle ∠α and the following formula:

=

When controlling the drone to execute the tilt shooting route with the tilt flight height and the vertical shooting route with the ortho flight height control the drone, the orthophoto shooting resolution corresponding to the vertical shooting route and the tilt corresponding to the tilt shooting route The shooting resolution is approximately the same.

step4: The ground-side equipment can decompose a set of 5 main tasks into 5 sub-tasks, including: vertical shooting route (orthogonal flight height h, the task is marked as mission_ortho) and different directions of oblique shooting route (tilt height, The tasks are marked as mission_obl_1, 2, 3, 4).

step5: After setting up 5 sets of sub-tasks (including route, altitude, camera setting parameters, etc.) on the ground-side equipment, the parameters of the main task can be sent to the UAV (the UAV's flight control system).

Step6: The drones perform tasks one by one according to the received mission settings (by default, the mission_ortho is executed first, and after the orthophoto mission is completed, the tilt mission is performed in turn). The user can also set the sequence of aircraft operations sub-tasks.

Specifically, when the drone performs a sub-task, it can first determine the task mark of the next task, and check the flying height at the moment. If the flying height at this moment is different from the current operation or flying height, the flying height can be adjusted and adjusted. To the corresponding correct height, perform the next task; thus ensuring the consistency of the GSD (resolution) of all photos obtained by the camera.

The route adjustment method provided by this application embodiment can support the calculation of the oblique route height corresponding to the oblique shooting route through the set orthographic route height, or the set GSD to calculate the orthographic route corresponding to the vertical shooting route. The altitude of the shooting route and the height of the oblique route corresponding to the oblique shooting route; and, in the process of oblique photogrammetry, when switching from the vertical shooting route to the oblique shooting route, it can automatically be based on the currently executed route and the route to be executed. Adjust its working height so that the GSD (GSD corresponding to the main optical axis) remains approximately unchanged, which facilitates the subsequent mapping processing and improves the accuracy and reliability of data processing.

FIG. 17 is a schematic structural diagram of a route adjustment system provided by an embodiment of the present invention; as shown in FIG. 17, this embodiment provides a route adjustment system, which can perform the route adjustment shown in FIG. 4 above Method, specifically, the route adjustment system may include:

The memory 12 is used to store computer programs;

The processor 11 is configured to run a computer program stored in the memory 12 to realize:

Acquire a first shooting route and a second shooting route, the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone, and the second shooting route is used to pass unmanned The camera's shooting device acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view;

Determining the first flight altitude corresponding to the first shooting route;

The second flying height corresponding to the second shooting route is determined according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, wherein, The first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.

Wherein, the structure of the route generation system may also include a communication interface 13 for the electronic device to communicate with other devices or a communication network.

In one embodiment, the first shooting route is a vertical shooting route, and the second shooting route is an oblique shooting route; the vertical shooting route is used to obtain a preset object along a vertical shooting angle of view by a shooting device on a drone The oblique shooting route is used to obtain the side image data of the preset object along the oblique shooting angle of view by the camera on the drone; or,

The first shooting route is a first oblique shooting route, and the second shooting route is a second oblique shooting route; the first oblique shooting route is used to obtain a preview along the first oblique shooting angle of view by the camera on the drone. Assuming the first side image data of the object, the second oblique shooting route is used to obtain the second side image data of the preset object along the second oblique shooting angle of view by the camera on the drone.

In one embodiment, when the processor 11 determines the first flying height corresponding to the first shooting route, the processor 11 is configured to: obtain the first shooting resolution corresponding to the first shooting route; The resolution determines the first flight altitude.

In one embodiment, when the processor 11 determines the first flying height according to the first shooting resolution, the processor 11 is configured to: obtain the image collection parameters of the drone when the drone executes the first shooting route; and according to the first shooting resolution And image acquisition parameters to determine the first flight altitude.

In an embodiment, the image acquisition parameters include at least one of the following: pixel size and focal length.

In one embodiment, when the first shooting route is a vertical shooting route and the second shooting route is an oblique shooting route, when the processor 11 determines the first flying height according to the first shooting resolution and image acquisition parameters, The processor 11 is configured to: obtain the product value of the first shooting resolution and the focal length; and determine the ratio of the product value to the pixel size as the first flying height.

In one embodiment, when the processor 11 determines the second flying height corresponding to the second shooting route according to the first flying height, the processor 11 is configured to: obtain the inclination angle of the oblique shooting route with respect to the ground; The flying height and the tilt angle determine the second flying height.

In one embodiment, when the processor 11 determines the second flying height according to the first flying height and the tilt angle, the processor 11 is configured to: obtain the sine value of the tilt angle; and determine the ratio of the first flying height to the sine value as The second flight altitude.

In an embodiment, the processor 11 is further configured to: obtain shooting requirement information for a tilted shooting route; and adjust the tilt angle according to the shooting requirement information.

In one embodiment, when the drone executes the first shooting route, the first shooting resolution corresponds to the main optical axis of the shooting device; and/or, when the drone executes the second shooting route, the second shooting The resolution corresponds to the main optical axis of the camera.

In one embodiment, the oblique shooting route includes at least one of the following types of routes: an oblique shooting route for shooting on the left side of a preset object; an oblique shooting route for shooting on the right side of a preset object; An oblique shooting route for shooting from the front side; an oblique shooting route for shooting behind a preset object.

In one embodiment, the processor 11 is further configured to: obtain the execution sequence between the first shooting route and the second shooting route; and control the drone to execute the first shooting route and the second shooting route according to the execution sequence.

In one embodiment, the execution order of the vertical shooting route has priority over the execution order of the oblique shooting route.

In one embodiment, when the processor 11 controls the drone to execute the first shooting route and the second shooting route according to the execution sequence, the processor 11 is configured to: control the drone to execute the first shooting route at the first flight height; Control the drone to execute the second shooting route at the second flight altitude.

In one embodiment, after controlling the drone to execute the first shooting route at the first flying height, the processor 11 is further configured to: obtain the height difference between the first flying height and the second flying height of the drone; When the height difference is greater than or equal to the preset distance threshold, the first flying height of the drone is adjusted to the second flying height.

In an embodiment, the processor 11 is further configured to: perform three-dimensional modeling processing on the preset object according to the top image data and side image data of the preset object to obtain a three-dimensional model corresponding to the preset object.

The route adjustment system shown in Fig. 17 can execute the methods of the embodiments shown in Figs. 4-16. For parts that are not described in detail in this embodiment, please refer to the related descriptions of the embodiments shown in Figs. 4-16. Refer to the description in the embodiment shown in FIG. 4 to FIG. 16 for the execution process and technical effect of this technical solution, and will not be repeated here.

In addition, an embodiment of the present invention provides a computer-readable storage medium. The storage medium is a computer-readable storage medium. The computer-readable storage medium stores program instructions. Adjustment method.

In addition, another aspect of this embodiment provides a ground terminal device, including any one of the above-mentioned route adjustment systems.

In addition, another aspect of this embodiment provides an unmanned aerial vehicle, including any one of the above-mentioned route adjustment systems.

FIG. 18 is a schematic structural diagram of another route adjustment system provided by an embodiment of the present invention; referring to FIG. 18, this embodiment provides another route adjustment system, which may include ground-end equipment 21 and a drone 22. Among them, the ground terminal equipment 21 is in communication connection with the UAV 22.

The ground terminal equipment 21 is used to obtain a first shooting route and a second shooting route, the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by a camera on the drone, and the second The shooting route is used to obtain the image data of the preset object along the second shooting angle of view by the camera of the drone. The first shooting angle of view is different from the second shooting angle of view; it is determined to correspond to the first shooting route The first flying height of the; according to the first flying height, the second flying height corresponding to the second shooting route is determined, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to A preset threshold, wherein the first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.

In one embodiment, the first shooting route is a vertical shooting route, and the second shooting route is an oblique shooting route; the vertical shooting route is used to obtain a preset object along a vertical shooting angle of view by a shooting device on a drone The oblique shooting route is used to obtain the side image data of the preset object along the oblique shooting angle of view by the camera on the drone; or,

The first shooting route is a first oblique shooting route, and the second shooting route is a second oblique shooting route; the first oblique shooting route is used to obtain a preview along the first oblique shooting angle of view by the camera on the drone. Assuming the first side image data of the object, the second oblique shooting route is used to obtain the second side image data of the preset object along the second oblique shooting angle of view by the camera on the drone.

In one embodiment, the ground-end equipment 21 is further used to: obtain a first shooting resolution corresponding to the first shooting route; and determine the first flying height according to the first shooting resolution.

In one embodiment, the ground-end equipment 21 is also used to: acquire image acquisition parameters when the drone executes the first shooting route; and determine the first flying height according to the first shooting resolution and image acquisition parameters.

In an embodiment, the image acquisition parameters include at least one of the following: pixel size and focal length.

In one embodiment, when the first shooting route is a vertical shooting route and the second shooting route is an oblique shooting route, the ground-end equipment 21 is further configured to: obtain the product value of the first shooting resolution and the focal length; The ratio of the product value to the pixel size is determined as the first flying height.

In an embodiment, the ground terminal device 21 is also used to: obtain the inclination angle of the oblique shooting route with respect to the ground; and determine the second flying height according to the first flying height and the inclination angle.

In one embodiment, the ground terminal device 21 is further used to: obtain the sine value of the tilt angle; and determine the ratio of the first flying height to the sine value as the second flying height.

In one embodiment, the ground-end equipment 21 is also used to: obtain shooting requirement information for a tilted shooting route; and adjust the tilt angle according to the shooting requirement information.

In one embodiment, when the drone executes the first shooting route, the first shooting resolution corresponds to the main optical axis of the shooting device; and/or, when the drone executes the second shooting route, the second shooting The resolution corresponds to the main optical axis of the camera.

In one embodiment, the oblique shooting route includes at least one of the following types of routes: an oblique shooting route for shooting on the left side of a preset object; an oblique shooting route for shooting on the right side of a preset object; An oblique shooting route for shooting from the front side; an oblique shooting route for shooting behind a preset object.

In an embodiment, the ground terminal device 21 is also used to: obtain the execution sequence between the first shooting route and the second shooting route;

At this time, the drone 22 is used to execute the first shooting route and the second shooting route according to the execution order.

In one embodiment, the execution order of the vertical shooting route has priority over the execution order of the oblique shooting route.

In one embodiment, the drone 22 is also used to: execute the first shooting route at the first flying height; and execute the second shooting route at the second flying height.

In one embodiment, after the drone 22 executes the first shooting route at the first flying height, the ground-side equipment 21 is further used to: obtain the height difference between the first flying height and the second flying height of the drone; When the height difference is greater than or equal to the preset distance threshold, the first flying height of the drone is adjusted to the second flying height.

In an embodiment, the ground terminal device 21 is further used to: perform a three-dimensional modeling process on the preset object according to the top image data and side image data of the preset object to obtain a three-dimensional model corresponding to the preset object.

The route adjustment system shown in FIG. 18 can execute the methods of the embodiments shown in FIGS. 4-16. For parts that are not described in detail in this embodiment, please refer to the related descriptions of the embodiments shown in FIGS. 4-16. Refer to the description in the embodiment shown in FIG. 4 to FIG. 16 for the execution process and technical effect of this technical solution, and will not be repeated here.

The technical solutions and technical features in each of the above embodiments can be singly or combined in case of conflict with the present invention, as long as they do not exceed the cognitive scope of those skilled in the art, they all belong to the equivalent embodiments within the protection scope of this application. .

In the several embodiments provided by the present invention, it should be understood that the disclosed related remote control device and method can be implemented in other ways. For example, the embodiments of the remote control device described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components. It can be combined or integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in electrical, mechanical or other forms.

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 they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. , Including several instructions to make a computer processor (processor) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage media include: U disk, mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

The above are only the embodiments of the present invention, which do not limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description and drawings of the present invention, or directly or indirectly applied to other related technologies In the same way, all fields are included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention. range.

Claims (36)

A route adjustment method is characterized in that it includes: Acquire a first shooting route and a second shooting route, the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone, and the second shooting route is used to pass unmanned The camera's shooting device acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view; Determining the first flight altitude corresponding to the first shooting route; The second flying height corresponding to the second shooting route is determined according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, wherein, The first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route. The method according to claim 1, wherein the route adjustment method is applied to ground-end equipment and/or drones. The method of claim 2, wherein: The first shooting route is a vertical shooting route, and the second shooting route is an oblique shooting route; the vertical shooting route is used to obtain the top image data of the preset object along the vertical shooting angle of view by the camera on the drone, so The oblique shooting route is used to obtain the side image data of the preset object along the oblique shooting angle of view by the shooting device on the drone; or, The first shooting route is a first oblique shooting route, and the second shooting route is a second oblique shooting route; the first oblique shooting route is used to obtain a preview along the first oblique shooting angle of view by the camera on the drone. Assuming the first side image data of the object, the second oblique shooting route is used to obtain the second side image data of the preset object along the second oblique shooting angle of view by the camera on the drone. The method according to claim 3, wherein determining the first flying height corresponding to the first shooting route comprises: Acquiring a first shooting resolution corresponding to the first shooting route; The first flying height is determined according to the first shooting resolution. The method according to claim 4, wherein determining the first flying height according to the first shooting resolution comprises: Acquiring image acquisition parameters when the drone executes the first shooting route; The first flying height is determined according to the first shooting resolution and image acquisition parameters. The method of claim 5, wherein: The image acquisition parameters include at least one of the following: pixel size and focal length. The method according to claim 6, wherein when the first shooting route is a vertical shooting route and the second shooting route is an oblique shooting route, it is determined according to the first shooting resolution and image acquisition parameters The first flying height includes: Obtaining a product value of the first shooting resolution and the focal length; The ratio of the product value to the size of the pixel is determined as the first flying height. The method according to claim 7, wherein the determining a second flying height corresponding to the second shooting route according to the first flying height comprises: Acquiring the inclination angle of the oblique shooting route relative to the ground; The second flying height is determined according to the first flying height and the inclination angle. The method according to claim 8, wherein determining the second flying height according to the first flying height and a tilt angle comprises: Obtaining the sine value of the tilt angle; The ratio of the first flying height to the sine value is determined as the second flying height. The method according to claim 8, wherein the method further comprises: Acquiring shooting demand information for the oblique shooting route; The tilt angle is adjusted according to the shooting requirement information. The method according to any one of claims 3-10, wherein: When the drone executes the first shooting route, the first shooting resolution corresponds to the main optical axis of the shooting device; and/or, When the drone executes the second shooting route, the second shooting resolution corresponds to the main optical axis of the shooting device. The method according to any one of claims 3-10, wherein the oblique shooting route includes at least one of the following types of routes: Oblique shooting route for shooting the left side of the preset object; Oblique shooting route for shooting on the right side of the preset object; Oblique shooting route for shooting the front side of the preset object; An oblique shooting route for shooting the back side of a preset object. The method according to claim 12, wherein the method further comprises: Acquiring the execution sequence between the first shooting route and the second shooting route; The drone is controlled to execute the first shooting route and the second shooting route according to the execution sequence. The method according to claim 13, wherein the execution order of the vertical shooting route has priority over the execution order of the oblique shooting route. The method according to claim 13, wherein controlling the drone to execute the first shooting route and the second shooting route according to the execution sequence comprises: Controlling the drone to execute the first shooting route at a first flying height; The drone is controlled to execute the second shooting route at a second flying height. The method according to claim 15, wherein after controlling the drone to execute the first shooting route at a first flight height, the method further comprises: Acquiring a height difference between the first flying height of the drone and the second flying height; When the height difference is greater than or equal to a preset distance threshold, the first flying height of the drone is adjusted to the second flying height. The method according to claim 12, wherein the method further comprises: Performing a three-dimensional modeling process on the preset object according to the top image data and side image data of the preset object to obtain a three-dimensional model corresponding to the preset object. A route adjustment system is characterized in that it comprises: Memory, used to store computer programs; The processor is configured to run a computer program stored in the memory to realize: Acquire a first shooting route and a second shooting route, the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone, and the second shooting route is used to pass unmanned The camera's shooting device acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view; Determining the first flight altitude corresponding to the first shooting route; The second flying height corresponding to the second shooting route is determined according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, wherein, The first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route. The route adjustment system according to claim 18, wherein: The first shooting route is a vertical shooting route, and the second shooting route is an oblique shooting route; the vertical shooting route is used to obtain top image data of a preset object along a vertical shooting angle of view by a shooting device on a drone, so The oblique shooting route is used to obtain the side image data of the preset object along the oblique shooting angle of view by the shooting device on the drone; or, The first shooting route is a first oblique shooting route, and the second shooting route is a second oblique shooting route; the first oblique shooting route is used to obtain a preview along the first oblique shooting angle of view by the camera on the drone. Assuming the first side image data of the object, the second oblique shooting route is used to obtain the second side image data of the preset object along the second oblique shooting angle of view by the camera on the drone. The route adjustment system according to claim 19, wherein when the processor determines the first flight altitude corresponding to the first shooting route, the processor is configured to: Acquiring a first shooting resolution corresponding to the first shooting route; The first flying height is determined according to the first shooting resolution. The route adjustment system according to claim 20, wherein when the processor determines the first flying height according to the first shooting resolution, the processor is configured to: Acquiring image acquisition parameters when the drone executes the first shooting route; The first flying height is determined according to the first shooting resolution and image acquisition parameters. The route adjustment system according to claim 21, wherein: The image acquisition parameters include at least one of the following: pixel size and focal length. The route adjustment system according to claim 22, wherein when the first shooting route is a vertical shooting route, and the second shooting route is an oblique shooting route, the processor distinguishes according to the first shooting route. When the first flying height is determined by the speed and image acquisition parameters, the processor is configured to: Obtaining a product value of the first shooting resolution and the focal length; The ratio of the product value to the size of the pixel is determined as the first flying height. The route adjustment system according to claim 23, wherein when the processor determines the second flight height corresponding to the second shooting route according to the first flight height, the processor is configured to: Acquiring the inclination angle of the oblique shooting route relative to the ground; The second flying height is determined according to the first flying height and the inclination angle. The route adjustment system according to claim 24, wherein when the processor determines the second flying height according to the first flying height and the tilt angle, the processor is used for: Obtaining the sine value of the tilt angle; The ratio of the first flying height to the sine value is determined as the second flying height. The route adjustment system according to claim 24, wherein the processor is further configured to: Acquiring shooting demand information for the oblique shooting route; The tilt angle is adjusted according to the shooting requirement information. The route adjustment system according to any one of claims 19-26, wherein: When the drone executes the first shooting route, the first shooting resolution corresponds to the main optical axis of the shooting device; and/or, When the drone executes the second shooting route, the second shooting resolution corresponds to the main optical axis of the shooting device. The route adjustment system according to any one of claims 19-26, wherein the oblique shooting route includes at least one of the following types of routes: Oblique shooting route for shooting the left side of the preset object; Oblique shooting route for shooting on the right side of the preset object; Oblique shooting route for shooting the front side of the preset object; An oblique shooting route for shooting the back side of a preset object. The route adjustment system according to claim 28, wherein the processor is further configured to: Acquiring the execution sequence between the first shooting route and the second shooting route; The drone is controlled to execute the first shooting route and the second shooting route according to the execution sequence. The route adjustment system according to claim 29, wherein the execution order of the vertical shooting route has priority over the execution order of the oblique shooting route. The route adjustment system according to claim 29, wherein when the processor controls the drone to execute the first shooting route and the second shooting route according to the execution sequence, the processor is configured to : Controlling the drone to execute the first shooting route at a first flying height; The drone is controlled to execute the second shooting route at a second flying height. The route adjustment system according to claim 31, wherein after controlling the drone to execute the first shooting route at a first flight altitude, the processor is further configured to: Acquiring a height difference between the first flying height of the drone and the second flying height; When the height difference is greater than or equal to a preset distance threshold, the first flying height of the drone is adjusted to the second flying height. The route adjustment system according to claim 28, wherein the processor is further configured to: Performing a three-dimensional modeling process on the preset object according to the top image data and side image data of the preset object to obtain a three-dimensional model corresponding to the preset object. A ground terminal equipment, characterized by comprising: the route adjustment system according to any one of claims 18 to 33. An unmanned aerial vehicle, characterized by comprising: the route adjustment system according to any one of claims 18 to 33. A computer-readable storage medium, wherein the storage medium is a computer-readable storage medium, and the computer-readable storage medium stores program instructions, and the program instructions are used to implement any one of claims 1-17 The route adjustment method described in the item.

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