WO2021258251A1 - Surveying and mapping method for movable platform, and movable platform and storage medium - Google Patents

Abstract

A surveying and mapping method for a movable platform (600), and the movable platform (600) and a storage medium. A photographing device (20, 40, 700) is mounted on the movable platform (600). The method comprises: at the current position, changing the posture of the photographing device (20, 40, 700) to enable different parts of a target object to be located at a preset position in a photographing window, and obtaining posture information of the photographing device (20, 40, 700) (S11); and determining the size of the target object according to the current position and the posture information (S12). The target object can be surveyed and mapped on the basis of the movable platform (600) on which the photographing device (20, 40, 700) is mounted.

Description

Surveying and mapping method for movable platform, movable platform and storage medium Technical field

This application relates to the technical field of movable platforms, and in particular to a surveying and mapping method for a movable platform, a movable platform and a storage medium.

Background technique

Engineering surveying and mapping instruments are often used in the field of engineering surveying and mapping, but their size is large, the measurement process is complicated, and the price is expensive. In one solution, the principle of monocular image and binocular vision stereo imaging can be used to obtain the three-dimensional data after stereo reconstruction, and then obtain the surveying and mapping information of objects in the line of sight. The measurement error of close objects is relatively large, and the height of objects that cannot appear in the same picture cannot be measured. In another solution, the depth information corresponding to each pixel of the RGB image can be obtained through the U-Net (Convolutional Networks for Biomedical Image Segmentation) self-encoding network through deep learning to achieve the purpose of surveying and mapping. This method is more accurate It is low, with high error and large amount of calculation, so it cannot be applied to the actual living environment for the time being.

Summary of the invention

Based on this, the present application provides a surveying and mapping method for a movable platform, a movable platform, and a storage medium, which can survey and map a target object based on a movable platform equipped with a camera with a small amount of calculation.

In the first aspect, an embodiment of the present application provides a surveying and mapping method for a movable platform, the movable platform is equipped with a photographing device, and the method includes:

At the current position, by changing the posture of the photographing device, different parts of the target object are respectively located in the same preset position in the photographing window, and it is obtained that the photographing device is located in the photographing window at different parts of the target object. The posture information at the same preset position in the

The corresponding size of the target object is determined according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window.

In a second aspect, an embodiment of the present application provides a surveying and mapping method for a movable platform, the movable platform is equipped with a photographing device, and the method includes:

Acquiring the height of the photographing device relative to the ground at the current position;

At the current position, by changing the posture of the photographing device, the bottom of the target object is located at a preset position in the photographing window, and the first posture information of the photographing device is acquired;

The target distance between the movable platform and the target object is determined according to the height of the photographing device relative to the ground at the current position and the first posture information.

In the third aspect, an embodiment of the present application provides a movable platform, which can carry a photographing device;

The movable platform includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

At the current position, by changing the posture of the photographing device, different parts of the target object are respectively located in the same preset position in the photographing window, and it is obtained that the photographing device is located in the photographing window at different parts of the target object. The posture information at the same preset position in the

The corresponding size of the target object is determined according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window.

In a fourth aspect, an embodiment of the present application provides a movable platform that can carry a photographing device;

The movable platform includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Acquiring the height of the photographing device relative to the ground at the current position;

At the current position, by changing the posture of the photographing device, the bottom of the target object is located at a preset position in the photographing window, and the first posture information of the photographing device is acquired;

The target distance between the movable platform and the target object is determined according to the height of the photographing device relative to the ground at the current position and the first posture information.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned method.

The embodiment of the present application provides a surveying and mapping method for a movable platform, a movable platform and a storage medium. By changing the posture of the shooting device, different parts of the target object are respectively located at the same preset position in the shooting window, and obtained The posture information of the shooting device when different parts of the target object are located at the same preset position in the shooting window, and the corresponding size of the target object is determined according to the posture information. The target object can be surveyed and mapped based on the movable platform equipped with the shooting device, simple It is convenient and has a small amount of calculation; and it can also survey and map the target object when the size of the target object is large or the distance to the target object is relatively large, so that the shooting window of the shooting device cannot fully cover the target object.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.

FIG. 1 is a schematic flowchart of a surveying and mapping method for a movable platform provided by an embodiment of the present application;

2 is a schematic diagram of the structure of a camera mounted on a movable platform in an embodiment;

3 is a schematic diagram of a scene of surveying and mapping a target object in an embodiment;

4 is a schematic diagram of the bottom of the target object located at the first preset position in the shooting window in an embodiment;

FIG. 5 is a schematic diagram of the top of the target object located at the first preset position in the shooting window in an embodiment;

FIG. 6 is a schematic diagram of a scene for determining the width of a target object in an embodiment;

FIG. 7 is a schematic diagram of a scene of surveying and mapping a target object in an embodiment;

FIG. 8 is a schematic flowchart of a surveying and mapping method for a movable platform according to another embodiment of the present application;

Fig. 9 is a schematic block diagram of a movable platform provided by an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a surveying and mapping method for a movable platform according to an embodiment of the present application.

The surveying and mapping method can be applied to a movable platform, or can be applied to a camera mounted on the movable platform, or the steps of the surveying method can be performed by the movable platform and the camera mounted on the movable platform together.

Exemplarily, the movable platform includes at least one of an unmanned aerial vehicle, a pan/tilt, an unmanned vehicle, and a mobile terminal. Among them, the mobile terminal may include at least one of a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a wearable device, and a remote control.

Furthermore, the unmanned aerial vehicle can be a rotary wing drone, such as a quadrotor drone, a hexarotor drone, an eight rotor drone, or a fixed wing drone.

In some embodiments, the movable platform includes a mobile phone platform, and the photographing device includes a camera built into the mobile phone. In other embodiments, the movable platform includes a camera platform, and the photographing device includes a camera. In some other embodiments, the movable platform includes a mobile phone, and the photographing device includes a camera built into the mobile phone.

Exemplarily, the change of the posture of the movable platform can change the posture of the camera, thereby changing the shooting direction. For example, the unmanned aerial vehicle can move up, down, left, or right to move up, down, left, or right. For example, changes in the attitude of the pan/tilt can also change the attitude of the camera; for example, the user can move or turn a movable platform, such as a mobile phone, to change the shooting direction of the camera.

Exemplarily, as shown in FIG. 2, the movable platform includes a pan-tilt 10, and the pan-tilt 10 can carry a camera 20 such as a mobile phone, and the camera 20 includes a camera built into the mobile phone.

Exemplarily, the pan/tilt head 10 includes a pitch axis (Pitch axis) motor 11 that controls pitch motion, a roll axis (Roll axis) motor 12 that controls roll motion, and a yaw axis (YAW axis) motor 13 that controls translation motion. At least one of.

When the pan/tilt 10 is in use, the rotation of the pitch axis motor 11 can make the camera 20 carried by the pan/tilt 10 tilt relative to the handle of the pan/tilt 10, that is, the camera 20 is at the farthest and closest to the top of the handle. The ends reciprocate back and forth, and the movement path is circular. When the pan/tilt 10 is in use, the rotation of the roll axis motor 12 can make the camera 20 carried on the pan/tilt 10 roll relative to the handle of the pan/tilt 10, that is, the camera 20 is at a fixed position from the handle. Rotate with itself as the center. When the pan/tilt head 10 is in use, the rotation of the translation axis motor 13 can make the camera 20 mounted on the pan/tilt head 10 move in the same plane perpendicular to the axis of the handle of the pan/tilt head 10.

Exemplarily, as shown in FIG. 3, the movable platform includes an unmanned aerial vehicle 30, and the unmanned aerial vehicle 30 can carry a photographing device 40 such as a camera, and the photographing device 40 includes a camera built into the camera. Exemplarily, the imaging device 40 is mounted on the unmanned aerial vehicle 30 via a pan/tilt. The photographing direction of the photographing device 40 can be changed by adjusting the posture of the pan/tilt.

As shown in FIG. 1, the surveying and mapping method for a movable platform according to an embodiment of the present application includes steps S11 to S12.

S11. At the current position, by changing the posture of the photographing device, different parts of the target object are respectively located at the same preset position in the photographing window, and acquiring that the photographing device is located at the different parts of the target object respectively. The posture information of the same preset position in the shooting window.

In some embodiments, the location of the target object includes at least one of the following: bottom, top, left, and right. It is understandable that the part of the target object may also include a middle part, a cornered part, a protruding part, a recessed part, and the like.

As shown in FIG. 3, the target object includes trees, and the posture of the shooting device can be changed so that the bottom and the top of the target object are respectively located in the same preset position in the shooting window. For example, by changing the posture of the photographing device, the bottom of the target object is located at the same preset position in the photographing window, and by changing the posture of the photographing device, the top of the target object is located at the same preset position in the photographing window .

Exemplarily, the movable platform includes a pan-tilt, the camera is mounted on the pan-tilt, and the posture of the camera can be adjusted by controlling the action of the motor of the pan-tilt.

For example, the rotation of at least one of the pitch axis motor, the roll axis motor, and the yaw axis motor of the movable platform can be controlled to adjust the attitude of the camera.

Exemplarily, the posture of the camera may be changed by the user, for example, the user holds a mobile terminal such as a mobile phone, and changes the posture of the camera by moving or rotating the mobile terminal, or the user directly manipulates the pan-tilt to change the pose of the pan-tilt To adjust the posture of the camera.

In some embodiments, the attitude information includes at least one of the following: a pitch angle and a yaw angle. Exemplarily, the posture information is acquired by a posture sensor built in the photographing device and/or a posture sensor built in the movable platform.

Exemplarily, the attitude sensor may include at least one of a gyroscope, an electronic compass, an acceleration sensor, a direction sensor, an inertial measurement unit (IMU), and the like. Among them, the inertial measurement unit is a device for measuring the three-axis attitude angle and acceleration of an object. The inertial measurement unit may include a three-axis gyroscope and a three-axis accelerometer, and may also include a three-axis magnetometer.

Exemplarily, the acquiring the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window includes: when the bottom of the target object is located in the photographing window Acquiring the first posture information of the photographing device at the first preset position in.

Exemplarily, the acquiring the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window includes: when the top of the target object is located in the photographing window Acquiring the second posture information of the photographing device at the second preset position in.

It is understandable that the photographing window may represent the viewing range of the photographing device, and when the image photographed by the photographing device is not cropped, the edge of the image may be used as the edge of the photographing window. As shown in Figures 4 and 5, the box can represent the shooting window, or the content in the box can represent the display interface of the display device of the movable platform or the display device of the control end of the movable platform, displaying The device displays the image taken by the camera without cropping. The preset position can be any position in the shooting window or the display interface, for example, it can be the center of the shooting window or the display interface, and of course it can also be located in the upper middle, lower middle, etc. of the shooting window or the display interface.

Referring to Figures 3 and 4, when the bottom of the target object is located at the first preset position Q1 in the shooting window, the first posture information of the shooting device is acquired. Exemplarily, the first posture information includes an angle β between a connection line between the bottom of the target object and the photographing device and a horizontal line.

Referring to FIGS. 3 and 5, when the top of the target object is located at the second preset position Q2 in the shooting window, the second posture information of the shooting device is acquired. Exemplarily, the second posture information includes an angle α between a line between the top of the target object and the camera and a horizontal line.

Exemplarily, the posture sensor built in the photographing device and/or the posture sensor built in the movable platform is calibrated with a horizontal direction. With the change of the posture of the camera, for example, the rotation of the pitch axis motor of the gimbal can make the camera mounted on the gimbal make a pitch movement relative to the handle of the gimbal, and the posture sensor outputs corresponding pitch angle information. When the posture of the shooting device is adjusted so that the bottom of the target object is located at the first preset position in the shooting window, the included angle β can be determined according to the pitch angle information output by the posture sensor; When the top of is located at the first preset position in the shooting window, the included angle α may be determined according to the pitch angle information output by the attitude sensor.

Exemplarily, the first preset position and the second preset position overlap or are arranged at intervals. For example, the first preset position used to determine the target distance is the same as the second preset position in the display interface of the display device. When the first preset position and the second preset position are spaced apart, the first posture information may be calculated according to the distance between the first preset position and the second preset position And the second posture information is processed into posture information corresponding to the same preset position in the shooting window.

S12: Determine the corresponding size of the target object according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window.

In some embodiments, the corresponding size of the target object is at least one of the following: the height of the target object, or the width of the target object. Of course, the distance between different parts on the target object can also be determined.

In some embodiments, the position information of the current position includes at least one of the following: the height of the photographing device relative to the ground, and the target distance of the photographing device relative to the target object.

As shown in FIG. 3, the height of the photographing device relative to the ground at the current position may be expressed as h, and the target distance of the photographing device relative to the target object may be expressed as 1.

In some implementations, the acquiring the height of the photographing device relative to the ground at the current position includes: acquiring the height of the photographing device relative to the ground input by the user. It is understandable that the height of the photographing device relative to the ground may be input by the user.

Exemplarily, a movable platform, such as an unmanned aerial vehicle, is in communication connection with a control terminal, and the user can input the height of the position where the movable platform is located on the control terminal. Or the user holds a mobile platform, such as a mobile phone or a mobile phone platform equipped with a mobile phone, and can input the height of the camera relative to the ground on the mobile phone. Exemplarily, the user can input the height of the user, so that the height of the camera relative to the ground can be determined according to the height and the height of the movable platform itself.

In some other implementation manners, the height of the photographing device relative to the ground is acquired by a height sensor built into the photographing device or a height sensor built into the body of the movable platform.

Exemplarily, the height sensor includes at least one of an optical sensor (such as a camera, a binocular camera, etc.), an ultrasonic sensor, a barometer, a radar system (such as a millimeter wave radar), a laser system, and the like. The height sensor can more accurately determine the height of the camera relative to the ground.

In some embodiments, the target distance is acquired by a distance sensor built into the camera and/or a distance sensor built into the movable platform.

Exemplarily, the distance sensor includes at least one of an optical sensor (such as a camera, a binocular camera, etc.), an ultrasonic sensor, a radar system (such as a millimeter wave radar), a laser system, and the like. The distance sensor can more accurately determine the target distance of the shooting device relative to the target object.

In other embodiments, the target distance of the photographing device relative to the target object may be calculated from the height of the photographing device relative to the ground and the posture information.

Exemplarily, the method further includes: determining a target distance between the photographing device and the target object according to the height of the photographing device relative to the ground and the first posture information.

Referring to FIG. 3, the height h relative to the ground at the current position of the shooting device can be determined according to the height h of the target object and when the bottom of the target object is located at the first preset position Q1 in the shooting window. The angle β between the connecting line of the photographing device and the horizontal line determines the target distance l=h÷tanβ between the photographing device and the target object.

In some implementation manners, the determining the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window The corresponding size of the target object includes: determining the height of the target object according to the height of the photographing device relative to the ground, the target distance of the photographing device relative to the target object, and the second posture information.

Referring to FIG. 3, it can be based on the height h of the camera relative to the ground at the current position, the target distance l, and when the top of the target object is located at the second preset position Q2 in the shooting window, The angle α between the connecting line between the top of the target object and the photographing device and the horizontal line determines the height of the target object H=1×tanα+h.

In some implementations, the surveying and mapping method for a movable platform includes: acquiring the height of the photographing device relative to the ground at the current position; at the current position, changing the posture of the photographing device to make the target object The different parts of the camera are respectively located at the same preset position in the shooting window, and the posture information of the shooting device when the different parts of the target object are respectively at the same preset position in the shooting window is acquired; according to the shooting device The height relative to the ground and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window, determine the corresponding size of the target object.

Exemplarily, the height of the target object may be determined according to the height of the photographing device relative to the ground, the first posture information, and the second posture information.

Exemplarily, the target distance between the photographing device and the target object may be determined according to the height of the photographing device relative to the ground and the first posture information; and according to the height of the photographing device relative to the ground , The target distance and the second posture information determine the height of the target object.

In some embodiments, the acquiring the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window further includes: acquiring the photographing device at the target The third posture information when the left side of the object is located at the second preset position in the shooting window; acquiring the information of the shooting device when the right side of the target object is at the second preset position in the shooting window Fourth posture information.

Referring to FIG. 6, when the left side of the target object is located at the second preset position in the shooting window, the third posture information of the shooting device is acquired. Exemplarily, the third posture information includes an angle γ between a connection line between the left side of the target object and the photographing device and the photographing direction of the photographing device. It is understandable that the shooting direction is perpendicular to the side of the target object opposite to the shooting device. The included angle γ may be determined according to the yaw angle of the photographing device.

Referring to FIG. 6, when the right side of the target object is located at the second preset position in the shooting window, the fourth posture information of the shooting device is acquired. Exemplarily, the fourth posture information includes an angle θ between a connection line between the right side of the target object and the photographing device and the photographing direction of the photographing device. The included angle θ may be determined according to the yaw angle of the camera.

Exemplarily, the width of the target object may be determined according to the third posture information and the fourth posture information, and the target distance of the photographing device relative to the target object.

As shown in Fig. 6, s1=1×tanγ may be determined according to the target distance l and the included angle γ, s2=l×tanθ may be determined according to the target distance l and the included angle θ, and the target object and the included angle θ may be determined The width of the opposite side of the photographing device is s1+s2.

In some embodiments, the method further includes: determining the area of the side of the target object opposite to the photographing device according to the height of the target object and the width of the target object.

Exemplarily, the area of the side of the target object opposite to the imaging device may be determined according to the product of the height of the target object and the width of the target object.

In some embodiments, the method further includes: determining the aspect ratio and/or zoom factor of the image captured by the photographing device according to the height of the target object and the width of the target object.

Exemplarily, the aspect ratio of the image taken by the photographing device may be determined according to the ratio of the width of the target object to the height of the target object, so that the photographed image can better represent the target object, for example, a complete picture can be taken. The target object is removed, and irrelevant scenes far away from the target object are removed.

Exemplarily, the zoom factor of the shooting device may be determined by the width of the target object and/or the height of the target object. For example, when the width of the target object is very wide or the height is very high, the zoom factor is reduced to photograph the complete target. object.

In some embodiments, the method further includes: displaying the boundary of the shooting window and the preset position on the movable platform or the display device of the control end of the movable platform.

Exemplarily, as shown in Figures 4 and 5, the box may represent the boundary of the shooting window. Figure 4 also shows the first preset position Q1 in the shooting window, and 5 shows the second position in the shooting window. The preset position is Q2. It is understandable that a preset mark may be displayed at the preset position, such as a “cross” indicator line, to indicate the preset position.

Exemplarily, the image to be photographed by the photographing device may be displayed in the photographing window, so that the posture of the photographing device can be adjusted according to the positional relationship between the preset position and the corresponding part of the target object in the photographing window to make the target object The corresponding part is located at the preset position in the shooting window.

Exemplarily, the method further includes: prompting the user to change the posture of the photographing device so that the corresponding part of the target object is located at a preset position in the photographing window. For example, the user is prompted by displaying text and/or graphic prompts or by voice.

For example, the posture of the camera can be changed by the user. For example, the user holds a mobile terminal such as a mobile phone to change the posture of the camera by moving or rotating the mobile terminal, or the user directly applies force to the pan-tilt to change the pan-tilt. Posture to adjust the posture of the camera.

Exemplarily, the method further includes: controlling the movable platform to change the posture of the photographing device so that the corresponding part of the target object is located at a preset position in the photographing window.

For example, the movable platform can change the posture of the shooting device automatically or according to the user's control operation, and stop changing the shooting when the corresponding part of the target object is located in the preset position in the shooting window. The attitude of the device.

Exemplarily, the method further includes: according to a user's determination operation, determining that the corresponding part of the target object is currently located at a preset position in the shooting window.

For example, when the user judges that the corresponding part of the target object is located at the preset position in the shooting window, presses the key corresponding to the confirm operation, the posture of the photographing device can be stopped according to the user's confirming operation, and the photographing device can be obtained. Current posture information.

In some other implementation manners, the method further includes: selecting a corresponding part of the target object in the shooting window; controlling the movable platform to change the posture of the shooting device according to the selected part so that the target object The corresponding part of is located at a preset position in the shooting window.

Exemplarily, the corresponding parts in the captured image, such as the top and bottom of the target object, may be determined based on an image recognition algorithm, for example, the corresponding parts in the image may be recognized based on a trained neural network model. Therefore, according to the positional relationship between the part and the preset position in the shooting window, the posture of the shooting device can be adjusted so that the corresponding part of the target object is located at the preset position in the shooting window. The automatic alignment of the corresponding part of the target object and the preset position in the shooting window can be realized, so that the surveying and mapping can be carried out more conveniently.

Exemplarily, selecting the corresponding part of the target object in the shooting window includes: displaying the shooting window on the movable platform or the display device of the control terminal of the movable platform, and identifying the target object The contour line; according to the user's selection operation of the contour line, determine the corresponding part of the target object in the shooting window.

Exemplarily, the contour line of the target object in the shooting window may be determined based on an image recognition algorithm, for example, the contour line of the target object in the shooting window may be recognized based on a trained neural network model. Then, the contour line of the target object is displayed on the movable platform or the display device of the control terminal of the movable platform, so that the user can select corresponding parts of the target object, such as the top and bottom of the target object.

In some embodiments, the acquiring the height of the photographing device relative to the ground at the current position includes: acquiring the height of the photographing device relative to the bottom of the target object. Exemplarily, the height of the photographing device relative to the ground includes: the height of the photographing device relative to the bottom of the target object.

Exemplarily, the method further includes: determining the height of the photographing device relative to the bottom of the target object according to the posture information of the photographing device at different distances from the target object and the difference between the different distances.

Exemplarily, when there is a height difference between the ground below the user and the ground below the target object, and the height difference is unknown, the height of the photographing device relative to the bottom of the target object may be determined first.

Exemplarily, the acquiring the height of the photographing device relative to the bottom of the target object includes: determining the height of the photographing device according to the posture information of the photographing device at different distances from the target object and the difference between the different distances. The height of the photographing device relative to the bottom of the target object.

Exemplarily, as shown in FIG. 7, when the shooting device is at position 51, the bottom of the target object is located at the preset position in the shooting window by changing the posture of the shooting device, and the bottom and the bottom of the target object are acquired. The angle β1 between the connecting line of the shooting device and the horizontal line; when the shooting device is at position 52, by changing the posture of the shooting device, the bottom of the target object is located at the preset position in the shooting window, and the obtained The angle β2 between the line connecting the bottom of the target object and the camera and the horizontal line. Wherein, position 51 and position 52 are on the same horizontal line, and the distance between position 51 and position 52 can be expressed as s, then the bottom of the photographing device relative to the target object can be determined according to h1÷tanβ1-s=h1÷tanβ2 The height h1.

As shown in Figure 7, when the camera is at position 51, the top of the target object can be positioned at the preset position in the shooting window by changing the posture of the camera, and the top of the target object and the position can be obtained. The angle α1 between the connecting line of the photographing device and the horizontal line can determine the height of the target object H1=h1÷tanβ1×tanα1+h1.

In the surveying and mapping method for a movable platform provided by the embodiment of the application, different parts of the target object are respectively located in the same preset position in the shooting window by changing the posture of the shooting device, and the different parts of the shooting device on the target object are obtained respectively. The posture information when located at the same preset position in the shooting window, and the corresponding size of the target object is determined according to the posture information. The target object can be surveyed and mapped based on the movable platform equipped with the shooting device, which is simple and convenient, and has a small amount of calculation; When the size of the target object is large or the distance to the target object is too close, so that the shooting window of the shooting device cannot completely cover the target object, the target object can be surveyed and mapped.

The posture information of the corresponding part of the target object is acquired through a higher-precision posture sensor, and the target object can be surveyed and mapped more accurately according to the posture information.

By determining the length and width of the target object, the shooting parameters of the shooting device can be determined to improve the composition and shooting quality.

Please refer to FIG. 8 in conjunction with the foregoing embodiment of the present application. FIG. 8 is a schematic flowchart of a surveying and mapping method for a movable platform according to another embodiment of the present application.

The movable platform can be equipped with a camera.

The surveying and mapping method can be applied to a movable platform, or can be applied to a camera mounted on the movable platform, or the steps of the surveying method can be performed by the movable platform and the camera mounted on the movable platform together.

Exemplarily, the movable platform includes at least one of an unmanned aerial vehicle, a pan/tilt, an unmanned vehicle, and a mobile terminal. Among them, the mobile terminal may include at least one of a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a wearable device, and a remote control.

Furthermore, the unmanned aerial vehicle can be a rotary wing drone, such as a quadrotor drone, a hexarotor drone, an eight rotor drone, or a fixed wing drone.

In some embodiments, the movable platform includes a mobile phone platform, and the photographing device includes a camera built into the mobile phone. In other embodiments, the movable platform includes a camera platform, and the photographing device includes a camera. In some other embodiments, the movable platform includes a mobile phone, and the photographing device includes a camera built into the mobile phone.

As shown in FIG. 8, the surveying and mapping method for a movable platform according to an embodiment of the present application includes step S210 to step S230.

S210. Obtain the height of the photographing device relative to the ground at the current position.

S220. At the current position, by changing the posture of the photographing device, the bottom of the target object is located at a preset position in the photographing window, and first posture information of the photographing device is acquired.

In some embodiments, the movable platform includes a pan/tilt, and the camera is mounted on the pan/tilt; the changing the posture of the camera includes: controlling the movement of the motor of the pan/tilt to adjust the movement of the camera. Describe the posture of the camera.

S230: Determine a target distance between the movable platform and the target object according to the height of the photographing device relative to the ground at the current position and the first posture information.

Exemplarily, the first posture information includes an angle between a connection line between the bottom of the target object and the imaging device and a horizontal line.

In some embodiments, the method further includes: displaying the boundary of the shooting window and the preset position on the movable platform or the display device of the control end of the movable platform.

Exemplarily, the method further includes: prompting the user to change the posture of the photographing device so that the bottom of the target object is located at the preset position in the photographing window.

Exemplarily, the method further includes: controlling the movable platform to change the posture of the photographing device so that the bottom of the target object is located at the preset position in the photographing window.

Exemplarily, the method further includes: determining that the bottom of the target object is currently located at a preset position in the shooting window according to a user's determination operation.

In other embodiments, the method further includes: selecting the bottom of the target object in the shooting window; controlling the movable platform to change the shooting device according to the bottom of the target object in the shooting window The posture of is such that the bottom of the target object is located at a preset position in the shooting window.

Exemplarily, the selecting the bottom of the target object in the shooting window includes: displaying the shooting window on the movable platform or the display device of the control end of the movable platform, and recognizing the The contour line of the target object; according to the user's selection operation of the contour line, the bottom of the target object in the shooting window is determined.

In some embodiments, the obtaining the height of the camera relative to the ground at the current position includes: obtaining the height of the camera relative to the ground at the current position input by the user.

In some embodiments, the acquiring the height of the camera relative to the ground at the current position includes: acquiring the camera device through a height sensor built into the camera or a height sensor built into the body of the movable platform The height relative to the ground at the current position.

In some embodiments, the acquiring the height of the photographing device relative to the ground at the current position includes: acquiring the height of the photographing device relative to the bottom of the target object.

Exemplarily, the acquiring the height of the photographing device relative to the bottom of the target object includes: determining the height of the photographing device according to the posture information of the photographing device at different distances from the target object and the difference between the different distances. The height of the photographing device relative to the bottom of the target object.

In some embodiments, the method further includes: acquiring third posture information of the photographing device when the camera is located at a second preset position in the photographing window on the left side of the target object; acquiring the position of the photographing device Fourth posture information when the right side of the target object is located at the second preset position in the shooting window; the target is determined according to the third posture information, the fourth posture information, and the target distance The width of the object.

In the surveying and mapping method for a movable platform provided by the embodiment of the application, different parts of the target object are respectively located in the same preset position in the shooting window by changing the posture of the shooting device, and the different parts of the shooting device on the target object are obtained respectively. The posture information when located at the same preset position in the shooting window, and the corresponding size of the target object is determined according to the posture information. The target object can be surveyed and mapped based on the movable platform equipped with the shooting device, which is simple and convenient, and has a small amount of calculation; When the size of the target object is large or the distance to the target object is too close, so that the shooting window of the shooting device cannot completely cover the target object, the target object can be surveyed and mapped.

Please refer to FIG. 9 in conjunction with the foregoing embodiment. FIG. 9 is a schematic block diagram of a movable platform 600 provided in an embodiment of the present application.

In some embodiments, as shown in FIG. 9, the movable platform 600 can carry an external camera 700. In other embodiments, the movable platform may have a built-in camera.

Exemplarily, the movable platform includes at least one of an unmanned aerial vehicle, a pan/tilt, an unmanned vehicle, and a mobile terminal. Among them, the mobile terminal may include at least one of a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a wearable device, and a remote control.

Furthermore, the unmanned aerial vehicle can be a rotary wing drone, such as a quadrotor drone, a hexarotor drone, an eight rotor drone, or a fixed wing drone.

In some embodiments, the movable platform includes a mobile phone platform, and the photographing device includes a camera built into the mobile phone. In other embodiments, the movable platform includes a camera platform, and the photographing device includes a camera. In some other embodiments, the movable platform includes a mobile phone, and the photographing device includes a camera built into the mobile phone.

Specifically, the movable platform 600 includes a processor 601 and a memory 602.

Exemplarily, the processor 601 and the memory 602 are connected by a bus 603, and the bus 603 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 601 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk, or the like.

Wherein, the processor 601 is configured to run a computer program stored in the memory 602, and implement the aforementioned surveying and mapping method for a movable platform when the computer program is executed.

In some implementation manners, the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when the computer program is executed:

At the current position, by changing the posture of the photographing device, different parts of the target object are respectively located in the same preset position in the photographing window, and it is obtained that the photographing device is located in the photographing window at different parts of the target object. The posture information at the same preset position in the

The corresponding size of the target object is determined according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window.

In some implementation manners, the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when the computer program is executed:

Acquiring the height of the photographing device relative to the ground at the current position;

At the current position, by changing the posture of the photographing device, the bottom of the target object is located at a preset position in the photographing window, and the first posture information of the photographing device is acquired;

The target distance between the movable platform and the target object is determined according to the height of the photographing device relative to the ground at the current position and the first posture information.

The specific principles and implementation manners of the movable platform provided in the embodiment of the present application are similar to the surveying and mapping method for the movable platform in the foregoing embodiment, and will not be repeated here.

An embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the above-mentioned embodiments. The steps of the surveying and mapping method for the movable platform.

Wherein, the computer-readable storage medium may be the internal storage unit of the removable platform described in any of the foregoing embodiments, such as the hard disk or memory of the removable platform. The computer-readable storage medium may also be an external storage device of the removable platform, such as a plug-in hard disk equipped on the removable platform, a smart memory card (Smart Media Card, SMC), and Secure Digital (Secure Digital). , SD) card, flash card (Flash Card), etc.

The movable platform and computer-readable storage medium provided by the embodiments of the application can change the posture of the shooting device so that different parts of the target object are respectively located in the same preset position in the shooting window, and obtain the different parts of the shooting device on the target object. The posture information when they are respectively located at the same preset position in the shooting window, and the corresponding size of the target object is determined according to the posture information. The target object can be surveyed and mapped based on the movable platform equipped with the shooting device, which is simple and convenient, and has a small amount of calculation; and It is also possible to survey and map the target object when the size of the target object is large or the distance to the target object is so close that the shooting window of the shooting device cannot completely cover the target object.

It should be understood that the terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application.

It should also be understood that the term "and/or" used in this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

The above are only specific implementations of this application, but the scope of protection of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims (47)

A surveying and mapping method for a movable platform, characterized in that the movable platform is equipped with a photographing device, and the method includes: At the current position, by changing the posture of the photographing device, different parts of the target object are respectively located in the same preset position in the photographing window, and it is obtained that the photographing device is located in the photographing window at different parts of the target object. The posture information at the same preset position in the The corresponding size of the target object is determined according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window. The method according to claim 1, wherein the attitude information includes at least one of the following: a pitch angle and a yaw angle. The method according to claim 1, wherein the different parts of the target object include at least one of the following: bottom, top, left, and right. The method according to claim 1, wherein the corresponding size of the target object includes at least one of the following: the height of the target object, or the width of the target object. The method according to any one of claims 1 to 4, wherein the posture information is acquired by a posture sensor built in the photographing device and/or a posture sensor built in the movable platform. The method according to any one of claims 1 to 4, wherein the position information of the current position includes at least one of the following: the height of the photographing device relative to the ground, and the height of the photographing device relative to the ground. The target distance of the target object. The method according to claim 6, wherein the height of the photographing device relative to the ground is obtained by a height sensor built into the photographing device or a height sensor built into the body of the movable platform. The method according to claim 6, wherein the height of the photographing device relative to the ground is input by a user. The method according to claim 6, wherein the target distance is obtained by a distance sensor built into the photographing device and/or a distance sensor built into the movable platform. The method according to claim 6, wherein the target distance is calculated from the height of the photographing device relative to the ground and the posture information. The method according to claim 10, wherein the acquiring the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window comprises: When the bottom of the target object is located at the first preset position in the shooting window, acquiring the first posture information of the shooting device; The method also includes: According to the height of the photographing device relative to the ground and the first posture information, the target distance between the photographing device and the target object is determined. 11. The method according to claim 11, wherein the first posture information includes an angle between a line and a horizontal line between the bottom of the target object and the camera. The method according to any one of claims 1-12, wherein the method further comprises: The display device on the movable platform or the control end of the movable platform displays the boundary of the shooting window and the preset position. The method according to claim 13, wherein the method further comprises: The user is prompted to change the posture of the photographing device so that the corresponding part of the target object is located at the preset position in the photographing window. The method according to claim 13, wherein the method further comprises: The movable platform is controlled to change the posture of the photographing device so that the corresponding part of the target object is located at the preset position in the photographing window. The method according to any one of claims 13-15, wherein the method further comprises: According to the user's determination operation, it is determined that the corresponding part of the target object is currently located at the preset position in the shooting window. The method according to any one of claims 1-12, wherein the method further comprises: Select the corresponding part of the target object in the shooting window; According to the selected part, the movable platform is controlled to change the posture of the photographing device so that the corresponding part of the target object is located at a preset position in the photographing window. The method according to claim 17, wherein the selecting a corresponding part of the target object in the shooting window comprises: Displaying the shooting window on the movable platform or the display device at the control end of the movable platform, and identifying the contour line of the target object; According to the user's selection operation of the contour line, the corresponding part of the target object in the shooting window is determined. The method according to claim 6, wherein the height of the photographing device relative to the ground comprises: the height of the photographing device relative to the bottom of the target object. The method according to claim 19, wherein the method further comprises: The height of the photographing device relative to the bottom of the target object is determined according to the posture information of the photographing device at different distances from the target object and the difference between the different distances. The method according to any one of claims 1-20, wherein the acquiring posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window ,include: When the top of the target object is located at the second preset position in the shooting window, acquiring second posture information of the shooting device; Said determining the corresponding size of the target object according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window, include: The height of the target object is determined according to the height of the photographing device relative to the ground, the target distance of the photographing device relative to the target object, and the second posture information. 22. The method according to claim 21, wherein the second posture information comprises an angle between a line and a horizontal line between the top of the target object and the camera. The method according to any one of claims 1-22, wherein the acquiring posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window ,Also includes: Acquiring third posture information of the photographing device when the left side of the target object is located at the second preset position in the photographing window; Acquiring fourth posture information of the photographing device when the photographing device is located at a second preset position in the photographing window on the right side of the target object; Said determining the corresponding size of the target object according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window, include: The width of the target object is determined according to the third posture information and the fourth posture information, and the target distance of the photographing device relative to the target object. The method according to claim 21, wherein the first preset position for determining the target distance and the second preset position coincide or are arranged at intervals. The method according to claim 23, wherein the method further comprises: The area of the side of the target object opposite to the imaging device is determined according to the height of the target object and the width of the target object. The method according to claim 23, wherein the method further comprises: The aspect ratio and/or zoom factor of the image captured by the photographing device is determined according to the height of the target object and the width of the target object. The method according to any one of claims 1-26, wherein the movable platform comprises a pan-tilt, and the camera is mounted on the pan-tilt; The changing the posture of the photographing device includes: Control the movement of the motor of the pan/tilt to adjust the posture of the photographing device. A surveying and mapping method for a movable platform, characterized in that the movable platform is equipped with a photographing device, and the method includes: Acquiring the height of the photographing device relative to the ground at the current position; At the current position, by changing the posture of the photographing device, the bottom of the target object is located at a preset position in the photographing window, and the first posture information of the photographing device is acquired; The target distance between the movable platform and the target object is determined according to the height of the photographing device relative to the ground at the current position and the first posture information. The method according to claim 28, wherein the method further comprises: The display device on the movable platform or the control end of the movable platform displays the boundary of the shooting window and the preset position. The method according to claim 29, wherein the method further comprises: The user is prompted to change the posture of the photographing device so that the bottom of the target object is located at the preset position in the photographing window. The method according to claim 29, wherein the method further comprises: The movable platform is controlled to change the posture of the photographing device so that the bottom of the target object is located at the preset position in the photographing window. The method according to any one of claims 29-31, wherein the method further comprises: According to the user's determination operation, it is determined that the bottom of the target object is currently located at a preset position in the shooting window. The method according to claim 28, wherein the method further comprises: Selecting the bottom of the target object in the shooting window; According to the selected bottom, the movable platform is controlled to change the posture of the shooting device so that the bottom of the target object is located at a preset position in the shooting window. The method according to claim 33, wherein the selecting the bottom of the target object in the shooting window comprises: Displaying the shooting window on the movable platform or the display device at the control end of the movable platform, and identifying the contour line of the target object; According to the user's selection operation on the bottom contour line, the bottom of the target object in the shooting window is determined. The method according to any one of claims 28-34, wherein the acquiring the height of the photographing device relative to the ground at the current position comprises: Acquiring the height of the photographing device input by the user relative to the ground at the current position; or The height of the photographing device relative to the ground at the current position is obtained through a height sensor built into the photographing device or a height sensor built into the body of the movable platform. The method according to any one of claims 28-34, wherein the acquiring the height of the photographing device relative to the ground at the current position comprises: Obtain the height of the photographing device relative to the bottom of the target object. The method according to claim 36, wherein the acquiring the height of the photographing device relative to the bottom of the target object comprises: The height of the photographing device relative to the bottom of the target object is determined according to the posture information of the photographing device at different distances from the target object and the difference between the different distances. The method according to any one of claims 28-37, wherein the first posture information includes an angle between a line between the bottom of the target object and the shooting device and a horizontal line. The method according to any one of claims 28-38, wherein the movable platform comprises a pan-tilt, and the photographing device is mounted on the pan-tilt; The changing the posture of the photographing device includes: Control the movement of the motor of the pan/tilt to adjust the posture of the photographing device. The method according to any one of claims 28-39, wherein the method further comprises: Acquiring third posture information of the photographing device when the left side of the target object is located at the second preset position in the photographing window; Acquiring fourth posture information of the photographing device when the right side of the target object is located at a second preset position in the photographing window; The width of the target object is determined according to the third posture information and the fourth posture information, and the target distance. A movable platform, characterized in that the movable platform can carry a camera; The movable platform includes a memory and a processor; The memory is used to store a computer program; The processor is configured to execute the computer program and, when executing the computer program, implement the following steps: At the current position, by changing the posture of the photographing device, different parts of the target object are respectively located in the same preset position in the photographing window, and it is obtained that the photographing device is located in the photographing window at different parts of the target object. The posture information at the same preset position in the The corresponding size of the target object is determined according to the position information of the current position and the posture information of the photographing device when different parts of the target object are respectively located at the same preset position in the photographing window. The movable platform according to claim 41, wherein the movable platform comprises at least one of an unmanned aerial vehicle, a pan/tilt, an unmanned vehicle, and a mobile terminal. The movable platform of claim 42, wherein: The movable platform includes a mobile phone platform, and the photographing device includes a camera built into the mobile phone; or The movable platform includes a camera platform, and the photographing device includes a camera; or The movable platform includes a mobile phone, and the photographing device includes a camera built in the mobile phone. A movable platform, characterized in that the movable platform can carry a camera; The movable platform includes a memory and a processor; The memory is used to store a computer program; The processor is configured to execute the computer program and, when executing the computer program, implement the following steps: Acquiring the height of the photographing device relative to the ground at the current position; At the current position, by changing the posture of the photographing device, the bottom of the target object is located at a preset position in the photographing window, and the first posture information of the photographing device is acquired; The target distance between the movable platform and the target object is determined according to the height of the photographing device relative to the ground at the current position and the first posture information. The movable platform according to claim 44, wherein the movable platform comprises at least one of an unmanned aerial vehicle, a pan/tilt, an unmanned vehicle, and a mobile terminal. The movable platform according to claim 45, wherein: The movable platform includes a mobile phone platform, and the photographing device includes a camera built into the mobile phone; or The movable platform includes a camera platform, and the photographing device includes a camera; or The movable platform includes a mobile phone, and the photographing device includes a camera built in the mobile phone. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes: The surveying and mapping method for a movable platform according to any one of claims 1-27; and/or The surveying and mapping method for a movable platform according to any one of claims 28-40.

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