CN106295141A - A plurality of unmanned plane determining method of path and device for reconstructing three-dimensional model - Google Patents

A plurality of unmanned plane determining method of path and device for reconstructing three-dimensional model Download PDF

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CN106295141A
CN106295141A CN201610621107.7A CN201610621107A CN106295141A CN 106295141 A CN106295141 A CN 106295141A CN 201610621107 A CN201610621107 A CN 201610621107A CN 106295141 A CN106295141 A CN 106295141A
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unmanned plane
point
shooting
flight
shooting point
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CN106295141B (en
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王飞
郑晓翠
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Shenzhen Graduate School Tsinghua University
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Shenzhen Graduate School Tsinghua University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
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Abstract

The invention discloses a plurality of unmanned plane determining method of path for reconstructing three-dimensional model and device, the method comprises the steps: to calculate another shooting point that unmanned plane can arrive from any one shooting point rectilinear flight, and calculate the time cost between the two shooting point, until determine the flight road network of unmanned plane；The constraints in the level point according to total time constraint, the cruising time of unmanned plane, the takeoff point of unmanned plane and unmanned plane, calculates the minimum sortie of required unmanned plane in the case of unmanned plane travels through all shooting points；Gradually decrease the flight time of the unmanned plane of each sortie, until unmanned plane cannot travel through all of shooting point, thus calculate minimum flight time cost required under minimum sortie.During contingency management, when the data acquisition session of three-dimensional reconstruction has clear and definite time-constrain, the present invention can accurately calculate the Sortie of needs, and the flight path of each sortie and shooting task point.

Description

A plurality of unmanned plane determining method of path and device for reconstructing three-dimensional model
[technical field]
The present invention relates to a plurality of unmanned plane determining method of path for reconstructing three-dimensional model and device.
[background technology]
Spatial information is as important basic data, and it gathers and applies the whole process having run through contingency management.Existing The many forms with two-dimensional map of spatial information express, many valuable landform and ground object detail such as texture, highly, shape information All it is difficult to present.During contingency management, three-dimensional live map can provide spatial information more directly perceived, more detailed, more preferably For Emergency decision provide support.
In order to obtain the high-precision three-dimensional model of building, need to carry out building, successively around flight, obtaining building completely Superficial makings information.Existing texture image gatherer process relies on Artificial Control, empirically determines unmanned plane during flying track With camera shooting interval.For ensureing that the Duplication of photo meets the demand of three-dimensional reconstruction, often through arranging intensive flight rail Mark and less shooting interval, the image photo of shooting bulk redundancy, cause three-dimensional reconstruction software to devote a tremendous amount of time Coupling and process redundancy, reduce three-dimensional reconstruction efficiency.
[summary of the invention]
In order to overcome the deficiencies in the prior art, the present invention proposes a kind of a plurality of unmanned plane path for reconstructing three-dimensional model Determine method and device, it is possible to shooting point set determine with clear and definite time-constrain in the case of, determine optimal a plurality of flight path.
For a plurality of unmanned plane determining method of path of reconstructing three-dimensional model, comprise the steps:
S1, any one shooting point that the shooting point that determines is concentrated, calculate unmanned plane can from described any one Another shooting point that shooting point rectilinear flight arrives, and calculate the time cost between the two shooting point, until determining institute State the flight road network of unmanned plane；Wherein, described shooting point set is the camera of the unmanned plane collection to the shooting point that building shoots Close；
S2, pact according to the level point of total time constraint, the cruising time of unmanned plane, the takeoff point of unmanned plane and unmanned plane Bundle condition, calculates the minimum sortie of required unmanned plane in the case of unmanned plane travels through all shooting points；
S3, gradually decrease flight time of the unmanned plane of each sortie, until total time constraint, unmanned plane flight time Between, under the constraint in the level point of the takeoff point of unmanned plane and unmanned plane, described unmanned plane cannot travel through all of shooting point, thus Calculate minimum flight time cost required under minimum sortie.
In one embodiment,
Unmanned plane described in each shooting point have correspondence course angle, described time cost include flight time cost and Course adjusts time cost, and wherein, described flight time cost is that described unmanned plane flies the required time between shooting point, Described course adjusts time cost: after described unmanned plane arrives certain shooting point, the current course angle of described unmanned plane is adjusted Time needed for the whole course angle corresponding for certain shooting point described.
In one embodiment,
The takeoff point of the unmanned plane of each sortie is identical with level point.
In one embodiment,
The cruising time of the unmanned plane of each sortie is identical.
Present invention also offers and determine device for a plurality of unmanned plane path of reconstructing three-dimensional model, including:
First processing unit, any one shooting point concentrated for the shooting point for determining, calculate unmanned plane permissible Another shooting point arrived from any one shooting point rectilinear flight described, and calculate the time one-tenth between the two shooting point This, until determining the flight road network of described unmanned plane；Wherein, described shooting point set is that building is shot by the camera of unmanned plane The set of shooting point；
Second processing unit, for according to total time constraint, the cruising time of unmanned plane, the takeoff point of unmanned plane and nobody The constraints in the level point of machine, calculates the minimum sortie of required unmanned plane in the case of unmanned plane travels through all shooting points；
3rd processing unit, for gradually decreasing flight time of unmanned plane of each sortie, until retraining total time, Under the constraint in the level point of the flight time of unmanned plane, the takeoff point of unmanned plane and unmanned plane, described unmanned plane cannot travel through institute Some shooting points, thus calculate minimum flight time cost required under minimum sortie.
In one embodiment,
Unmanned plane described in each shooting point have correspondence course angle, described time cost include flight time cost and Course adjusts time cost, and wherein, described flight time cost is that described unmanned plane flies the required time between shooting point, Described course adjusts time cost: after described unmanned plane arrives certain shooting point, the current course angle of described unmanned plane is adjusted Time needed for the whole course angle corresponding for certain shooting point described.
In one embodiment,
The takeoff point of the unmanned plane of each sortie is identical with level point.
In one embodiment,
The cruising time of the unmanned plane of each sortie is identical.
The invention has the beneficial effects as follows:
During contingency management, when the data acquisition session of three-dimensional reconstruction has clear and definite time-constrain, the present invention can Accurately calculate the Sortie of needs, and the flight path of each sortie and shooting task point.
[accompanying drawing explanation]
Fig. 1 is the flow process signal of a plurality of unmanned plane determining method of path of the reconstructing three-dimensional model of an embodiment of the present invention Figure
Fig. 2 is the three-dimensional point model of the building profile of an embodiment of the present invention
Fig. 3 is building and the flight path schematic diagram of unmanned plane of an embodiment of the present invention
Fig. 4 is that the shooting cone of the camera of the building three-dimensional point model of profile of an embodiment of the present invention and unmanned plane is covered Lid schematic diagram
Fig. 5 be an embodiment of the present invention any two shooting point between with the position relationship schematic diagram of building
[detailed description of the invention]
Preferred embodiment to invention is described in further detail below.
Flow process as shown in Figure 1, a plurality of unmanned plane determining method of path of the reconstructing three-dimensional model of a kind of embodiment, including such as Lower step:
S1, structure constitute the three-dimensional point model of the profile of building to be shot
The facade of major part building is all perpendicular to or approximately perpendicular to ground, therefore according to the orthography of building Can accurately sketch the contours of the cross-sectional profile of building.User can easily from network map (such as Baidu's satellite map, Google satellite map) the upper orthography obtaining building.Setting local NED coordinate system to be exposed to the north as X-axis, Y-axis is towards east, and Z axis hangs down Down, initial point is on ground level for straight ground level.Building length in Y-axis can also be analyzed, in X-axis from orthography Width and week long message.The height of building can pass through field survey or eye estimate, and the error of several meters does not interferes with nothing The man-machine result carrying out three-dimensional reconstruction according to the flight path of present invention planning.
Sketch the contours the cross-sectional profile of building, obtain the curve of a closing, the resolution set with a user, such as 0.5m, by this curve discretization so that the length between the most adjacent two points is 0.5m, thus obtains building outline at XY Discrete point sequence in plane.By same resolution by the high granular of building, obtain the discrete point sequence of Z-direction.Root According to two discrete point sequences, the facade three-dimensional outer surface point model of building can be constructed.
The end face of building can be approximated to be the planar polygons plane fenced up by cross-sectional profile, in the x, y direction with Same resolution by discrete for this polygon for grid.In conjunction with the three-dimensional point model of facade Yu end face, obtain outer surface of building (wheel Wide) three-dimensional point model.Fig. 2 illustrates the outer surface three-dimensional point model of a real building, each net in the form of a grid Lattice node obtains the most in aforementioned manners.Certainly this model is the most rough, can only embody the profile of building, it is impossible to body Now build the details on surface.
S2, determine the initial value of flight path key parameter
As introduced in background technology, building superficial makings to be obtained completely, need building successively around flight, flight Path schematic diagram is as it is shown on figure 3, facade cincture flight path, end face snake scan flight path can be divided into, and facade arrives Transition flight path three part of end face.
For facade flight path, as long as determining facade shooting point and adjacent two of the distance of elevation of building, same layer The distance of shooting point, the spacing (the most neighbouring distance between flight path section) of upper and lower two-layer shooting point, each shooting The attitude angle (angle of pitch, roll angle, yaw angle) of point, the height of minimum shooting layer, and the height of the highest shooting layer, just can count Calculate unmanned plane with camera in the position of each shooting point of facade and attitude, thus construct the flight path of facade.Because building The facade built is not plane, meets the requirement of three-dimensional reconstruction Duplication in order to ensure the photo shot, and these parameter values to pass through The calculating that iterates determines.The computational methods of initial value are as follows:
S21, calculating facade initial value D1 of horizontal range D1 of flight path and building when flightInitial。
For building, unmanned plane barycenter may be considered overlapping with the position of camera focus, therefore shooting point Horizontal range i.e. horizontal range D1 of unmanned plane during flying path and building with building.
Assume that facade is plane, according to flight speed, the interval of taking pictures of camera of unmanned plane, and three-dimensional reconstruction pair The requirement of endlap rate calculates D1Initial:
D 1 I n i t i a l = S p e e d _ U A V × I n t e r v e l _ P h o t o ( 1 - O v e r l a p _ H e a d i n g ) × 2 × tan ( F O V _ H )
Wherein Speed_UAV is the flight speed of unmanned plane, and Intervel_Photo is the interval of taking pictures of camera；FOV_H Be camera horizontal view angle 1/2, Overlap_Heading be endlap rate threshold value (three-dimensional reconstruction endlap rate want Ask).
D1InitialDetermination can be divided into two kinds of situations.
Situation 1: limited by site environment, can not than the distance if any trees, the impact of other atural object, unmanned plane and building Too near, can only first determine D1 in this case in the outer value of some scopeInitial, then adjust nothing further according to relational expression Man-machine flight speed or the interval of taking pictures of camera.
Situation 2: limited with camera parameter by unmanned plane parameter, interval taken pictures by unmanned plane during flying speed and camera can not Arbitrarily adjust, first to determine that the flight speed of unmanned plane and camera are taken pictures interval, further according to relational expression calculating in this case D1Initial。
Owing to the horizontal view angle of camera and endlap rate threshold value all determine that, and the interval of taking pictures of camera is not Continuously adjustable, therefore general these three parameter can first be decided, and then adjusts unmanned plane and the distance of building and unmanned plane Flight speed so that the distance of unmanned plane and building meets environmental requirement, and the flight speed of unmanned plane is also a conjunction simultaneously In the range of reason.
S22, determine the distance of adjacent two shooting points of initial same layer, namely the course spacing of facade flight path.
The flight speed and the camera that determine unmanned plane are taken pictures after being spaced, and the interval, course of facade track flies equal to unmanned plane Line speed is multiplied by camera takes pictures interval.
S23, determine the spacing of upper and lower two-layer shooting point, namely facade flight path is initial other to spacing H3Initial。
Assume that facade is plane, it is determined that after the horizontal range of flight path and building, calculate H3Initial:
H3Initial=2 × D1Initial×tan(FOV_V)×(1-Overlap_Side)
Wherein, FOV_V is the 1/2 of the vertical angle of view of camera, and Overlap_Side is the Duplication of the vertical direction of building Threshold value (requirement of three-dimensional reconstruction sidelapping rate).
S24, determine the height H2 of initial facade the highest shooting layer.
The maximum height of facade flight path to guarantee to photograph elevation of building and end face simultaneously, takes building height Height_Building is plus the horizontal range D1 sum of unmanned plane with building, when using 45 degree of overturning angle shootings, in theory The 50% of photo photographs elevation of building, and 50% photographs construction ceiling.
S25, determine the elemental height H1 of facade minimum shooting layerInitial
The minimum altitude of facade flight path to guarantee that the photo of shooting can be completely covered construction bottom
H 1 I n i t i a l = H e i g h t _ B u i l d i n g H e i g h t _ B u i l d i n g H 3 I n i t i a l + 1
S26, determine the attitude angle of each shooting point in facade flight path.
The attitude angle of each shooting point is determined by two parts: the attitude angle of unmanned plane and the attitude angle of camera.
Ideally, unmanned plane yaw angle should point to the building two dimension barycenter of sustained height.The angle of pitch of unmanned plane and Roll angle is affected by flight course, and ideally, the angle of pitch and roll angle in each shooting point are 0.
Camera is loaded on The Cloud Terrace, it is only necessary to adjust the downward angle of pitch relative to unmanned plane plane, when facade track is high When degree is less than building, using horizontal photograph, the angle of pitch is 0 degree, when facade trajectory height is higher than building, uses oblique photograph, The angle of pitch is generally 42-45 degree.
End face flight path, as shown in Fig. 3 right part of flg, is conplane scanning track, similar, as long as determining top The distance of face shooting point two shooting points adjacent with on the vertical dimension of construction ceiling, heading, the spacing of two row shooting points The attitude angle of (namely the distance between route segment adjacent in end face flight path), each shooting point (angle of pitch, roll angle, Yaw angle), just can calculate unmanned plane with camera in the position of each shooting point of end face and attitude, thus construct flying of end face Walking along the street footpath.Because when structure building three-dimensional point model, the end face of building has been approximately plane, has been ensured that by Theoretical Calculation The photo of shooting meets the requirement of three-dimensional reconstruction Duplication, and computational methods are as follows:
S27, when determining end face scanning flight, vertical dimension H4 of flight path and construction ceiling.
Being similar to, the vertical dimension of end face track and construction ceiling is according between the flight speed of unmanned plane, the taking pictures of camera Every, and the requirement of endlap rate threshold value calculates, unlike distance D1 of facade, the course in end face path correspond to The vertical angle of view of camera, relational expression is:
H 4 = S p e e d _ U A V × I n t e r v e l _ P h o t o ( 1 - O v e r l a p _ H e a d i n g ) × 2 × tan ( F O V _ V )
S28, the distance determining adjacent shooting point on the heading of end face flight path namely the boat of end face flight path To interval.
It is similar to, it is determined that the flight speed of unmanned plane and camera are taken pictures behind interval, the interval, course of end face flight path It is multiplied by camera equal to unmanned plane during flying speed to take pictures interval.
S29, determine the spacing of end face flight path two row shooting point, namely the side of end face flight path is to interval D 2.
Being similar to, it is determined that after the vertical dimension of end face flight path and construction ceiling, the side of end face is to corresponding camera Horizontal view angle and the three-dimensional reconstruction requirement to sidelapping rate, computing formula is:
D2=2 × H4 × tan (FOV_H) × (1-Overlap_Side)
S210, determine the attitude angle of each shooting point in end face flight path.
In end face flight path, the attitude angle of each shooting point is determined by two parts: one is the attitude angle of unmanned plane, and two are The attitude angle of camera.
Unmanned plane yaw angle should always point to heading.The angle of pitch and the roll angle of unmanned plane are affected by flight course, Ideally, the angle of pitch in each shooting point is 0 with roll angle.
Camera is loaded on The Cloud Terrace, it is only necessary to adjust the downward angle of pitch relative to unmanned plane plane, end face flight path In, the angle of pitch is always 90 degree, the orthography of shooting end face.
S211, determine transition flight path.
Under normal conditions, in transition flight path, the photo of shooting is not involved in three-dimensional reconstruction, thus does not also interfere with three Dimension is rebuild, and therefore need not the parameter adjusting unmanned plane with camera in transition flight path.
S3, calculating minimum shooting point set.
According to the key parameter initial value determined in step S2, construct flight path, calculate necessary camera site point set, Judge whether the photo in these camera site point shootings is satisfied by course and the sidelapping rate requirement of three-dimensional reconstruction.
The Duplication of the point set that camera shooting described in shooting point adjacent in S31, calculating facade flight path covers.
The shooting area of camera can be considered as a pyramidal cone, and the summit of cone can be approximated to be unmanned plane matter The heart, the subtended angle of cone is determined by horizontal view angle and the vertical angle of view of camera, is readily available this cone in body axis system Analytical expression, the rotation between recycling body axis system and local NED coordinate system and translation relation, it is possible to obtain in this locality The shooting area expression formula of camera under NED coordinate system.Utilize the relativeness of this cone and building three-dimensional point model, can calculate In building three-dimensional point model, there is which point can be photographed by camera.
The building surface point that a certain shooting point N shoots is labeled as 1, and the surface point not photographed is labeled as 0, then we can obtain To the building point set photographed of this position, it is designated as IN, IN+1Represent the building that next shooting point N+1 of shooting point N photographs Point set, calculate between the building surface point that the building surface point that this shooting point photographed photographed with next shooting point adjacent is overlapping Rate.For some shooting point, need to calculate the overlap between the building point that shooting point adjacent on direction, course covers Rate, in addition it is also necessary to calculate the Duplication between the building point that shooting point adjacent on vertical direction covers.
The algorithm of Duplication is as follows:
O N = s u m ( I N ∩ I N +1 ) s u m ( I N ) .
If use the area of building that camera can photograph to calculate Duplication, as in figure 2 it is shown, vertical due to building Face is typically irregular curved surface, and the areal calculation of the building that camera can photograph is extremely difficult, and therefore, the present embodiment uses The point set utilizing camera shooting to cover is simpler to the scheme calculating Duplication.
In some cases, point in the three-dimensional point model that camera shooting covers is probably and is blocked by actual building, That is these points are to occur in the photo that camera shoots out, a little carry out accordingly, it would be desirable to be blocked these Get rid of.
As shown in Figure 4, the three-dimensional point model through step S1 structure contains the building surface of gridding, grid each Individual node coordinate is known.It can be appreciated that elevation of building is considered as being made up of the little rectangular strip of the N number of XoY of being perpendicular to plane, each The height of rectangular strip is equal to building height, and the width of each rectangular strip is equal to the width of a grid.With O point as initial point four It it is the shooting cone of camera in radiation range.
S311, traversal building point set, it may be judged whether fall in shooting cone.This has many algorithms, such as can pass through Judge between the normal vector of architectural point (being assumed to be E point) and the line OE vector of O point and plane OAB, OBC, OCD, OAD Angled relationships, judges that E point is whether in cone.
S312, for the point set in cone that falls, it is judged that hiding relation, get rid of be blocked a little.Owing to building surface is permissible Regard the little rectangular strip by the N number of XoY of being perpendicular to plane as and be parallel to the end face of XoY plane, being total to what N+1 face was constituted, be not difficult Understanding, if certain point is blocked, then this point and the line of O point are by through some face in N+1 face.
Whether the point (hereinafter referred to as F point) putting concentration that S3121, first judgement fall in cone is blocked by construction ceiling, by It is a polygon being parallel to XoY in end face, it is known that this polygonal boundary point, so having only to judge between F point and O point Whether line and rooftop polygons have intersection point.If any intersection point, illustrate that F point is blocked by end face, it is impossible to photographed by camera, should F point is got rid of；As there is no intersection point, illustrate not blocked by end face.
Whether S3122, the point continuing to judge to process remaining concentration through step S3121 are blocked by facade.It is not difficult to manage Solving, the facade part only fallen with in shooting cone its is possible to shelter from F point.
Being similar to, regarding the facade part fallen in cone as the multiple rectangular area being perpendicular to XoY plane, because knowing The coordinate of each node in Fig. 4, it is easy to list the equation of these rectangular areas, makees a F point to the line between O point, sentences This straight line disconnected and the relation of these rectangles, if intersected, then it represents that F point is blocked, and otherwise F point is not then blocked.
In certain embodiments, counting of needs traversal can be reduced by the following method: when finding that O point is higher than building Time, then the point in the construction ceiling region being positioned at shooting cone need not judge again.
S32, constantly adjust parameter, until the shooting point on facade flight path meets Duplication requirement.
For end face flight path, due to shooting is orthography, just can be obtained full by orthography Theoretical Calculation The shooting point position that foot Duplication requires.
For facade track, if in step S31, if the Duplication of the point set of certain two adjacent shooting points covering is not Meet three-dimensional reconstruction requirement, then need the horizontal range increasing flight path with building, or change the flight speed of unmanned plane Degree, or the interval of taking pictures of camera.Owing to change of flight speed or camera interval of taking pictures can affect the parameter of end face flight path, The most preferentially increase horizontal range D1 of flight path and building, and calculate other key parameters relevant to D1.
Reconstruct flight path, obtains new shooting point set, repeats step S3, until the weight of the point set of all shooting points covering Folded rate is satisfied by three-dimensional reconstruction requirement.
Through step S1 to S3, obtain the shooting point set determined.If the data acquisition of unmanned plane is had the time Constraint, also needs to judge whether single rack unmanned plane during flying disclosure satisfy that time-constrain.If single rack unmanned plane during flying disclosure satisfy that Between retrain, then the sequential configuration flight path of--transition flight path--end face flight path of press facade flight path, traversal institute There is shooting point.If owing to single rack unmanned plane during flying is the most oversize, it is impossible to meet time-constrain, then need to use multimachine pattern, Shooting point set is assigned to many sorties go in-flight.Owing to each shooting point is the task point of unmanned plane, multiple UAVs is assisted With under operation, path planning seeks to use many sorties unmanned plane within the time specified, and appoints with minimum time cost traversal Business point, and adjust attitude at each task point, shoot photo.
S4, structure flight road network.
Any one shooting point concentrated for shooting point, determines what unmanned plane can arrive from this shooting point rectilinear flight Another shooting point (namely the line between the two shooting point is non-intersect with the surface of building, unmanned plane shoots in the two Between point, flight will not be blocked by building), and calculate the time cost between the two shooting point, so, concentrate in shooting point, I.e. can form a flight road network, which show the flight path that unmanned plane can select.
Existing unmanned plane generally supports that Headless mode flies, and unmanned plane course angle in flight course cannot change, by Being integrally fixed on the The Cloud Terrace of unmanned plane in camera, the angle of pitch of camera can adjust in flight course, and unmanned plane arrives Could adjust course angle after shooting point, therefore time cost mainly includes that flight time cost and course adjust time cost, its In, described flight time cost is that described unmanned plane flies the required time between shooting point, and described course adjusts time one-tenth Originally it is: after described unmanned plane arrives certain shooting point the current course angle of unmanned plane to be adjusted to certain shooting point described corresponding Course angle needed for time.
Guarantee that the disjoint method in surface of the line between two shooting points and building has a lot.For example, it is possible to reference Step S311 is to the computational methods of step S312, it is ensured that the line between two shooting points is non-intersect with the surface of building.
In another embodiment, the surface of the line between two shooting points and building can be guaranteed by the following method Disjoint method.
As it is shown in figure 5, according to the three-dimensional point model of building, elevation of building can be imagined as by a series of rectangle structures Become, by judging whether the sight line between two shooting points is blocked by some rectangle of construction ceiling or facade, just can sentence Air route between this two shooting point disconnected is the most unimpeded.P1, P2 are to be judged two shooting points, cross P1, P2 point, do one vertically In the rectangle of XoY plane, it is designated as ABCD face.Building a cuboid, summit is E, F, G, H and K, L, M, N, and four facades are equal Being perpendicular to XoY plane, bottom surface is XoY plane, and upper end face is parallel with XoY plane, and height is the height of building height and P1, P2 Middle maximum.Wherein A, B, C, D point is that the midpoint of line segment EH, FG, ML, NK, EFGH face and KLMN face are each perpendicular to ABCD respectively Face, takes 2-3 times of EH a length of building grid.If P1P2 sight line is blocked by elevation of building point P3, then P3 place Rectangle be certain to fall in EFGHKLMN cuboid, say, that planning certain flight path in, unmanned plane can not P2 is directly flown to from P1.
Not all shooting point is required for judging two-by-two, certain P Passable between adjacent shooting point, higher than building All shooting points between can pass through, so can reduce the quantity of shooting point needing to judge, it is possible to increase path is advised The speed drawn.
S5, the minimum sortie of the required unmanned plane of calculating.
According to flight road network, total time constraint, the cruising time of unmanned plane, the takeoff point of unmanned plane and the landing of unmanned plane Point, calculates the minimum sortie of required unmanned plane in the case of unmanned plane travels through all shooting points.
For example, it is possible to first set the minimum sortie of unmanned plane as 2 framves, set flight time of unmanned plane as continuation of the journey time Between, and set takeoff point and the level point of unmanned plane, by the computational algorithm of multiple traveling salesmen problem, calculate in total time constraint In the case of whether can travel through all of shooting point, if not all right, then increase the sortie (such as increasing by 1 sortie) of unmanned plane, as All shooting points can not be traveled through then continue to increase sortie, until all of shooting point can be traveled through, the most i.e. can obtain required The minimum sortie of unmanned plane.Under normal circumstances, the cruising time of each unmanned plane, takeoff point and level point are identical, certainly Can also be different.Multiple traveling salesmen problem is a classical mathematical problem, has had a lot of algorithms optimal to calculate Path.
S6, under described minimum sortie, calculate minimum flight time cost.
Owing to assuming that the unmanned plane of every sortie all completes aerial mission under cruising time in step s 5, actual fly In row in the case of traveling through all of shooting point, the actual flying time of some unmanned plane possible is less than cruising time.Therefore, The flight time of each unmanned plane sortie can be gradually reduced, calculate whether can travel through all of shooting point according to step S5, If can, continue to reduce the flight time of each sortie unmanned plane, until once reducing the flight of each sortie unmanned plane at certain After time, all of shooting point cannot be traveled through according to the calculating unmanned plane of step S5, so, above-mentioned certain once reduce before fly The row time, is i.e. the minimum flight time cost under minimum sortie.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention, On the premise of present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the present invention by The scope of patent protection that the claims submitted to determine.

Claims (8)

1., for a plurality of unmanned plane determining method of path of reconstructing three-dimensional model, it is characterized in that, comprise the steps:
S1, any one shooting point concentrated for the shooting point determined, calculating unmanned plane can be from any one shooting described Another shooting point that some rectilinear flight arrives, and calculate the time cost between the two shooting point, until determining described nothing Man-machine flight road network；Wherein, described shooting point set is the set to the shooting point that building shoots of the camera of unmanned plane；
S2, constraint bar according to the level point of total time constraint, the cruising time of unmanned plane, the takeoff point of unmanned plane and unmanned plane Part, calculates the minimum sortie of required unmanned plane in the case of unmanned plane travels through all shooting points；
S3, gradually decrease flight time of the unmanned plane of each sortie, until total time constraint, the flight time of unmanned plane, Under the constraint in the takeoff point of unmanned plane and the level point of unmanned plane, described unmanned plane cannot travel through all of shooting point, thus counts Calculate minimum flight time cost required under minimum sortie.
2. a plurality of unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 1, is characterized in that, often Unmanned plane described in individual shooting point has the course angle of correspondence, and described time cost includes that flight time cost and course adjust the time Cost, wherein, described flight time cost is that described unmanned plane flies the required time between shooting point, and described course adjusts Time cost is: after described unmanned plane arrives certain shooting point, the current course angle of described unmanned plane is adjusted to described certain Time needed for the course angle that shooting point is corresponding.
3. a plurality of unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 1, is characterized in that, each The takeoff point of the unmanned plane of sortie is identical with level point.
4. a plurality of unmanned plane determining method of path for reconstructing three-dimensional model as claimed in claim 1, is characterized in that, each The cruising time of the unmanned plane of sortie is identical.
5. a plurality of unmanned plane path for reconstructing three-dimensional model determines device, it is characterized in that, including:
First processing unit, any one shooting point concentrated for the shooting point for determining, calculating unmanned plane can be from institute State another shooting point that any one shooting point rectilinear flight arrives, and calculate the time cost between the two shooting point, Until determining the flight road network of described unmanned plane；Wherein, described shooting point set be unmanned plane camera to building shoot The set of shooting point；
Second processing unit, for according to total time constraint, the cruising time of unmanned plane, the takeoff point of unmanned plane and unmanned plane The constraints in level point, calculates the minimum sortie of required unmanned plane in the case of unmanned plane travels through all shooting points；
3rd processing unit, for gradually decreasing flight time of unmanned plane of each sortie, until in total time constraint, unmanned Under the constraint in the level point of the flight time of machine, the takeoff point of unmanned plane and unmanned plane, described unmanned plane cannot travel through all of Shooting point, thus calculate minimum flight time cost required under minimum sortie.
6. a plurality of unmanned plane path for reconstructing three-dimensional model as claimed in claim 5 determines device, it is characterized in that,
Have the course angle of correspondence at unmanned plane described in each shooting point, described time cost includes flight time cost and course Adjusting time cost, wherein, described flight time cost is that described unmanned plane flies the required time between shooting point, described Course adjusts time cost: after described unmanned plane arrives certain shooting point, the current course angle of described unmanned plane be adjusted to Time needed for the course angle that certain shooting point described is corresponding.
7. a plurality of unmanned plane path for reconstructing three-dimensional model as claimed in claim 5 determines device, it is characterized in that,
The takeoff point of the unmanned plane of each sortie is identical with level point.
8. a plurality of unmanned plane path for reconstructing three-dimensional model as claimed in claim 5 determines device, it is characterized in that,
The cruising time of the unmanned plane of each sortie is identical.
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