CN115326020A - Shooting method and device for aerial photography - Google Patents

Abstract

The invention relates to the technical field of aerial photography, and discloses a shooting method and a shooting device for aerial photography, which comprise the following steps of S1: acquiring the number a of inclined cameras in the photographing equipment, the area b of a region to be photographed and the intensity c of incident light received by the inclined cameras in the photographing equipment; step S2: determining the working state parameters of the photographic equipment according to the information acquired in the step S1; setting an included angle between adjacent oblique cameras in the photographing device according to the number a of the oblique cameras in the photographing device, setting a photographing height of the photographing device according to the area b of the region to be photographed, and also setting a shutter speed of the oblique cameras in the photographing device according to the intensity c of incident light received by the oblique cameras, and step S3: and controlling the photographing equipment to photograph the region to be photographed according to the working state parameters in the step S2. The technical scheme of this application can guarantee to shoot the overlap degree of image, has avoided the artifical error that sets up the appearance, and then has improved and has shot efficiency, has guaranteed the quality of shooting the image.

Description

Shooting method and device for aerial photography

Technical Field

The invention relates to the technical field of aerial photography, in particular to a shooting method and a shooting device for aerial photography.

Background

Aerial photography, also known as aerial photography, refers to a method of taking pictures of ground or aerial objects from the air using a dedicated aerial camera mounted on an aircraft. The aerial photography method can be divided into vertical photography, oblique photography and aerial photography according to the difference of photographic targets and directions, can reduce field operation amount, lighten labor intensity, is not limited by geographical environment conditions, and has the advantages of rapidness, accuracy, economy and the like, so that the aerial photography technology is widely applied to the fields of mapping, geology, hydrology, mineral reserve and forest resource investigation, agricultural yield assessment, planning of large factories, mines and towns, exploration and line selection of railways, roads, high-voltage transmission lines and oil transmission lines, meteorological forecasting, environmental monitoring and the like, and can also be used for aerial reconnaissance, news reporting, film shooting, television films and the like.

When the current aerial photography equipment is used for photographing, working parameters of the aerial photography equipment, such as angles between adjacent oblique cameras in the aerial photography equipment, exposure time of the oblique cameras and the like, are often manually controlled by workers through working experience, when the aerial photography equipment is used for carrying out high-precision measurement on a large target, the problems of unclear images, incomplete shooting and the like are easily caused by a manual control method, and the obtained images are difficult to splice.

Therefore, how to provide a shooting method that can improve the shooting efficiency without reducing the quality of the shot image is a technical problem to be solved at present.

Disclosure of Invention

The embodiment of the invention provides a shooting method and a shooting device for aerial photography, which are used for solving the technical problems that in the prior art, the overlapping degree of images cannot be ensured, the shooting precision cannot be improved, and the shutter speed of an inclined camera cannot be adjusted according to specific light conditions.

In order to achieve the above object, the present invention provides a photographing method for aerial photography, the method including:

step S1: acquiring the number a of oblique cameras in the photographing equipment, the area b of a region to be photographed and the intensity c of incident light received by the oblique cameras in the photographing equipment;

step S2: determining the working state parameters of the photographic equipment according to the information acquired in the step S1;

and step S3: controlling the photographic equipment to shoot the area to be shot according to the working state parameters in the step S2;

in the step S2, when determining the operating state parameters of the photographing apparatus, an included angle between adjacent oblique cameras in the photographing apparatus is set according to the number a of the oblique cameras in the photographing apparatus, a photographing height of the photographing apparatus is set according to the area b of the region to be photographed, and a shutter speed of the oblique cameras in the photographing apparatus is set according to the incident light intensity c received by the oblique cameras in the photographing apparatus.

Preferably, when the included angle between adjacent oblique cameras in the photographing apparatus is set according to the number a of oblique cameras in the photographing apparatus, the method includes:

presetting a quantity matrix D of oblique cameras in the photographing equipment, and setting D (D1, D2, D3 and D4), wherein D1 is the quantity of first preset oblique cameras, D2 is the quantity of second preset oblique cameras, D3 is the quantity of third preset oblique cameras, D4 is the quantity of fourth preset oblique cameras, and D1 is more than D2 and less than D3 and less than D4;

presetting an included angle matrix E between adjacent oblique cameras in the photographic equipment, and setting E (E1, E2, E3, E4, E5), wherein E1 is a first preset included angle, E2 is a second preset included angle, E3 is a third preset included angle, E4 is a fourth preset included angle, E5 is a fifth preset included angle, and E1 is more than E2 and less than E3 and less than E4 and less than E5;

setting an included angle between adjacent oblique cameras in the photographing equipment according to the relationship between the number a of the oblique cameras in the photographing equipment and the number of the oblique cameras in each preset photographing equipment:

when a is smaller than D1, selecting the first preset included angle E1 as an included angle between adjacent oblique cameras in the photographic equipment;

when the D1 is more than or equal to a and less than the D2, selecting the second preset included angle E2 as an included angle between adjacent oblique cameras in the photographing equipment;

when D2 is more than or equal to a and less than D3, selecting the third preset included angle E3 as an included angle between adjacent oblique cameras in the photographic equipment;

when D3 is more than or equal to a and less than D4, selecting the fourth preset included angle E4 as an included angle between adjacent oblique cameras in the photographic equipment;

and when the D4 is not more than a, selecting the fifth preset included angle E5 as an included angle between adjacent oblique cameras in the photographic equipment.

Preferably, when the shooting height of the shooting device is set according to the area b of the region to be shot, the method includes:

presetting a region area matrix F to be shot, and setting F (F1, F2, F3, F4), wherein F1 is a first preset region area to be shot, F2 is a second preset region area to be shot, F3 is a third preset region area to be shot, F4 is a fourth preset region area to be shot, and F1 is more than F2 and less than F3 and less than F4;

presetting a shooting height matrix G of the photographic equipment, and setting G (G1, G2, G3, G4, G5), wherein G1 is a first preset shooting height, G2 is a second preset shooting height, G3 is a third preset shooting height, G4 is a fourth preset shooting height, G5 is a fifth preset shooting height, and G1 is more than G2 and less than G3 and less than G4 and less than G5;

setting the shooting height of the photographic equipment according to the relation between the area b of the area to be shot and the area of each preset area to be shot:

when b is less than F1, selecting the first preset shooting height G1 as the shooting height of the shooting equipment;

when the b is more than or equal to F1 and less than F2, selecting the second preset shooting height G2 as the shooting height of the shooting equipment;

when the b is more than or equal to F2 and less than F3, selecting the third preset shooting height G3 as the shooting height of the shooting equipment;

when the b is more than or equal to F3 and less than F4, selecting the fourth preset shooting height G4 as the shooting height of the shooting equipment;

and when the F4 is less than or equal to b, selecting the fifth preset shooting height G5 as the shooting height of the shooting equipment.

Preferably, the method further comprises the following steps:

acquiring a focal length k of a tilt camera in the photographing device;

correcting the shooting height of the photographic equipment according to the focal length k of an inclined camera in the photographic equipment;

presetting a focal distance matrix M of an oblique camera in the photographic equipment, and setting M (M1, M2, M3, M4), wherein M1 is the focal distance of a first preset oblique camera, M2 is the focal distance of a second preset oblique camera, M3 is the focal distance of a third preset oblique camera, M4 is the focal distance of a fourth preset oblique camera, and M1 is more than M2 and more than M3 and more than M4;

presetting a shooting height correction coefficient matrix h of the photographic equipment, and setting h (h 1, h2, h3, h4, h 5), wherein h1 is a first preset shooting height correction coefficient, h2 is a second preset shooting height correction coefficient, h3 is a third preset shooting height correction coefficient, h4 is a fourth preset shooting height correction coefficient, h5 is a fifth preset shooting height correction coefficient, and h1 is more than 0.8, more than h2, more than h3, more than h4, and less than h5, and less than 1.2;

when the shooting height of the shooting device is set to the ith preset shooting height Gi, i =1,2,3,4,5, correcting the shooting height of the shooting device according to the relation between the focal length k of the oblique camera in the shooting device and the focal length of the oblique camera in each preset shooting device:

when k is smaller than M1, selecting the first preset shooting height correction coefficient h1 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h1;

when the k is more than or equal to M1 and less than M2, selecting the second preset shooting height correction coefficient h2 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h2;

when M2 is not less than k and less than M3, selecting the third preset shooting height correction coefficient h3 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h3;

when the k is more than or equal to M3 and less than M4, selecting a fourth preset shooting height correction coefficient h4 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h4;

and when the M4 is not more than k, selecting the fifth preset shooting height correction coefficient h5 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h5.

Preferably, when setting the shutter speed of the tilt camera in the photographing apparatus according to the intensity c of the incident light received by the tilt camera in the photographing apparatus, the method includes:

presetting an incident light intensity matrix N received by an inclined camera in photographic equipment, and setting N (N1, N2, N3, N4), wherein N1 is a first preset incident light intensity, N2 is a second preset incident light intensity, N3 is a third preset incident light intensity, N4 is a fourth preset incident light intensity, and N1 is more than N2 and less than N3 and less than N4;

presetting a shutter speed matrix P of a tilted camera in the photographing apparatus, and setting P (P1, P2, P3, P4, P5), wherein P1 is a first preset shutter speed, P2 is a second preset shutter speed, P3 is a third preset shutter speed, P4 is a fourth preset shutter speed, P5 is a fifth preset shutter speed, and P1 is more than P2 and less than P3 and less than P4 and less than P5;

setting the shutter speed of the oblique camera in the photographic equipment according to the relationship between the incident ray intensity c received by the oblique camera in the photographic equipment and the incident ray intensity received by the oblique camera in each preset photographic equipment:

when c is less than D1, selecting the first preset shutter speed P1 as the shutter speed of a tilting camera in the photographing device;

when the D1 is not less than c and less than D2, selecting the second preset shutter speed P2 as the shutter speed of the tilt camera in the photographing apparatus;

when D2 is more than or equal to c and less than D3, selecting the third preset shutter speed P3 as the shutter speed of a tilted camera in the photographic equipment;

when D3 is larger than or equal to c and smaller than D4, selecting the fourth preset shutter speed P4 as the shutter speed of a tilting camera in the photographing equipment;

and when D4 is less than or equal to c, selecting the fifth preset shutter speed P5 as the shutter speed of the inclined camera in the photographic equipment.

In order to achieve the above object, the present invention provides a photographing apparatus for aerial photography, the apparatus including:

the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the number a of inclined cameras in the photographic equipment, the area b of a region to be shot and the intensity c of incident light received by the inclined cameras in the photographic equipment;

the determining module is used for determining the working state parameters of the photographic equipment according to the information acquired by the acquiring module;

a control module: the shooting device is used for shooting the area to be shot according to the working state parameters in the determining module;

in the determining module, when the working state parameters of the photographing device are determined, the included angle between adjacent oblique cameras in the photographing device is set according to the number a of the oblique cameras in the photographing device, the photographing height of the photographing device is set according to the area b of the region to be photographed, and the shutter speed of the oblique cameras in the photographing device is set according to the incident light intensity c received by the oblique cameras in the photographing device.

Preferably, in the determining module, when setting an included angle between adjacent oblique cameras in the photographing apparatus according to the number a of oblique cameras in the photographing apparatus, the determining module includes:

the determining module is used for presetting a quantity matrix D of inclined cameras in the photographing equipment and setting D (D1, D2, D3, D4), wherein D1 is the quantity of first preset inclined cameras, D2 is the quantity of second preset inclined cameras, D3 is the quantity of third preset inclined cameras, D4 is the quantity of fourth preset inclined cameras, and D1 is more than D2 and less than D3 and less than D4;

the determining module is used for presetting an included angle matrix E between adjacent oblique cameras in the photographic equipment and setting E (E1, E2, E3, E4 and E5), wherein E1 is a first preset included angle, E2 is a second preset included angle, E3 is a third preset included angle, E4 is a fourth preset included angle, E5 is a fifth preset included angle, and E1 is more than E2 and less than E3 and less than E4 and less than E5;

the determining module is further configured to set an included angle between adjacent oblique cameras in the photographing apparatus according to a relationship between the number a of oblique cameras in the photographing apparatus and the number of oblique cameras in each preset photographing apparatus:

when a is smaller than D1, selecting the first preset included angle E1 as an included angle between adjacent oblique cameras in the photographic equipment;

when the D1 is more than or equal to a and less than the D2, selecting the second preset included angle E2 as an included angle between adjacent oblique cameras in the photographing equipment;

when D2 is more than or equal to a and less than D3, selecting the third preset included angle E3 as an included angle between adjacent oblique cameras in the photographic equipment;

when D3 is more than or equal to a and less than D4, selecting the fourth preset included angle E4 as an included angle between adjacent oblique cameras in the photographic equipment;

and when the D4 is not more than a, selecting the fifth preset included angle E5 as an included angle between adjacent oblique cameras in the photographic equipment.

Preferably, the determining module, when setting the shooting height of the photographing apparatus according to the area b of the region to be shot, includes:

the determining module is used for presetting a region area matrix F to be shot and setting F (F1, F2, F3, F4), wherein F1 is the area of a first preset region to be shot, F2 is the area of a second preset region to be shot, F3 is the area of a third preset region to be shot, F4 is the area of a fourth preset region to be shot, and F1 is more than F2 and less than F3 and less than F4;

the determining module is used for presetting a shooting height matrix G of the photographic equipment and setting G (G1, G2, G3, G4 and G5), wherein G1 is a first preset shooting height, G2 is a second preset shooting height, G3 is a third preset shooting height, G4 is a fourth preset shooting height, G5 is a fifth preset shooting height, and G1 is more than G2 and less than G3 and less than G4 and less than G5;

the determining module is further configured to set a shooting height of the photographing apparatus according to a relationship between the area b of the region to be shot and each preset area of the region to be shot:

when b is less than F1, selecting the first preset shooting height G1 as the shooting height of the shooting equipment;

when the b is more than or equal to F1 and less than F2, selecting the second preset shooting height G2 as the shooting height of the shooting equipment;

when the b is more than or equal to F2 and less than F3, selecting the third preset shooting height G3 as the shooting height of the shooting equipment;

when the b is more than or equal to F3 and less than F4, selecting the fourth preset shooting height G4 as the shooting height of the shooting equipment;

and when the F4 is less than or equal to b, selecting the fifth preset shooting height G5 as the shooting height of the shooting equipment.

Preferably, the method further comprises the following steps:

in the acquisition module, a focal length k of a tilt camera in the photographing apparatus is also acquired;

in the determination module, correcting the shooting height of the photographic equipment according to the focal length k of an inclined camera in the photographic equipment;

the determining module is used for presetting a focal distance matrix M of an inclined camera in the photographing equipment and setting M (M1, M2, M3 and M4), wherein M1 is the focal distance of a first preset inclined camera, M2 is the focal distance of a second preset inclined camera, M3 is the focal distance of a third preset inclined camera, M4 is the focal distance of a fourth preset inclined camera, and M1 is more than M2 and more than M3 and more than M4;

the determining module is used for presetting a shooting height correction coefficient matrix h of the photographic equipment and setting h (h 1, h2, h3, h4 and h 5), wherein h1 is a first preset shooting height correction coefficient, h2 is a second preset shooting height correction coefficient, h3 is a third preset shooting height correction coefficient, h4 is a fourth preset shooting height correction coefficient, h5 is a fifth preset shooting height correction coefficient, and h1 is more than 0.8, more than h2, more than h3, more than h4, more than h5 and less than 1.2;

the determining module is further configured to, when the shooting height of the photographing apparatus is set to the i-th preset shooting height Gi, i =1,2,3,4,5, correct the shooting height of the photographing apparatus according to a relationship between a focal length k of an oblique camera in the photographing apparatus and focal lengths of oblique cameras in each preset photographing apparatus:

when k is less than M1, selecting the first preset shooting height correction coefficient h1 to correct the ith preset shooting height Gi, wherein the corrected shooting height of the photographic equipment is Gi x h1;

when the k is more than or equal to M1 and less than M2, selecting the second preset shooting height correction coefficient h2 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h2;

when M2 is not less than k and less than M3, selecting the third preset shooting height correction coefficient h3 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h3;

when the k is more than or equal to M3 and less than M4, selecting a fourth preset shooting height correction coefficient h4 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h4;

and when the M4 is not more than k, selecting the fifth preset shooting height correction coefficient h5 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h5.

Preferably, the determining module, when setting the shutter speed of the tilt camera in the photographing apparatus according to the intensity c of the incident light received by the tilt camera in the photographing apparatus, includes:

the determining module is used for presetting an incident light intensity matrix N received by an oblique camera in the photographic equipment and setting N (N1, N2, N3, N4), wherein N1 is a first preset incident light intensity, N2 is a second preset incident light intensity, N3 is a third preset incident light intensity, N4 is a fourth preset incident light intensity, and N1 is more than N2 and less than N3 and less than N4;

the determining module is used for presetting a shutter speed matrix P of a tilted camera in the photographing equipment and setting P (P1, P2, P3, P4, P5), wherein P1 is a first preset shutter speed, P2 is a second preset shutter speed, P3 is a third preset shutter speed, P4 is a fourth preset shutter speed, P5 is a fifth preset shutter speed, and P1 is more than P2 and more than P3 and more than P4 and less than P5;

the determining module is further configured to set a shutter speed of the oblique camera in the photographing apparatus according to a relationship between the incident light intensity c received by the oblique camera in the photographing apparatus and the incident light intensity received by the oblique camera in each preset photographing apparatus:

when c is less than D1, selecting the first preset shutter speed P1 as the shutter speed of a tilting camera in the photographing device;

when D1 is not less than c and less than D2, selecting the second preset shutter speed P2 as the shutter speed of a tilting camera in the photographic equipment;

when D2 is more than or equal to c and less than D3, selecting the third preset shutter speed P3 as the shutter speed of a tilted camera in the photographic equipment;

when D3 is larger than or equal to c and smaller than D4, selecting the fourth preset shutter speed P4 as the shutter speed of a tilting camera in the photographing equipment;

and when D4 is less than or equal to c, selecting the fifth preset shutter speed P5 as the shutter speed of the inclined camera in the photographic equipment.

The invention provides a shooting method and a shooting device for aerial photography, which have the following beneficial effects compared with the prior art:

the method comprises the following steps of S1: acquiring the number a of oblique cameras in the photographing equipment, the area b of a region to be photographed and the intensity c of incident light received by the oblique cameras in the photographing equipment; step S2: determining the working state parameters of the photographic equipment according to the information acquired in the step S1; setting an included angle between adjacent oblique cameras in the photographing device according to the number a of the oblique cameras in the photographing device, setting a photographing height of the photographing device according to the area b of the region to be photographed, and also setting a shutter speed of the oblique cameras in the photographing device according to the intensity c of incident light received by the oblique cameras, and step S3: and controlling the photographing equipment to photograph the region to be photographed according to the working state parameters in the step S2. The technical scheme of this application can guarantee the overlap degree of shooting the image, has avoided the artifical error that sets up the appearance, and then has improved shooting efficiency, has guaranteed the quality of shooting the image, has still improved the stability and the positioning accuracy of shooting.

Drawings

Fig. 1 shows a flow chart of a photographing method for aerial photography in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a shooting device for aerial photography according to an embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present application.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

Throughout the description of the present application, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The following is a description of preferred embodiments of the present invention with reference to the accompanying drawings.

As shown in fig. 1, an embodiment of the present invention discloses a photographing method for aerial photography, the method including:

step S1: acquiring the number a of inclined cameras in the photographing equipment, the area b of a region to be photographed and the intensity c of incident light received by the inclined cameras in the photographing equipment;

step S2: determining the working state parameters of the photographic equipment according to the information acquired in the step S1;

and step S3: controlling the photographic equipment to shoot the area to be shot according to the working state parameters in the step S2;

in the step S2, when determining the operating state parameters of the photographing apparatus, an included angle between adjacent oblique cameras in the photographing apparatus is set according to the number a of the oblique cameras in the photographing apparatus, a photographing height of the photographing apparatus is set according to the area b of the region to be photographed, and a shutter speed of the oblique cameras in the photographing apparatus is set according to the incident light intensity c received by the oblique cameras in the photographing apparatus.

Note that, the present application includes step S1: acquiring the number a of oblique cameras in the photographing equipment, the area b of a region to be photographed and the intensity c of incident light received by the oblique cameras in the photographing equipment; step S2: determining the working state parameters of the photographic equipment according to the information acquired in the step S1; setting an included angle between adjacent oblique cameras in the photographing device according to the number a of the oblique cameras in the photographing device, setting a photographing height of the photographing device according to the area b of the region to be photographed, and also setting a shutter speed of the oblique cameras in the photographing device according to the intensity c of incident light received by the oblique cameras, and step S3: and controlling the photographing equipment to photograph the region to be photographed according to the working state parameters in the step S2. The technical scheme of this application can guarantee to shoot the overlap degree of image, has avoided the artifical error that sets up the appearance, and then has improved and has shot efficiency, has guaranteed the quality of shooting the image, has still improved the stability and the positioning accuracy who shoots.

It should be further noted that, when the photographing device is used for aerial photographing, in order to ensure the overlapping degree of the photographed images and improve the resolution of the photographed images, a plurality of oblique cameras are required to be arranged in the photographing device, the regions to be photographed are photographed from a plurality of angles through the oblique cameras, and finally the images photographed by the oblique cameras are spliced to obtain a complete and clear image of the regions to be photographed.

In some embodiments of the present application, when setting an included angle between adjacent oblique cameras in the photographing apparatus according to the number a of oblique cameras in the photographing apparatus, the method includes:

presetting a quantity matrix D of inclined cameras in the photographing equipment, and setting D (D1, D2, D3, D4), wherein D1 is the quantity of first preset inclined cameras, D2 is the quantity of second preset inclined cameras, D3 is the quantity of third preset inclined cameras, D4 is the quantity of fourth preset inclined cameras, and D1 is more than D2 and less than D3 and less than D4;

presetting an included angle matrix E between adjacent oblique cameras in the photographic equipment, and setting E (E1, E2, E3, E4, E5), wherein E1 is a first preset included angle, E2 is a second preset included angle, E3 is a third preset included angle, E4 is a fourth preset included angle, E5 is a fifth preset included angle, and E1 is more than E2 and less than E3 and less than E4 and less than E5;

setting an included angle between adjacent oblique cameras in the photographing equipment according to the relationship between the number a of the oblique cameras in the photographing equipment and the number of the oblique cameras in each preset photographing equipment:

when a is smaller than D1, selecting the first preset included angle E1 as an included angle between adjacent oblique cameras in the photographic equipment;

when the D1 is more than or equal to a and less than the D2, selecting the second preset included angle E2 as an included angle between adjacent oblique cameras in the photographing equipment;

when D2 is more than or equal to a and less than D3, selecting the third preset included angle E3 as an included angle between adjacent oblique cameras in the photographic equipment;

when D3 is more than or equal to a and less than D4, selecting the fourth preset included angle E4 as an included angle between adjacent oblique cameras in the photographic equipment;

and when the D4 is not more than a, selecting the fifth preset included angle E5 as an included angle between adjacent oblique cameras in the photographic equipment.

It should be noted that the number of the oblique cameras in the photographing equipment can be selected and set according to the specific situations of specific terrain and topography, the included angle between the adjacent oblique cameras in the photographing equipment is set according to the relationship between the number a of the oblique cameras in the photographing equipment and the number of the oblique cameras in each preset photographing equipment, the comprehensiveness of photographing can be guaranteed by accurately adjusting the included angle between the adjacent oblique cameras in the photographing equipment, the images photographed by each oblique camera are overlapped to a certain extent, and the phenomenon of missed photographing is prevented.

In some embodiments of the present application, when setting a shooting height of the photographing apparatus according to the area b of the region to be shot, the method includes:

presetting a region area matrix F to be shot, and setting F (F1, F2, F3, F4), wherein F1 is a first preset region area to be shot, F2 is a second preset region area to be shot, F3 is a third preset region area to be shot, F4 is a fourth preset region area to be shot, and F1 is more than F2 and less than F3 and less than F4;

presetting a shooting height matrix G of the photographic equipment, and setting G (G1, G2, G3, G4, G5), wherein G1 is a first preset shooting height, G2 is a second preset shooting height, G3 is a third preset shooting height, G4 is a fourth preset shooting height, G5 is a fifth preset shooting height, and G1 is more than G2 and less than G3 and less than G4 and less than G5;

setting the shooting height of the photographic equipment according to the relation between the area b of the area to be shot and the area of each preset area to be shot:

when b is less than F1, selecting the first preset shooting height G1 as the shooting height of the shooting equipment;

when the b is more than or equal to F1 and less than F2, selecting the second preset shooting height G2 as the shooting height of the shooting equipment;

when the b is more than or equal to F2 and less than F3, selecting the third preset shooting height G3 as the shooting height of the shooting equipment;

when the b is more than or equal to F3 and less than F4, selecting the fourth preset shooting height G4 as the shooting height of the shooting equipment;

and when the F4 is less than or equal to b, selecting the fifth preset shooting height G5 as the shooting height of the shooting equipment.

It should be noted that before the area to be shot is shot, the area of the area to be shot needs to be determined, and the shooting height of the shooting equipment is set according to the relation between the area b of the area to be shot and the area of each preset area to be shot, so that the shooting accuracy can be improved, and the phenomenon that the shooting is incomplete or the shooting range is too large is avoided.

In some embodiments of the present application, a focal length k of a tilt camera in the photographing apparatus is acquired;

correcting the shooting height of the photographing equipment according to the focal length k of an inclined camera in the photographing equipment;

presetting a focal distance matrix M of an inclined camera in the photographic equipment, and setting M (M1, M2, M3, M4), wherein M1 is the focal distance of a first preset inclined camera, M2 is the focal distance of a second preset inclined camera, M3 is the focal distance of a third preset inclined camera, M4 is the focal distance of a fourth preset inclined camera, and M1 is more than M2 and more than M3 and more than M4;

presetting a shooting height correction coefficient matrix h of the photographic equipment, and setting h (h 1, h2, h3, h4, h 5), wherein h1 is a first preset shooting height correction coefficient, h2 is a second preset shooting height correction coefficient, h3 is a third preset shooting height correction coefficient, h4 is a fourth preset shooting height correction coefficient, h5 is a fifth preset shooting height correction coefficient, and h1 is more than 0.8, more than h2, more than h3, more than h4, and less than h5, and less than 1.2;

when the shooting height of the shooting device is set to the ith preset shooting height Gi, i =1,2,3,4,5, correcting the shooting height of the shooting device according to the relation between the focal length k of the oblique camera in the shooting device and the focal length of the oblique camera in each preset shooting device:

when k is less than M1, selecting the first preset shooting height correction coefficient h1 to correct the ith preset shooting height Gi, wherein the corrected shooting height of the photographic equipment is Gi x h1;

when the k is more than or equal to M1 and less than M2, selecting the second preset shooting height correction coefficient h2 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h2;

when M2 is not less than k and less than M3, selecting the third preset shooting height correction coefficient h3 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h3;

when the k is more than or equal to M3 and less than M4, selecting a fourth preset shooting height correction coefficient h4 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h4;

and when the M4 is not more than k, selecting the fifth preset shooting height correction coefficient h5 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h5.

It should be noted that, when the focal length is smaller, the shooting range is wider, the shot picture is wider, and when the focal length is larger, the shooting range is narrower, and the shot picture is smaller, therefore, in the present application, when the shooting height of the photographing apparatus is set to the i-th preset shooting height Gi, i =1,2,3,4,5, the shooting height of the photographing apparatus is corrected according to the relationship between the focal length k of the tilt camera in the photographing apparatus and the focal length of the tilt camera in each preset photographing apparatus, so that the shooting accuracy can be further improved, and the overlapping degree between the images can be ensured.

In some embodiments of the present application, when setting a shutter speed of a tilt camera in the photographing apparatus according to an incident ray intensity c received by the tilt camera in the photographing apparatus, the method includes:

presetting an incident light intensity matrix N received by an oblique camera in photographic equipment, and setting N (N1, N2, N3, N4), wherein N1 is a first preset incident light intensity, N2 is a second preset incident light intensity, N3 is a third preset incident light intensity, N4 is a fourth preset incident light intensity, and N1 is more than N2 and less than N3 and less than N4;

presetting a shutter speed matrix P of a tilted camera in the photographing apparatus, and setting P (P1, P2, P3, P4, P5), wherein P1 is a first preset shutter speed, P2 is a second preset shutter speed, P3 is a third preset shutter speed, P4 is a fourth preset shutter speed, P5 is a fifth preset shutter speed, and P1 is more than P2 and less than P3 and less than P4 and less than P5;

setting the shutter speed of the oblique camera in the photographic equipment according to the relationship between the incident ray intensity c received by the oblique camera in the photographic equipment and the incident ray intensity received by the oblique camera in each preset photographic equipment:

when c is less than D1, selecting the first preset shutter speed P1 as the shutter speed of a tilting camera in the photographing device;

when the D1 is not less than c and less than D2, selecting the second preset shutter speed P2 as the shutter speed of the tilt camera in the photographing apparatus;

when D2 is more than or equal to c and less than D3, selecting the third preset shutter speed P3 as the shutter speed of a tilted camera in the photographic equipment;

when D3 is larger than or equal to c and smaller than D4, selecting the fourth preset shutter speed P4 as the shutter speed of a tilting camera in the photographing equipment;

and when D4 is less than or equal to c, selecting the fifth preset shutter speed P5 as the shutter speed of the inclined camera in the photographic equipment.

It should be noted that, an incident light intensity detection module is further disposed on the oblique camera, and the incident light intensity received by the oblique camera can be detected by the incident light intensity detection module during photography, and when aviation photography is performed, light is an important factor of an image shooting effect.

It should be noted that after the shooting height of the oblique cameras in the photographing equipment, the included angle between adjacent oblique cameras and the shutter speed of the oblique cameras are determined, the photographing equipment is controlled to reach the position above the area to be shot, multi-angle shooting is performed through the oblique cameras on the photographing equipment, and finally the shot images are spliced.

As shown in fig. 2, there is also disclosed in the present application a photographing apparatus for aerial photography, the apparatus including:

the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the number a of inclined cameras in the photographic equipment, the area b of a region to be shot and the intensity c of incident light received by the inclined cameras in the photographic equipment;

the determining module is used for determining the working state parameters of the photographic equipment according to the information acquired by the acquiring module;

a control module: the shooting device is used for shooting the area to be shot according to the working state parameters in the determining module;

in the determining module, when the working state parameter of the photographic equipment is determined, the included angle between adjacent oblique cameras in the photographic equipment is set according to the number a of the oblique cameras in the photographic equipment, the shooting height of the photographic equipment is set according to the area b of the area to be shot, and the shutter speed of the oblique cameras in the photographic equipment is set according to the incident light intensity c received by the oblique cameras in the photographic equipment.

It should be noted that the present application includes an obtaining module: acquiring the number a of oblique cameras in the photographing equipment, the area b of a region to be photographed and the intensity c of incident light received by the oblique cameras in the photographing equipment; a determination module: determining the working state parameters of the photographic equipment according to the information acquired in the acquisition module; the method comprises the following steps of setting an included angle between adjacent oblique cameras in the photographing device according to the number a of the oblique cameras in the photographing device, setting a photographing height of the photographing device according to an area b of a region to be photographed, and setting a shutter speed of the oblique cameras in the photographing device according to incident light intensity c received by the oblique cameras, wherein a control module: and controlling the photographic equipment to shoot the area to be shot according to the working state parameters in the determining module. The technical scheme of this application can guarantee the overlap degree of shooting the image, has avoided the artifical error that sets up the appearance, and then has improved shooting efficiency, has guaranteed the quality of shooting the image, has still improved the stability and the positioning accuracy of shooting.

It should be further noted that, when the photographing device is used for aerial photographing, in order to ensure the overlapping degree of the photographed images and improve the resolution of the photographed images, a plurality of oblique cameras are required to be arranged in the photographing device, the regions to be photographed are photographed from a plurality of angles through the oblique cameras, and finally the images photographed by the oblique cameras are spliced to obtain a complete and clear image of the regions to be photographed.

In some embodiments of the present application, in the determining module, when setting an included angle between adjacent oblique cameras in the photographing apparatus according to the number a of oblique cameras in the photographing apparatus, the determining module includes:

the determining module is used for presetting a quantity matrix D of inclined cameras in the photographing equipment and setting D (D1, D2, D3, D4), wherein D1 is the quantity of first preset inclined cameras, D2 is the quantity of second preset inclined cameras, D3 is the quantity of third preset inclined cameras, D4 is the quantity of fourth preset inclined cameras, and D1 is more than D2 and less than D3 and less than D4;

the determining module is used for presetting an included angle matrix E between adjacent oblique cameras in the photographic equipment and setting E (E1, E2, E3, E4 and E5), wherein E1 is a first preset included angle, E2 is a second preset included angle, E3 is a third preset included angle, E4 is a fourth preset included angle, E5 is a fifth preset included angle, and E1 is more than E2 and less than E3 and less than E4 and less than E5;

the determining module is further configured to set an included angle between adjacent oblique cameras in the photographing apparatus according to a relationship between the number a of oblique cameras in the photographing apparatus and the number of oblique cameras in each preset photographing apparatus:

when a is smaller than D1, selecting the first preset included angle E1 as an included angle between adjacent oblique cameras in the photographic equipment;

when the D1 is more than or equal to a and less than the D2, selecting the second preset included angle E2 as an included angle between adjacent oblique cameras in the photographing equipment;

when D2 is more than or equal to a and less than D3, selecting the third preset included angle E3 as an included angle between adjacent oblique cameras in the photographic equipment;

when D3 is more than or equal to a and less than D4, selecting the fourth preset included angle E4 as an included angle between adjacent oblique cameras in the photographic equipment;

and when the D4 is not more than a, selecting the fifth preset included angle E5 as an included angle between adjacent oblique cameras in the photographic equipment.

It should be noted that the number of the oblique cameras in the photographing equipment can be selected and set according to the specific situations of specific terrain and topography, the included angle between the adjacent oblique cameras in the photographing equipment is set according to the relationship between the number a of the oblique cameras in the photographing equipment and the number of the oblique cameras in each preset photographing equipment, the comprehensiveness of photographing can be guaranteed by accurately adjusting the included angle between the adjacent oblique cameras in the photographing equipment, the images photographed by each oblique camera are overlapped to a certain extent, and the phenomenon of missed photographing is prevented.

In some embodiments of the present application, in the determining module, when setting the photographing height of the photographing apparatus according to the area b of the region to be photographed, the determining module includes:

the determining module is used for presetting a region area matrix F to be shot and setting F (F1, F2, F3, F4), wherein F1 is the area of a first preset region to be shot, F2 is the area of a second preset region to be shot, F3 is the area of a third preset region to be shot, F4 is the area of a fourth preset region to be shot, and F1 is more than F2 and less than F3 and less than F4;

the determining module is used for presetting a shooting height matrix G of the photographic equipment and setting G (G1, G2, G3, G4, G5), wherein G1 is a first preset shooting height, G2 is a second preset shooting height, G3 is a third preset shooting height, G4 is a fourth preset shooting height, G5 is a fifth preset shooting height, and G1 is greater than G2 and greater than G3 and less than G4 and less than G5;

the determining module is further configured to set a shooting height of the photographing apparatus according to a relationship between the area b of the region to be shot and each preset area of the region to be shot:

when b is less than F1, selecting the first preset shooting height G1 as the shooting height of the shooting equipment;

when the b is more than or equal to F1 and less than F2, selecting the second preset shooting height G2 as the shooting height of the shooting equipment;

when the b is more than or equal to F2 and less than F3, selecting the third preset shooting height G3 as the shooting height of the shooting equipment;

when the b is more than or equal to F3 and less than F4, selecting the fourth preset shooting height G4 as the shooting height of the shooting equipment;

and when the F4 is less than or equal to b, selecting the fifth preset shooting height G5 as the shooting height of the shooting equipment.

It should be noted that before the area to be shot is shot, the area of the area to be shot needs to be determined, and the shooting height of the shooting equipment is set according to the relation between the area b of the area to be shot and the area of each preset area to be shot, so that the shooting accuracy can be improved, and the phenomenon that the shooting is incomplete or the shooting range is too large is avoided.

In some embodiments of the present application, in the acquiring module, a focal length k of a tilt camera in the photographing apparatus is acquired;

in the determination module, correcting the shooting height of the photographic equipment according to the focal length k of an inclined camera in the photographic equipment;

the determining module is used for presetting a focal distance matrix M of an inclined camera in the photographing equipment and setting M (M1, M2, M3 and M4), wherein M1 is the focal distance of a first preset inclined camera, M2 is the focal distance of a second preset inclined camera, M3 is the focal distance of a third preset inclined camera, M4 is the focal distance of a fourth preset inclined camera, and M1 is more than M2 and more than M3 and more than M4;

the determining module is used for presetting a shooting height correction coefficient matrix h of the photographic equipment and setting h (h 1, h2, h3, h4 and h 5), wherein h1 is a first preset shooting height correction coefficient, h2 is a second preset shooting height correction coefficient, h3 is a third preset shooting height correction coefficient, h4 is a fourth preset shooting height correction coefficient, h5 is a fifth preset shooting height correction coefficient, and h1 is more than 0.8, more than h2, more than h3, more than h4, more than h5 and less than 1.2;

the determining module is further configured to, when the shooting height of the photographing apparatus is set to the i-th preset shooting height Gi, i =1,2,3,4,5, correct the shooting height of the photographing apparatus according to a relationship between a focal length k of an oblique camera in the photographing apparatus and focal lengths of oblique cameras in the preset photographing apparatuses:

when k is smaller than M1, selecting the first preset shooting height correction coefficient h1 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h1;

when the k is more than or equal to M1 and less than M2, selecting the second preset shooting height correction coefficient h2 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h2;

when M2 is not less than k and less than M3, selecting the third preset shooting height correction coefficient h3 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h3;

when the k is more than or equal to M3 and less than M4, selecting a fourth preset shooting height correction coefficient h4 to correct the ith preset shooting height Gi, wherein the corrected shooting height of the shooting equipment is Gi x h4;

and when the M4 is not more than k, selecting the fifth preset shooting height correction coefficient h5 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h5.

It should be noted that, when the focal length is smaller, the shooting range is wider, the shot picture is wider, and when the focal length is larger, the shooting range is narrower, and the shot picture is smaller, therefore, in the present application, when the shooting height of the photographing apparatus is set to the i-th preset shooting height Gi, i =1,2,3,4,5, the shooting height of the photographing apparatus is corrected according to the relationship between the focal length k of the tilt camera in the photographing apparatus and the focal length of the tilt camera in each preset photographing apparatus, so that the shooting accuracy can be further improved, and the overlapping degree between the images can be ensured.

In some embodiments of the present application, in the determining module, when setting a shutter speed of a tilt camera in the photographing apparatus according to an incident ray intensity c received by the tilt camera in the photographing apparatus, the determining module includes:

the determining module is used for presetting an incident light intensity matrix N received by an oblique camera in the photographic equipment and setting N (N1, N2, N3, N4), wherein N1 is a first preset incident light intensity, N2 is a second preset incident light intensity, N3 is a third preset incident light intensity, N4 is a fourth preset incident light intensity, and N1 is more than N2 and less than N3 and less than N4;

the determining module is used for presetting a shutter speed matrix P of a tilted camera in the photographing equipment and setting P (P1, P2, P3, P4, P5), wherein P1 is a first preset shutter speed, P2 is a second preset shutter speed, P3 is a third preset shutter speed, P4 is a fourth preset shutter speed, P5 is a fifth preset shutter speed, and P1 is more than P2 and more than P3 and more than P4 and less than P5;

the determining module is further configured to set a shutter speed of the oblique camera in the photographing apparatus according to a relationship between the incident light intensity c received by the oblique camera in the photographing apparatus and the incident light intensity received by the oblique camera in each preset photographing apparatus:

when c is less than D1, selecting the first preset shutter speed P1 as the shutter speed of a tilting camera in the photographing device;

when the D1 is not less than c and less than D2, selecting the second preset shutter speed P2 as the shutter speed of the tilt camera in the photographing apparatus;

when D2 is more than or equal to c and less than D3, selecting the third preset shutter speed P3 as the shutter speed of a tilted camera in the photographic equipment;

when D3 is larger than or equal to c and smaller than D4, selecting the fourth preset shutter speed P4 as the shutter speed of a tilting camera in the photographing equipment;

and when D4 is less than or equal to c, selecting the fifth preset shutter speed P5 as the shutter speed of the inclined camera in the photographic equipment.

It should be noted that, an incident light intensity detection module is further disposed on the oblique camera, and the incident light intensity received by the oblique camera can be detected by the incident light intensity detection module during photography, and when aviation photography is performed, light is an important factor of an image shooting effect.

It should be noted that after the shooting height of the oblique cameras in the photographing equipment, the included angle between adjacent oblique cameras and the shutter speed of the oblique cameras are determined, the photographing equipment is controlled to reach the position above the area to be shot, multi-angle shooting is performed through the oblique cameras on the photographing equipment, and finally the shot images are spliced.

In summary, the method includes step S1: acquiring the number a of oblique cameras in the photographing equipment, the area b of a region to be photographed and the intensity c of incident light received by the oblique cameras in the photographing equipment; step S2: determining the working state parameters of the photographic equipment according to the information acquired in the step S1; setting an included angle between adjacent oblique cameras in the photographing device according to the number a of the oblique cameras in the photographing device, setting a photographing height of the photographing device according to the area b of the region to be photographed, and also setting a shutter speed of the oblique cameras in the photographing device according to the intensity c of incident light received by the oblique cameras, and step S3: and controlling the photographing equipment to photograph the region to be photographed according to the working state parameters in the step S2. The technical scheme of this application can guarantee the overlap degree of shooting the image, has avoided the artifical error that sets up the appearance, and then has improved shooting efficiency, has guaranteed the quality of shooting the image.

In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments of the invention can be used in any combination with one another as long as there is no structural conflict, and nothing in this specification should be taken as a complete description of such combinations for the sake of brevity and resource savings. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A shooting method for aerial photography, the method comprising:

step S1: acquiring the number a of oblique cameras in the photographing equipment, the area b of a region to be photographed and the intensity c of incident light received by the oblique cameras in the photographing equipment;

step S2: determining the working state parameters of the photographic equipment according to the information acquired in the step S1;

and step S3: controlling the photographic equipment to shoot the area to be shot according to the working state parameters in the step S2;

in the step S2, when determining the operating state parameters of the photographing apparatus, an included angle between adjacent oblique cameras in the photographing apparatus is set according to the number a of the oblique cameras in the photographing apparatus, a photographing height of the photographing apparatus is set according to the area b of the region to be photographed, and a shutter speed of the oblique cameras in the photographing apparatus is set according to the incident light intensity c received by the oblique cameras in the photographing apparatus.

2. The photographing method for aerial photography according to claim 1, when setting an angle between adjacent oblique cameras in the photographing apparatus according to the number a of oblique cameras in the photographing apparatus, comprising:

presetting a quantity matrix D of oblique cameras in the photographing equipment, and setting D (D1, D2, D3 and D4), wherein D1 is the quantity of first preset oblique cameras, D2 is the quantity of second preset oblique cameras, D3 is the quantity of third preset oblique cameras, D4 is the quantity of fourth preset oblique cameras, and D1 is more than D2 and less than D3 and less than D4;

presetting an included angle matrix E between adjacent oblique cameras in the photographic equipment, and setting E (E1, E2, E3, E4, E5), wherein E1 is a first preset included angle, E2 is a second preset included angle, E3 is a third preset included angle, E4 is a fourth preset included angle, E5 is a fifth preset included angle, and E1 is more than E2 and less than E3 and less than E4 and less than E5;

setting an included angle between adjacent oblique cameras in the photographing equipment according to the relationship between the number a of the oblique cameras in the photographing equipment and the number of the oblique cameras in each preset photographing equipment:

when a is smaller than D1, selecting the first preset included angle E1 as an included angle between adjacent oblique cameras in the photographic equipment;

when the D1 is more than or equal to a and less than the D2, selecting the second preset included angle E2 as an included angle between adjacent oblique cameras in the photographing equipment;

when D2 is more than or equal to a and less than D3, selecting the third preset included angle E3 as an included angle between adjacent oblique cameras in the photographic equipment;

when D3 is more than or equal to a and less than D4, selecting the fourth preset included angle E4 as an included angle between adjacent oblique cameras in the photographic equipment;

and when the D4 is not more than a, selecting the fifth preset included angle E5 as an included angle between adjacent oblique cameras in the photographic equipment.

3. The photographing method for aerial photography according to claim 1, wherein when setting a photographing height of the photographing apparatus according to the area b of the region to be photographed, it comprises:

presetting a region area matrix F to be shot, and setting F (F1, F2, F3, F4), wherein F1 is a first preset region area to be shot, F2 is a second preset region area to be shot, F3 is a third preset region area to be shot, F4 is a fourth preset region area to be shot, and F1 is more than F2 and less than F3 and less than F4;

presetting a shooting height matrix G of the photographic equipment, and setting G (G1, G2, G3, G4, G5), wherein G1 is a first preset shooting height, G2 is a second preset shooting height, G3 is a third preset shooting height, G4 is a fourth preset shooting height, G5 is a fifth preset shooting height, and G1 is more than G2 and less than G3 and less than G4 and less than G5;

setting the shooting height of the photographic equipment according to the relation between the area b of the area to be shot and the area of each preset area to be shot:

when b is less than F1, selecting the first preset shooting height G1 as the shooting height of the shooting equipment;

when the b is more than or equal to F1 and less than F2, selecting the second preset shooting height G2 as the shooting height of the shooting equipment;

when the b is more than or equal to F2 and less than F3, selecting the third preset shooting height G3 as the shooting height of the shooting equipment;

when the b is more than or equal to F3 and less than F4, selecting the fourth preset shooting height G4 as the shooting height of the shooting equipment;

and when the F4 is less than or equal to b, selecting the fifth preset shooting height G5 as the shooting height of the shooting equipment.

4. The photographing method for aerial photography according to claim 3, further comprising:

acquiring a focal length k of a tilt camera in the photographing device;

correcting the shooting height of the photographing equipment according to the focal length k of an inclined camera in the photographing equipment;

presetting a focal distance matrix M of an oblique camera in the photographic equipment, and setting M (M1, M2, M3, M4), wherein M1 is the focal distance of a first preset oblique camera, M2 is the focal distance of a second preset oblique camera, M3 is the focal distance of a third preset oblique camera, M4 is the focal distance of a fourth preset oblique camera, and M1 is more than M2 and more than M3 and more than M4;

presetting a shooting height correction coefficient matrix h of the photographic equipment, and setting h (h 1, h2, h3, h4, h 5), wherein h1 is a first preset shooting height correction coefficient, h2 is a second preset shooting height correction coefficient, h3 is a third preset shooting height correction coefficient, h4 is a fourth preset shooting height correction coefficient, h5 is a fifth preset shooting height correction coefficient, and h1 is more than 0.8, more than h2, more than h3, more than h4, and less than h5, and less than 1.2;

when the shooting height of the shooting device is set to the ith preset shooting height Gi, i =1,2,3,4,5, correcting the shooting height of the shooting device according to the relation between the focal length k of the oblique camera in the shooting device and the focal length of the oblique camera in each preset shooting device:

when k is smaller than M1, selecting the first preset shooting height correction coefficient h1 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h1;

when the k is more than or equal to M1 and less than M2, selecting the second preset shooting height correction coefficient h2 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h2;

when the k is more than or equal to M2 and less than M3, selecting a third preset shooting height correction coefficient h3 to correct the ith preset shooting height Gi, wherein the corrected shooting height of the shooting equipment is Gi x h3;

when the k is more than or equal to M3 and less than M4, selecting a fourth preset shooting height correction coefficient h4 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h4;

and when the M4 is not more than k, selecting the fifth preset shooting height correction coefficient h5 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h5.

5. A photographing method for aerial photography according to claim 1, wherein when setting the shutter speed of a tilt camera in the photographing apparatus according to the intensity c of incident light received by the tilt camera in the photographing apparatus, it comprises:

presetting an incident light intensity matrix N received by an oblique camera in photographic equipment, and setting N (N1, N2, N3, N4), wherein N1 is a first preset incident light intensity, N2 is a second preset incident light intensity, N3 is a third preset incident light intensity, N4 is a fourth preset incident light intensity, and N1 is more than N2 and less than N3 and less than N4;

presetting a shutter speed matrix P of a tilted camera in the photographing apparatus, and setting P (P1, P2, P3, P4, P5), wherein P1 is a first preset shutter speed, P2 is a second preset shutter speed, P3 is a third preset shutter speed, P4 is a fourth preset shutter speed, P5 is a fifth preset shutter speed, and P1 is more than P2 and less than P3 and less than P4 and less than P5;

setting the shutter speed of the oblique camera in the photographic equipment according to the relationship between the incident ray intensity c received by the oblique camera in the photographic equipment and the incident ray intensity received by the oblique camera in each preset photographic equipment:

when c is less than D1, selecting the first preset shutter speed P1 as the shutter speed of a tilting camera in the photographing device;

when the D1 is not less than c and less than D2, selecting the second preset shutter speed P2 as the shutter speed of the tilt camera in the photographing apparatus;

when D2 is more than or equal to c and less than D3, selecting the third preset shutter speed P3 as the shutter speed of a tilted camera in the photographic equipment;

when D3 is larger than or equal to c and smaller than D4, selecting the fourth preset shutter speed P4 as the shutter speed of a tilting camera in the photographing equipment;

and when D4 is less than or equal to c, selecting the fifth preset shutter speed P5 as the shutter speed of the inclined camera in the photographic equipment.

6. A camera device for aerial photography, the device comprising:

the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the number a of oblique cameras in the photographic equipment, the area b of a region to be shot and the intensity c of incident light received by the oblique cameras in the photographic equipment;

the determining module is used for determining the working state parameters of the photographic equipment according to the information acquired by the acquiring module;

a control module: the shooting device is used for shooting the area to be shot according to the working state parameters in the determining module;

in the determining module, when the working state parameters of the photographing device are determined, the included angle between adjacent oblique cameras in the photographing device is set according to the number a of the oblique cameras in the photographing device, the photographing height of the photographing device is set according to the area b of the region to be photographed, and the shutter speed of the oblique cameras in the photographing device is set according to the incident light intensity c received by the oblique cameras in the photographing device.

7. The shooting apparatus for aerial photography according to claim 6, wherein in the determining module, when setting the included angle between adjacent oblique cameras in the photography equipment according to the number a of oblique cameras in the photography equipment, the method comprises:

the determining module is used for presetting a quantity matrix D of oblique cameras in the photographing equipment and setting D (D1, D2, D3 and D4), wherein D1 is the quantity of first preset oblique cameras, D2 is the quantity of second preset oblique cameras, D3 is the quantity of third preset oblique cameras, D4 is the quantity of fourth preset oblique cameras, and D1 is more than D2 and less than D3 and less than D4;

the determining module is used for presetting an included angle matrix E between adjacent oblique cameras in the photographic equipment and setting E (E1, E2, E3, E4 and E5), wherein E1 is a first preset included angle, E2 is a second preset included angle, E3 is a third preset included angle, E4 is a fourth preset included angle, E5 is a fifth preset included angle, and E1 is more than E2 and less than E3 and less than E4 and less than E5;

the determining module is further configured to set an included angle between adjacent oblique cameras in the photographing apparatus according to a relationship between the number a of oblique cameras in the photographing apparatus and the number of oblique cameras in each preset photographing apparatus:

when a is smaller than D1, selecting the first preset included angle E1 as an included angle between adjacent oblique cameras in the photographic equipment;

when the D1 is more than or equal to a and less than the D2, selecting the second preset included angle E2 as an included angle between adjacent oblique cameras in the photographing equipment;

when D2 is more than or equal to a and less than D3, selecting the third preset included angle E3 as an included angle between adjacent oblique cameras in the photographic equipment;

when D3 is more than or equal to a and less than D4, selecting the fourth preset included angle E4 as an included angle between adjacent oblique cameras in the photographic equipment;

and when the D4 is not more than a, selecting the fifth preset included angle E5 as an included angle between adjacent oblique cameras in the photographic equipment.

8. The photographing apparatus for aerial photography according to claim 6, wherein in the determining module, when setting the photographing height of the photographing device according to the area b of the region to be photographed, it includes:

the determining module is used for presetting a region area matrix F to be shot and setting F (F1, F2, F3, F4), wherein F1 is the area of a first preset region to be shot, F2 is the area of a second preset region to be shot, F3 is the area of a third preset region to be shot, F4 is the area of a fourth preset region to be shot, and F1 is more than F2 and less than F3 and less than F4;

the determining module is used for presetting a shooting height matrix G of the photographic equipment and setting G (G1, G2, G3, G4 and G5), wherein G1 is a first preset shooting height, G2 is a second preset shooting height, G3 is a third preset shooting height, G4 is a fourth preset shooting height, G5 is a fifth preset shooting height, and G1 is more than G2 and less than G3 and less than G4 and less than G5;

the determining module is further configured to set a shooting height of the photographing apparatus according to a relationship between the area b of the region to be shot and each preset region to be shot:

when b is less than F1, selecting the first preset shooting height G1 as the shooting height of the shooting equipment;

when the b is more than or equal to F1 and less than F2, selecting the second preset shooting height G2 as the shooting height of the shooting equipment;

when the b is more than or equal to F2 and less than F3, selecting the third preset shooting height G3 as the shooting height of the shooting equipment;

when the b is more than or equal to F3 and less than F4, selecting the fourth preset shooting height G4 as the shooting height of the shooting equipment;

and when the F4 is less than or equal to b, selecting the fifth preset shooting height G5 as the shooting height of the shooting equipment.

9. The photographing apparatus for aerial photography of claim 8, further comprising:

in the acquisition module, a focal length k of a tilt camera in the photographing apparatus is also acquired;

in the determining module, correcting the shooting height of the photographic equipment according to the focal length k of an inclined camera in the photographic equipment;

the determining module is used for presetting a focal distance matrix M of an inclined camera in the photographing equipment and setting M (M1, M2, M3 and M4), wherein M1 is the focal distance of a first preset inclined camera, M2 is the focal distance of a second preset inclined camera, M3 is the focal distance of a third preset inclined camera, M4 is the focal distance of a fourth preset inclined camera, and M1 is more than M2 and more than M3 and more than M4;

the determining module is used for presetting a shooting height correction coefficient matrix h of the photographic equipment and setting h (h 1, h2, h3, h4 and h 5), wherein h1 is a first preset shooting height correction coefficient, h2 is a second preset shooting height correction coefficient, h3 is a third preset shooting height correction coefficient, h4 is a fourth preset shooting height correction coefficient, h5 is a fifth preset shooting height correction coefficient, and h1 is more than 0.8, more than h2, more than h3, more than h4, more than h5 and less than 1.2;

the determining module is further configured to, when the shooting height of the photographing apparatus is set to the i-th preset shooting height Gi, i =1,2,3,4,5, correct the shooting height of the photographing apparatus according to a relationship between a focal length k of an oblique camera in the photographing apparatus and focal lengths of oblique cameras in the preset photographing apparatuses:

when k is less than M1, selecting the first preset shooting height correction coefficient h1 to correct the ith preset shooting height Gi, wherein the corrected shooting height of the photographic equipment is Gi x h1;

when the k is more than or equal to M1 and less than M2, selecting the second preset shooting height correction coefficient h2 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h2;

when M2 is not less than k and less than M3, selecting the third preset shooting height correction coefficient h3 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h3;

when the k is more than or equal to M3 and less than M4, selecting a fourth preset shooting height correction coefficient h4 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h4;

and when the M4 is not more than k, selecting the fifth preset shooting height correction coefficient h5 to correct the ith preset shooting height Gi, wherein the shooting height of the corrected shooting equipment is Gi x h5.

10. The camera of claim 6, wherein the determining module, when setting the shutter speed of the tilt camera of the photographing apparatus according to the intensity c of the incident light received by the tilt camera of the photographing apparatus, comprises:

the determining module is used for presetting an incident light intensity matrix N received by an oblique camera in the photographic equipment and setting N (N1, N2, N3, N4), wherein N1 is a first preset incident light intensity, N2 is a second preset incident light intensity, N3 is a third preset incident light intensity, N4 is a fourth preset incident light intensity, and N1 is more than N2 and less than N3 and less than N4;

the determining module is used for presetting a shutter speed matrix P of a tilted camera in the photographing equipment and setting P (P1, P2, P3, P4, P5), wherein P1 is a first preset shutter speed, P2 is a second preset shutter speed, P3 is a third preset shutter speed, P4 is a fourth preset shutter speed, P5 is a fifth preset shutter speed, and P1 is more than P2 and more than P3 and more than P4 and less than P5;

the determining module is further configured to set a shutter speed of the oblique camera in the photographing apparatus according to a relationship between the incident light intensity c received by the oblique camera in the photographing apparatus and the incident light intensity received by the oblique camera in each preset photographing apparatus:

when c is less than D1, selecting the first preset shutter speed P1 as the shutter speed of a tilting camera in the photographing device;

when the D1 is not less than c and less than D2, selecting the second preset shutter speed P2 as the shutter speed of the tilt camera in the photographing apparatus;

when D2 is larger than or equal to c and smaller than D3, selecting the third preset shutter speed P3 as the shutter speed of a tilting camera in the photographing equipment;

when D3 is larger than or equal to c and smaller than D4, selecting the fourth preset shutter speed P4 as the shutter speed of a tilting camera in the photographing equipment;

when D4 ≦ c, the fifth preset shutter speed P5 is selected as the shutter speed of the tilted camera in the photographing apparatus.

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