WO2021056411A1 - 航线调整方法、地面端设备、无人机、***和存储介质 - Google Patents

航线调整方法、地面端设备、无人机、***和存储介质 Download PDF

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Publication number
WO2021056411A1
WO2021056411A1 PCT/CN2019/108506 CN2019108506W WO2021056411A1 WO 2021056411 A1 WO2021056411 A1 WO 2021056411A1 CN 2019108506 W CN2019108506 W CN 2019108506W WO 2021056411 A1 WO2021056411 A1 WO 2021056411A1
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Prior art keywords
shooting
route
flying height
oblique
drone
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PCT/CN2019/108506
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English (en)
French (fr)
Inventor
黄振昊
陈建林
贾焱超
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980033826.9A priority Critical patent/CN112334853A/zh
Priority to PCT/CN2019/108506 priority patent/WO2021056411A1/zh
Publication of WO2021056411A1 publication Critical patent/WO2021056411A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to the field of communication technology, in particular to a route adjustment method, ground terminal equipment, unmanned aerial vehicle, system and storage medium.
  • the flight path of the drone may include the flight path of vertical photography and the flight path of oblique photography.
  • the shooting resolution obtained by obliquely photographing the flight path and the shooting resolution obtained by vertical shooting the flight path.
  • the gap will have a greater impact on data processing, thereby reducing the accuracy of data processing.
  • the present invention provides a route adjustment method, ground-end equipment, unmanned aerial vehicle, system, and storage medium, which are used to solve the problem of the shooting resolution obtained by obliquely photographed flight routes and the flight by vertical photography in the prior art. There is a certain gap between the shooting resolutions obtained by the route, and this gap will have a greater impact on the data processing, thereby reducing the accuracy of the data processing.
  • the first aspect of the present invention is to provide a route adjustment method, including:
  • the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone
  • the second shooting route is used to pass unmanned
  • the camera's shooting device acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view;
  • the second flying height corresponding to the second shooting route is determined according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, wherein, The first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.
  • the second aspect of the present invention is to provide a route adjustment system, including:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize:
  • the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone
  • the second shooting route is used to pass unmanned
  • the camera's shooting device acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view;
  • the second flying height corresponding to the second shooting route is determined according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, wherein, The first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.
  • the third aspect of the present invention is to provide a ground terminal equipment including: the route adjustment system described in the second aspect.
  • the fourth aspect of the present invention is to provide an unmanned aerial vehicle including: the route adjustment system described in the second aspect.
  • the fifth aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the first aspect.
  • the route adjustment method, ground terminal equipment, drone, system and storage medium provided by the present invention determine the first flight altitude corresponding to the first shooting route by acquiring the first shooting route and the second shooting route, and then according to the first shooting route.
  • a flight altitude determines the second flight altitude corresponding to the second shooting route, and then it can be realized: when the drone executes the first shooting route at the first flight altitude and executes the second shooting route according to the second flight altitude, you can Make the difference between the first shooting resolution and the second shooting resolution less than or equal to the preset threshold, which means that the shooting resolution for data collection of the preset object remains approximately unchanged, providing for subsequent data processing operations
  • This provides convenience, helps improve the accuracy of data processing, ensures the practicability of the method, and is beneficial to market promotion and application.
  • Figure 1 is a schematic diagram of a vertical photography provided by the prior art
  • Fig. 2 is a schematic diagram of oblique photography provided by the prior art
  • FIG. 3 is a schematic diagram of multiple second shooting routes provided by the prior art
  • FIG. 4 is a schematic flowchart of a route adjustment method provided by an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of determining the first flying height corresponding to the first shooting route according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a process of determining the first flying height according to the first shooting resolution according to an embodiment of the present invention
  • FIG. 7 is a schematic flowchart of determining the first flying height according to the first shooting resolution and image acquisition parameters according to an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of determining a second flying height corresponding to the second shooting route according to the first flying height according to an embodiment of the present invention
  • FIG. 9 is a schematic diagram of the principle of vertical photography relative to the ground according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of the principle of oblique photography relative to the ground according to an embodiment of the present invention.
  • FIG. 11 is a schematic flowchart of determining the second flying height according to the first flying height and the inclination angle according to an embodiment of the present invention
  • FIG. 12 is a schematic flowchart of another route adjustment method according to an embodiment of the present invention.
  • FIG. 13 is a schematic flowchart of yet another route adjustment method according to an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of a flow of controlling the drone to execute the first shooting route and the second shooting route according to the execution sequence according to an embodiment of the present invention
  • FIG. 15 is a schematic flowchart of still another route adjustment method according to an embodiment of the present invention.
  • 16 is a schematic flowchart of a route adjustment method provided by an application embodiment of the present invention.
  • FIG. 17 is a schematic structural diagram of a route adjustment system provided by an embodiment of the present invention.
  • FIG. 18 is a schematic structural diagram of another route adjustment system provided by an embodiment of the present invention.
  • a 5-direction flight operation method can be used, where the 5-direction can include a vertical photographing direction and four photographing directions, as shown in Figures 1 to 3.
  • the vertical shooting direction corresponds to the vertical shooting route.
  • the camera on the drone (for example, : Camera) is the area to be inspected.
  • the four shooting directions is an oblique shooting route.
  • the oblique shooting route can be offset by a certain distance forward, backward, left, and right according to the set camera tilt angle.
  • the drone is shooting in different tilt shooting routes
  • the area is the detection range of the area to be detected.
  • the vertical shooting image and the oblique shooting image can be obtained.
  • the photos taken at different angles can be combined to create the map. Therefore, it is required that the resolution difference of the photos taken at different angles for the same feature is within a certain range, otherwise the same name will be given later Point recognition and empty three solution bring bad effects.
  • the corresponding shooting resolution Ground Sample Distance, GSD for short
  • GSD Glass Sample Distance
  • the existing solutions provide two solutions :
  • One solution is to use a larger flight platform equipped with a 5-direction lens camera for data collection.
  • the set focal length of the center camera is different from the setting focal length of the surrounding lenses, so that the same lens is used.
  • the GSD of the vertical shooting route and the oblique shooting route can be maintained at the same level.
  • this method requires multiple sensors and multiple lenses, and the weight and power consumption will increase accordingly, making it mostly used on larger flying platforms. For small areas, it is relatively bulky.
  • Another solution is to use a single-lens small drone to perform tilt photogrammetry for multiple sets of routes.
  • the different GSD problems caused by oblique and orthophotographs at the same height were not considered, which may cause problems. Bring adverse effects to the subsequent picture processing.
  • Fig. 4 is a schematic flow chart of a route adjustment method provided by an embodiment of the present invention; referring to Fig. 4, in order to solve the above-mentioned problems in the prior art, this embodiment provides a route adjustment method.
  • the route adjustment method can be applied to ground-end equipment and/or drones, that is, the execution subject of the route adjustment method can be ground-end equipment; or, the execution subject of the route adjustment method can also be a drone,
  • the ground-end equipment may be used to display route information; or, the execution subject of the route adjustment method may include the ground-end equipment and the drone, and at this time, the ground-end equipment may be communicatively connected with the drone.
  • the following takes the ground-end equipment or drone as the execution subject as an example for description.
  • the method may include:
  • S1 Acquire a first shooting route and a second shooting route, where the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone, and the second shooting route is used to pass through
  • the camera of the drone acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view.
  • the first shooting route can be a vertical shooting route
  • the second shooting route is an oblique shooting route
  • the vertical shooting route is used to obtain the top image data (top texture data) of the preset object along the vertical shooting angle of view by the camera on the drone
  • the oblique shooting route is used to obtain the side image data (side texture data) of the preset object along the oblique shooting angle of view by the camera on the drone
  • the first shooting route can be the first oblique shooting route
  • the second shooting route is The second oblique shooting route
  • the first oblique shooting route is used to obtain the first side image data of the preset object along the first oblique shooting angle of view by the camera on the drone
  • the second oblique shooting route is used to shoot on the drone
  • the device acquires the second side image data of the preset object along the second oblique shooting angle of view.
  • the oblique shooting route may include at least one of the following types of routes: an oblique shooting route for shooting on the left side of a preset object, an oblique shooting route for shooting on the right side of a preset object, and an oblique shooting route for shooting on the right side of a preset object.
  • the oblique shooting route for shooting from the side and the oblique shooting route for shooting behind the preset object It is understandable that those skilled in the art can set specific route types for the first shooting route and the second shooting route according to specific application requirements, which will not be repeated here.
  • this embodiment does not limit the acquisition methods of the first shooting route and the second shooting route.
  • the first shooting route and the second shooting route can be obtained through pre-configured system parameters, where the system parameters may include at least the following One: flight height, flight speed, overlap rate, outer margin.
  • the system parameters may include at least the following One: flight height, flight speed, overlap rate, outer margin.
  • those skilled in the art can also use other methods to obtain the first shooting route and the second shooting route according to specific application scenarios and design requirements, as long as the accuracy and reliability of the first shooting route and the second shooting route can be guaranteed. Yes, I won’t repeat them here.
  • the first flying height can be a user pre-configured height parameter, for example: the user can set the first flying height according to the application scenario and application requirements; or the first flying height can also be obtained based on the analysis and processing of other parameters
  • the detection area, wind speed information, wind direction information, and working time information of the preset object can be obtained, and the first shot can be determined according to the size of the detection area, wind speed information, wind direction information, and working time information.
  • the first flight altitude corresponding to the route.
  • S3 Determine the second flying height corresponding to the second shooting route according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, where the first The shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.
  • the same camera when the same camera is used to obtain the image data of the preset object (for example: top image data and side image data, or first side image data and second side image data), in order to ensure the location of the first shooting route
  • the corresponding first shooting resolution and the second shooting resolution corresponding to the second shooting route meet the preset requirements (the difference between the first shooting resolution and the second shooting resolution is less than or equal to the preset threshold)
  • the first flying height corresponding to a shooting route and the second flying height corresponding to the second shooting route satisfy a preset relationship. After the first flying height is acquired, the first flying height can be analyzed and processed, so that the second flying height corresponding to the second shooting route can be determined.
  • the difference between the first shooting resolution and the second shooting resolution can be made Less than or equal to the preset threshold, where the first shooting resolution is the shooting resolution corresponding to the shooting device when the drone is executing the first shooting route; the second shooting resolution is that the drone is executing the second shooting route When, the shooting resolution corresponding to the shooting device.
  • the first shooting resolution corresponds to the main optical axis of the shooting device; and/or, when the drone executes the second shooting route, The second shooting resolution corresponds to the main optical axis of the shooting device.
  • the first flight altitude corresponding to the first shooting route is determined by acquiring the first shooting route and the second shooting route, and then the first flight altitude corresponding to the second shooting route is determined according to the first flight altitude.
  • the second flying height can further realize: when the drone executes the first shooting route at the first flying height and executes the second shooting route according to the second flying height, the first shooting resolution and the second shooting resolution can be made.
  • the difference between is less than or equal to the preset threshold, that is, the shooting resolution for data collection of the preset object remains approximately unchanged, which provides convenience for subsequent data processing operations and helps improve the accuracy of data processing.
  • the practicability of the method is ensured, which is beneficial to the promotion and application of the market.
  • Fig. 5 is a schematic diagram of the process of determining the first flying height corresponding to the first shooting route provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to Fig. 5, the determination in this embodiment is the same as the first flight altitude.
  • the first flight altitude corresponding to a shooting route may include:
  • the first shooting resolution may be a resolution parameter pre-configured by the user.
  • the user may set different first shooting resolutions according to different application scenarios and application requirements.
  • those skilled in the art can also use other methods to obtain the first shooting resolution corresponding to the first shooting route, as long as the accuracy and reliability of the first shooting resolution can be ensured, which will not be repeated here. .
  • determining the first flying height according to the first shooting resolution in this embodiment may include:
  • S221 Acquire image acquisition parameters when the drone executes the first shooting route.
  • the image acquisition parameters include at least one of the following: pixel size, focal length.
  • pixel size is related to the model and structure of the shooting device; the focal length can be preset or set by the user, and the user can also adjust the focal length of the shooting device according to different application scenarios.
  • S222 Determine the first flying height according to the first shooting resolution and image acquisition parameters.
  • the first shooting resolution and image acquisition parameters can be analyzed and processed, so that the first flying height can be determined.
  • the first flying height is determined according to the first shooting resolution and image acquisition parameters in this embodiment.
  • S2222 Determine the ratio of the product value to the pixel size as the first flying height.
  • the first flying height can be determined according to the following formula:
  • h is the first flying height
  • GSD ortho is the first shooting resolution corresponding to the vertical shooting route
  • f is the focal length
  • l is the pixel size.
  • the above formula can not only accurately obtain the first flying height, but also improve the flexibility and reliability of the first flying height. That is, users can not only pre-configure the first flying height, but also use the first shooting resolution. To obtain the first flying height, the flexibility and reliability of the method is further improved.
  • FIG. 8 is a schematic diagram of a flow chart of determining a second flight height corresponding to a second shooting route according to the first flight height provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, continue to refer to FIG. 8 as shown in this embodiment
  • the specific implementation manner of determining the second flight altitude corresponding to the second shooting route according to the first flight altitude is not limited, and those skilled in the art can set it according to specific application requirements and design requirements.
  • this embodiment The determining of the second flight altitude corresponding to the second shooting route according to the first flight altitude in may include:
  • S32 Determine the second flying height according to the first flying height and the tilt angle.
  • the magnitude of the second shooting resolution GSD tilt is 1/sin ⁇ times of the first shooting resolution GSD ortho.
  • the GSD size (ie resolution) difference between the two sets of images obtained by oblique shooting route and vertical shooting route is about 1.4 times, which has a greater impact on the subsequent data processing process .
  • the second flying height corresponding to the second shooting route can be determined by the above formula, and the second flying height can make the second shooting The resolution is approximately the same as the first shooting resolution.
  • the inclination angle of the oblique shooting route relative to the ground can be obtained first.
  • the inclination angle of the main optical axis of the oblique shooting route relative to the ground can be obtained, namely The inclination angle of the main optical axis with respect to the ground is taken as a representative of the inclination angle of the oblique shooting route with respect to the ground.
  • the pose information of the camera can be acquired first, and the tilt angle can be determined by the position information of the camera; of course, those skilled in the art can also use other methods to obtain the tilt angle. This will not be repeated here.
  • the second flying height can be determined according to the first flying height and the inclination angle; specifically, referring to FIG. 11, according to the first flying height in this embodiment
  • the inclination angle to determine the second flight altitude including:
  • S322 Determine the ratio of the first flying height to the sine value as the second flying height.
  • the sine value of the tilt angle can be obtained, and the ratio of the first flying height to the sine value can be determined as the second flying height according to the above formula, thereby effectively ensuring that the second flying height is obtained.
  • the accuracy and reliability of the method further improve the stability and reliability of the method.
  • Fig. 12 is a schematic flow chart of another route adjustment method provided by an embodiment of the present invention. on the basis of the above-mentioned embodiment, referring to Fig. 12, in order to improve the flexibility and reliability of the method, the method in this embodiment Methods can also include:
  • S101 Acquire shooting requirement information for the oblique shooting route.
  • different application scenarios and application requirements can collect different side data.
  • users can input different shooting requirements information for oblique shooting routes according to application requirements and design requirements, and the shooting requirements information may include: requirements for obtaining relatively deep side texture data or requirements for obtaining relatively fine side texture data, etc.;
  • the shooting requirements information may include: requirements for obtaining relatively deep side texture data or requirements for obtaining relatively fine side texture data, etc.;
  • you adjust the tilt angle you can adjust the attitude of the pan/tilt. Adjust the angle to achieve.
  • the various shooting requirements of the user are effectively met, and the stable and reliable use of the method is ensured.
  • Fig. 13 is a schematic flow chart of another route adjustment method provided by an embodiment of the present invention. on the basis of the above-mentioned embodiment, referring to Fig. 13 continuously, in order to improve the safety and reliability of the method, the method in this embodiment Methods can also include:
  • S201 Acquire the execution sequence between the first shooting route and the second shooting route.
  • S202 Control the drone to execute the first shooting route and the second shooting route according to the execution sequence.
  • the execution order of the first shooting route and the second shooting route can be pre-configured or a user-specified order; generally, vertical shooting
  • the execution order of the route takes precedence over the execution order of the oblique shooting route, that is, when there is a vertical shooting route and an oblique shooting route to be executed, the drone will execute the vertical shooting route first, and then execute the oblique shooting route after the execution of the vertical shooting route is completed.
  • the drone can also execute the oblique shooting route first, and then execute the vertical shooting route after the oblique shooting route is executed.
  • the drone can be controlled to execute the first shooting route and the second shooting route according to the execution sequence.
  • the control of the drone to execute the first shooting route and the second shooting route according to the execution sequence in this embodiment may include:
  • S301 Control the drone to execute the first shooting route at the first flight altitude
  • S302 Control the drone to execute the second shooting route at the second flying height.
  • the execution order of step S301 and step S302 is the execution order between the first shooting route and the second shooting route acquired in the above embodiment. It can be understood that the execution order of step S301 and step S302 is not limited to The sequence defined by the above sequence number, that is, step S302 may also be executed before step S301. Specifically, when the drone is controlled to execute the first shooting route at the first flying height and the second shooting route is executed at the second flying height, it can effectively ensure that the drone is performing the first shooting route and the second shooting route. The corresponding shooting resolution is basically the same.
  • the control of the drone to execute the first shooting route and the second shooting route according to the execution sequence in this embodiment may have different execution subjects in different application scenarios.
  • execution The main body is the ground-side equipment. At this time, the ground-side equipment can communicate with the UAV, and the ground-side equipment can directly control the UAV to execute the first shooting route and the second shooting route according to the execution sequence.
  • the execution subject is a drone. At this time, after the drone acquires the execution sequence, the first shooting route, and the second shooting route, the first shooting route and the second shooting route can be directly executed according to the execution order. Shooting the route, the ground-side equipment at this time can be used to display the first shooting route and the second shooting route executed by the drone.
  • the execution subject includes ground-end equipment and drones. At this time, the method steps in this embodiment are adaptively adjusted to the following steps:
  • S202a The ground terminal device sends the first shooting route, the second shooting route, and the execution sequence to the drone.
  • S202b The drone receives the first shooting route, the second shooting route, and the execution sequence sent by the ground terminal device, and executes the first shooting route and the second shooting route according to the execution sequence.
  • the ground-end equipment can generate the first shooting route and the second shooting route, and the execution order can be acquired for the first shooting route and the second shooting route.
  • the ground-end equipment can set the first shooting route and the second shooting route.
  • the shooting route, the second shooting route and the execution order are sent to the drone.
  • the drone After the drone receives the first shooting route, the second shooting route and the execution order, it can execute the first shooting route and the second shooting according to the execution order
  • the route is used to obtain the image data of the preset object through the camera on the drone, thereby effectively ensuring the quality and efficiency of the drone operation.
  • the method in this embodiment further includes:
  • the drone can be controlled to execute the second shooting route at the second flight altitude.
  • the current flight altitude of the drone is the first flight altitude.
  • Flight altitude in order to achieve accurate control of the drone, the altitude difference between the first flight altitude and the second flight altitude of the drone needs to be obtained.
  • the altitude difference can be calculated Analyze and compare with the preset distance threshold. When the height difference is less than the distance threshold, it can be explained that the first flying height is approximately the same as the second flying height.
  • the flying height of the drone there is no need to adjust the flying height of the drone;
  • the altitude difference is greater than or equal to the distance threshold, it means that the first flight altitude is different from the second flight altitude.
  • the corresponding second shooting resolution is approximately the same, and the first flying height of the drone needs to be adjusted to the second flying height, so that the drone can be controlled to execute the second shooting route at the second flying height.
  • the top image data and side image data of the preset object need to be acquired.
  • a camera equipped with a single lens is used to shoot a preset object, orthophoto and oblique photography are required, that is, the drone needs to perform one vertical shooting route and four oblique shooting routes.
  • the method in this embodiment may further include:
  • S501 Perform three-dimensional modeling processing on the preset object according to the top image data and the side image data of the preset object to obtain a three-dimensional model corresponding to the preset object.
  • the side image data of the preset object may include: left side image data for the left side of the preset object, and right side for the right side of the preset object.
  • this application embodiment provides an adjustable height route adjustment method.
  • the execution body of the method includes ground-end equipment and drones.
  • the vertical shooting route and multiple oblique shooting routes (such as 5 routes) for data collection for preset objects, the ground
  • the angle value of the gimbal can be set in the terminal device. According to the angle value of the gimbal and the angle value of the current route, it can be judged whether the current route is a vertical shooting route (ortho route) or an oblique shooting route.
  • the user can set the vertical shooting route, and the ground-side equipment can calculate the orthographic route height and the oblique route height according to the settings.
  • the user can directly set the height of the ortho-shooting route for the vertical shooting route, and the ground-side equipment can calculate the height of the inclined route according to the set inclination angle to the gimbal, realizing the height between the vertical shooting route and the oblique shooting route.
  • the information is determined and adjusted to ensure that the resolution of the orthophoto and the oblique photo are at the same level.
  • the method may include the following steps:
  • step1 The user sets the orthographic resolution corresponding to the vertical shooting route through the ground terminal equipment.
  • step2 Determine the orthographic flight height corresponding to the vertical shooting route according to the orthographic resolution.
  • the ground-end equipment can support the setting of GSD resolution, so that the orthographic resolution can be obtained, and the orthographic flight height can be calculated according to the resolution.
  • the element size is l and the focal length is f, then the orthographic flight height corresponding to the vertical shooting route can be calculated using the following formula, namely
  • the focal lengths of the multiple lenses may be different.
  • an orthophoto lens can be determined from a plurality of lenses, and then the orthophoto focal length of the orthophoto lens can be obtained, and the corresponding relationship between the orthophoto focal length of the orthophoto lens and the oblique focal lengths of other lenses can be obtained, and the orthophoto lens can be obtained.
  • the angle is scaled down to determine the oblique focal length corresponding to other lenses. After that, the orthographic flying height and the oblique flying height can be obtained by using the above-mentioned data processing method.
  • step2a The user sets the orthographic flight height corresponding to the vertical shooting route to h through the ground-side equipment.
  • step3 Determine the inclined flight height corresponding to the inclined shooting route according to the orthographic flight height.
  • the oblique flight height corresponding to the oblique shooting route can be calculated based on the orthographic flight height, the tilt angle ⁇ and the following formula:
  • the orthophoto shooting resolution corresponding to the vertical shooting route and the tilt corresponding to the tilt shooting route is approximately the same.
  • step4 The ground-side equipment can decompose a set of 5 main tasks into 5 sub-tasks, including: vertical shooting route (orthogonal flight height h, the task is marked as mission_ortho) and different directions of oblique shooting route (tilt height, The tasks are marked as mission_obl_1, 2, 3, 4).
  • step5 After setting up 5 sets of sub-tasks (including route, altitude, camera setting parameters, etc.) on the ground-side equipment, the parameters of the main task can be sent to the UAV (the UAV's flight control system).
  • the UAV the UAV's flight control system
  • Step6 The drones perform tasks one by one according to the received mission settings (by default, the mission_ortho is executed first, and after the orthophoto mission is completed, the tilt mission is performed in turn).
  • the user can also set the sequence of aircraft operations sub-tasks.
  • the drone when it performs a sub-task, it can first determine the task mark of the next task, and check the flying height at the moment. If the flying height at this moment is different from the current operation or flying height, the flying height can be adjusted and adjusted. To the corresponding correct height, perform the next task; thus ensuring the consistency of the GSD (resolution) of all photos obtained by the camera.
  • GSD quality of service
  • the route adjustment method provided by this application embodiment can support the calculation of the oblique route height corresponding to the oblique shooting route through the set orthographic route height, or the set GSD to calculate the orthographic route corresponding to the vertical shooting route.
  • FIG. 17 is a schematic structural diagram of a route adjustment system provided by an embodiment of the present invention. As shown in FIG. 17, this embodiment provides a route adjustment system, which can perform the route adjustment shown in FIG. 4 above Method, specifically, the route adjustment system may include:
  • the memory 12 is used to store computer programs
  • the processor 11 is configured to run a computer program stored in the memory 12 to realize:
  • the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by the camera on the drone
  • the second shooting route is used to pass unmanned
  • the camera's shooting device acquires image data of a preset object along a second shooting angle of view, where the first shooting angle of view is different from the second shooting angle of view;
  • the second flying height corresponding to the second shooting route is determined according to the first flying height, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to a preset threshold, wherein, The first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.
  • the structure of the route generation system may also include a communication interface 13 for the electronic device to communicate with other devices or a communication network.
  • the first shooting route is a vertical shooting route
  • the second shooting route is an oblique shooting route
  • the vertical shooting route is used to obtain a preset object along a vertical shooting angle of view by a shooting device on a drone
  • the oblique shooting route is used to obtain the side image data of the preset object along the oblique shooting angle of view by the camera on the drone; or,
  • the first shooting route is a first oblique shooting route
  • the second shooting route is a second oblique shooting route
  • the first oblique shooting route is used to obtain a preview along the first oblique shooting angle of view by the camera on the drone.
  • the second oblique shooting route is used to obtain the second side image data of the preset object along the second oblique shooting angle of view by the camera on the drone.
  • the processor 11 when the processor 11 determines the first flying height corresponding to the first shooting route, the processor 11 is configured to: obtain the first shooting resolution corresponding to the first shooting route; The resolution determines the first flight altitude.
  • the processor 11 when the processor 11 determines the first flying height according to the first shooting resolution, the processor 11 is configured to: obtain the image collection parameters of the drone when the drone executes the first shooting route; and according to the first shooting resolution And image acquisition parameters to determine the first flight altitude.
  • the image acquisition parameters include at least one of the following: pixel size and focal length.
  • the processor 11 determines the first flying height according to the first shooting resolution and image acquisition parameters
  • the processor 11 is configured to: obtain the product value of the first shooting resolution and the focal length; and determine the ratio of the product value to the pixel size as the first flying height.
  • the processor 11 when the processor 11 determines the second flying height corresponding to the second shooting route according to the first flying height, the processor 11 is configured to: obtain the inclination angle of the oblique shooting route with respect to the ground; The flying height and the tilt angle determine the second flying height.
  • the processor 11 when the processor 11 determines the second flying height according to the first flying height and the tilt angle, the processor 11 is configured to: obtain the sine value of the tilt angle; and determine the ratio of the first flying height to the sine value as The second flight altitude.
  • the processor 11 is further configured to: obtain shooting requirement information for a tilted shooting route; and adjust the tilt angle according to the shooting requirement information.
  • the first shooting resolution corresponds to the main optical axis of the shooting device; and/or, when the drone executes the second shooting route, the second shooting The resolution corresponds to the main optical axis of the camera.
  • the oblique shooting route includes at least one of the following types of routes: an oblique shooting route for shooting on the left side of a preset object; an oblique shooting route for shooting on the right side of a preset object; An oblique shooting route for shooting from the front side; an oblique shooting route for shooting behind a preset object.
  • the processor 11 is further configured to: obtain the execution sequence between the first shooting route and the second shooting route; and control the drone to execute the first shooting route and the second shooting route according to the execution sequence.
  • the execution order of the vertical shooting route has priority over the execution order of the oblique shooting route.
  • the processor 11 when the processor 11 controls the drone to execute the first shooting route and the second shooting route according to the execution sequence, the processor 11 is configured to: control the drone to execute the first shooting route at the first flight height; Control the drone to execute the second shooting route at the second flight altitude.
  • the processor 11 is further configured to: obtain the height difference between the first flying height and the second flying height of the drone; When the height difference is greater than or equal to the preset distance threshold, the first flying height of the drone is adjusted to the second flying height.
  • the processor 11 is further configured to: perform three-dimensional modeling processing on the preset object according to the top image data and side image data of the preset object to obtain a three-dimensional model corresponding to the preset object.
  • the route adjustment system shown in Fig. 17 can execute the methods of the embodiments shown in Figs. 4-16.
  • parts that are not described in detail in this embodiment please refer to the related descriptions of the embodiments shown in Figs. 4-16. Refer to the description in the embodiment shown in FIG. 4 to FIG. 16 for the execution process and technical effect of this technical solution, and will not be repeated here.
  • an embodiment of the present invention provides a computer-readable storage medium.
  • the storage medium is a computer-readable storage medium.
  • the computer-readable storage medium stores program instructions. Adjustment method.
  • another aspect of this embodiment provides a ground terminal device, including any one of the above-mentioned route adjustment systems.
  • an unmanned aerial vehicle including any one of the above-mentioned route adjustment systems.
  • FIG. 18 is a schematic structural diagram of another route adjustment system provided by an embodiment of the present invention. referring to FIG. 18, this embodiment provides another route adjustment system, which may include ground-end equipment 21 and a drone 22. Among them, the ground terminal equipment 21 is in communication connection with the UAV 22.
  • the ground terminal equipment 21 is used to obtain a first shooting route and a second shooting route, the first shooting route is used to obtain image data of a preset object along a first shooting angle of view by a camera on the drone, and the second The shooting route is used to obtain the image data of the preset object along the second shooting angle of view by the camera of the drone.
  • the first shooting angle of view is different from the second shooting angle of view; it is determined to correspond to the first shooting route
  • the first flying height of the; according to the first flying height, the second flying height corresponding to the second shooting route is determined, so that the difference between the first shooting resolution and the second shooting resolution is less than or equal to A preset threshold, wherein the first shooting resolution corresponds to the first shooting route, and the second shooting resolution corresponds to the second shooting route.
  • the first shooting route is a vertical shooting route
  • the second shooting route is an oblique shooting route
  • the vertical shooting route is used to obtain a preset object along a vertical shooting angle of view by a shooting device on a drone
  • the oblique shooting route is used to obtain the side image data of the preset object along the oblique shooting angle of view by the camera on the drone; or,
  • the first shooting route is a first oblique shooting route
  • the second shooting route is a second oblique shooting route
  • the first oblique shooting route is used to obtain a preview along the first oblique shooting angle of view by the camera on the drone.
  • the second oblique shooting route is used to obtain the second side image data of the preset object along the second oblique shooting angle of view by the camera on the drone.
  • the ground-end equipment 21 is further used to: obtain a first shooting resolution corresponding to the first shooting route; and determine the first flying height according to the first shooting resolution.
  • the ground-end equipment 21 is also used to: acquire image acquisition parameters when the drone executes the first shooting route; and determine the first flying height according to the first shooting resolution and image acquisition parameters.
  • the image acquisition parameters include at least one of the following: pixel size and focal length.
  • the ground-end equipment 21 is further configured to: obtain the product value of the first shooting resolution and the focal length; The ratio of the product value to the pixel size is determined as the first flying height.
  • the ground terminal device 21 is also used to: obtain the inclination angle of the oblique shooting route with respect to the ground; and determine the second flying height according to the first flying height and the inclination angle.
  • the ground terminal device 21 is further used to: obtain the sine value of the tilt angle; and determine the ratio of the first flying height to the sine value as the second flying height.
  • the ground-end equipment 21 is also used to: obtain shooting requirement information for a tilted shooting route; and adjust the tilt angle according to the shooting requirement information.
  • the first shooting resolution corresponds to the main optical axis of the shooting device; and/or, when the drone executes the second shooting route, the second shooting The resolution corresponds to the main optical axis of the camera.
  • the oblique shooting route includes at least one of the following types of routes: an oblique shooting route for shooting on the left side of a preset object; an oblique shooting route for shooting on the right side of a preset object; An oblique shooting route for shooting from the front side; an oblique shooting route for shooting behind a preset object.
  • the ground terminal device 21 is also used to: obtain the execution sequence between the first shooting route and the second shooting route;
  • the drone 22 is used to execute the first shooting route and the second shooting route according to the execution order.
  • the execution order of the vertical shooting route has priority over the execution order of the oblique shooting route.
  • the drone 22 is also used to: execute the first shooting route at the first flying height; and execute the second shooting route at the second flying height.
  • the ground-side equipment 21 is further used to: obtain the height difference between the first flying height and the second flying height of the drone; When the height difference is greater than or equal to the preset distance threshold, the first flying height of the drone is adjusted to the second flying height.
  • the ground terminal device 21 is further used to: perform a three-dimensional modeling process on the preset object according to the top image data and side image data of the preset object to obtain a three-dimensional model corresponding to the preset object.
  • the route adjustment system shown in FIG. 18 can execute the methods of the embodiments shown in FIGS. 4-16.
  • parts that are not described in detail in this embodiment please refer to the related descriptions of the embodiments shown in FIGS. 4-16.
  • the disclosed related remote control device and method can be implemented in other ways.
  • the embodiments of the remote control device described above are merely illustrative.
  • the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components. It can be combined or integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present invention essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium.
  • the aforementioned storage media include: U disk, mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

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Abstract

一种航线调整方法、地面端设备、无人机、***和存储介质，方法包括：获取第一拍摄航线和第二拍摄航线，第一拍摄航线用于通过无人机上的拍摄装置沿第一拍摄视角获取预设对象的图像数据，第二拍摄航线用于通过无人机的拍摄装置沿第二拍摄视角获取预设对象的图像数据，第一拍摄视角与第二拍摄视角不相同(S1)；确定与第一拍摄航线相对应的第一飞行高度(S2)；根据第一飞行高度确定与第二拍摄航线相对应的第二飞行高度，以使第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值,第一拍摄分辨率与第一拍摄航线相对应，第二拍摄分辨率与第二拍摄航线相对应(S3)。

Description

航线调整方法、地面端设备、无人机、***和存储介质 技术领域
本发明涉及通信技术领域，尤其涉及一种航线调整方法、地面端设备、无人机、***和存储介质。
背景技术
随着科学技术的飞速发展，无人机的技术发展越来越成熟，用户可以通过无人机搭载其他装置来进行各种作业。在利用无人机搭载拍摄装置进行拍摄时，无人机的飞行航线可以包括垂直摄影的飞行航线和倾斜摄影的飞行航线。当利用相同的拍摄装置、在相同的光轴位置进行拍摄时，通过倾斜摄影的飞行航线所获得的拍摄分辨率与通过垂直摄影的飞行航线所获得的拍摄分辨率之间存在一定的差距，这样的差距会对数据的处理产生较大影响，进而降低数据处理的准确性。
发明内容
本发明提供了一种航线调整方法、地面端设备、无人机、***和存储介质，用于解决现有技术中存在的通过倾斜摄影的飞行航线所获得的拍摄分辨率与通过垂直摄影的飞行航线所获得的拍摄分辨率之间存在一定的差距，而这样的差距会对数据的处理产生较大影响，进而降低数据处理准确性的问题。
本发明的第一方面是为了提供一种航线调整方法，包括：
获取第一拍摄航线和第二拍摄航线，所述第一拍摄航线用于通过无人机上的拍摄装置沿第一拍摄视角获取预设对象的图像数据，所述第二拍摄航线用于通过无人机的拍摄装置沿第二拍摄视角获取预设对象的图像数据，所述第一拍摄视角与所述第二拍摄视角不相同；
确定与所述第一拍摄航线相对应的第一飞行高度；
根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度，以使第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值,其中，所述第一拍摄分辨率与所述第一拍摄航线相对应，所述第二拍摄分辨率 与所述第二拍摄航线相对应。
本发明的第二方面是为了提供一种航线调整***，包括：
存储器，用于存储计算机程序；
处理器，用于运行所述存储器中存储的计算机程序以实现：
获取第一拍摄航线和第二拍摄航线，所述第一拍摄航线用于通过无人机上的拍摄装置沿第一拍摄视角获取预设对象的图像数据，所述第二拍摄航线用于通过无人机的拍摄装置沿第二拍摄视角获取预设对象的图像数据，所述第一拍摄视角与所述第二拍摄视角不相同；
确定与所述第一拍摄航线相对应的第一飞行高度；
根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度，以使第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值,其中，所述第一拍摄分辨率与所述第一拍摄航线相对应，所述第二拍摄分辨率与所述第二拍摄航线相对应。
本发明的第三方面是为了提供一种地面端设备，包括：上述第二方面所述的航线调整***。
本发明的第四方面是为了提供一种无人机，包括：上述第二方面所述的航线调整***。
本发明的第五方面是为了提供一种计算机可读存储介质，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于第一方面所述的航线调整方法。
本发明提供的航线调整方法、地面端设备、无人机、***和存储介质，通过获取第一拍摄航线和第二拍摄航线，确定与第一拍摄航线相对应的第一飞行高度，而后根据第一飞行高度确定与第二拍摄航线相对应的第二飞行高度，进而可以实现：在无人机以第一飞行高度执行第一拍摄航线、并根据第二飞行高度执行第二拍摄航线时，可以使得第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值，也即使得对预设对象进行数据采集的拍摄分辨率保持近似不变，为后续的数据处理操作提供了便利，有利于提高数据处理的准确性，保证了该方法的实用性，有利于市场的推广与应用。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为现有技术提供的一种垂直摄影的示意图；
图2为现有技术提供的一种倾斜摄影的示意图；
图3为现有技术提供的多个第二拍摄航线的示意图；
图4为本发明实施例提供的一种航线调整方法的流程示意图；
图5为本发明实施例提供的确定与所述第一拍摄航线相对应的第一飞行高度的流程示意图；
图6为本发明实施例提供的根据所述第一拍摄分辨率确定所述第一飞行高度的流程示意图；
图7为本发明实施例提供的根据所述第一拍摄分辨率和图像采集参数确定所述第一飞行高度的流程示意图；
图8为本发明实施例提供的根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度的流程示意图；
图9为本发明实施例提供的一种垂直摄影相对于地面的原理示意图；
图10为本发明实施例提供的一种倾斜摄影相对于地面的原理示意图；
图11为本发明实施例提供的根据所述第一飞行高度和倾斜角度确定所述第二飞行高度的流程示意图；
图12为本发明实施例提供的另一种航线调整方法的流程示意图；
图13为本发明实施例提供的又一种航线调整方法的流程示意图；
图14为本发明实施例提供的根据所述执行顺序控制所述无人机执行所述第一拍摄航线和第二拍摄航线的流程示意图；
图15为本发明实施例提供的还一种航线调整方法的流程示意图；
图16为本发明应用实施例提供的一种航线调整方法的流程示意图；
图17为本发明实施例提供的一种航线调整***的结构示意图；
图18为本发明实施例提供的另一种航线调整***的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述， 显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
为了便于理解本申请的技术方案，下面对现有技术进行简要说明：
在利用无人机进行航测中，可以采用5向飞行的作业方式，其中，5向可以包括一个垂直摄影方向和四个摄影拍摄方向，如图1-图3所示。针对某一待检测区域，可以获取与待检测区域相对应的5个方向进行飞行操作的航线，其中，与垂直摄影方向相对应的是垂直拍摄航线，此时，无人机上的拍摄装置(例如：相机)正对待检测区域。与四个摄影拍摄方向相对应的是倾斜拍摄航线，该倾斜拍摄航线可以分别根据设定的相机倾斜角度向前后左右偏移一定的距离，此时，无人机在不同倾斜拍摄航线中进行拍摄的区域皆为待检测区域的检测范围。
然而，当利用相同的拍摄装置、在相同的光轴位置进行拍摄时，通过倾斜摄影的飞行航线所获得的拍摄分辨率与通过垂直摄影的飞行航线所获得的拍摄分辨率之间存在一定的差距，这样的差距会对数据的处理产生较大影响，进而降低数据处理的准确性。例如：在针对预设对象进行三维建模的过程中，为了更好地获取预设对象的侧面纹理，所以要使用飞机进行倾斜摄影拍摄。
在无人机执行垂直拍摄航线和倾斜拍摄航线时，可以获取到垂直拍摄图像和倾斜拍摄图像。在获取到垂直拍摄图像和倾斜拍摄图像之后，可以将不同较角度拍摄的照片进行联合建图，所以要求对于同一地物，各个角度拍摄的照片分辨率差异在一定范围内，否则会给后续同名点识别，空三解算带来不良影响。然而，由于拍摄角度发生变化，所以对应的拍摄分辨率(Ground Sample Distance，简称GSD)也会发生相应的变化，此时，对于同一相机所拍摄的照片而言，垂直拍摄图像和倾斜拍摄图像相差了较大。
此时，为了避免因垂直拍摄航线所对应的拍摄分辨率与倾斜拍摄分辨率所对应的拍摄分辨率之间的差异而增加数据处理的复杂度和困难度，现有方案提供了两种解决方式：
一种解决方式为：通过较大型飞行平台搭载5方向镜头相机进行数据采集， 在一组5方向摄影的镜头中，中心相机的设定焦距与周围镜头的设定焦距不同，使得在利用同一无人机执行垂直拍摄航线和倾斜拍摄航线的GSD能保持在同一个水平上。但这种方式需要搭载多个传感器以及多个镜头，同时重量和功耗也会相应提升，使得其大多使用在较大的飞行平台上面。而对于小区域，相对笨重。
另一种解决方式为：采用单镜头小型无人机进行多套航线的倾斜摄影测量，在航线设计过程中，没有考虑到在同一高度倾斜拍照与正射拍照导致的GSD不同问题，进而可能会给后续见图处理带来不良影响。
下面结合附图，对本发明的一些实施方式作详细说明。在各实施例之间不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图4为本发明实施例提供的一种航线调整方法的流程示意图；参考附图4所示，为了解决现有技术中存在的上述问题，本实施例提供了一种航线调整方法，需要注意的是，该航线调整方法可以应用于地面端设备和/或无人机，也即，该航线调整方法的执行主体可以为地面端设备；或者，航线调整方法的执行主体也可以为无人机，此时，地面端设备可以用于显示航线信息；或者，航线调整方法的执行主体可以包括地面端设备和无人机，此时，地面端设备可以与无人机通信连接。下面以地面端设备或者无人机作为执行主体为例进行说明，此时的方法可以包括：
S1：获取第一拍摄航线和第二拍摄航线，所述第一拍摄航线用于通过无人机上的拍摄装置沿第一拍摄视角获取预设对象的图像数据，所述第二拍摄航线用于通过无人机的拍摄装置沿第二拍摄视角获取预设对象的图像数据，所述第一拍摄视角与所述第二拍摄视角不相同。
其中，第一拍摄航线可以为垂直拍摄航线，第二拍摄航线为倾斜拍摄航线；垂直拍摄航线用于通过无人机上的拍摄装置沿垂直拍摄视角获取预设对象的顶部图像数据(顶部纹理数据)，倾斜拍摄航线用于通过无人机上的拍摄装置沿倾斜拍摄视角获取预设对象的侧面图像数据(侧面纹理数据)；或者，第一拍摄航线可以为第一倾斜拍摄航线，第二拍摄航线为第二倾斜拍摄航线；第一倾斜拍摄航线用于通过无人机上的拍摄装置沿第一倾斜拍摄视角获取预设对象的第一侧面图像数据，第二倾斜拍摄航线用于通过无人机上的拍摄装置沿第二倾斜拍摄视角获取预设对象的第二侧面图像数据。具体应用时，倾斜拍摄航线可以包括以下至少一种类型的航线：针对预设对象左侧面 进行拍摄的倾斜拍摄航线、针对预设对象右侧面进行拍摄的倾斜拍摄航线、针对预设对象前侧面进行拍摄的倾斜拍摄航线、针对预设对象后侧面进行拍摄的倾斜拍摄航线。可以理解的是，本领域技术人员可以根据具体的应用需求对第一拍摄航线和第二拍摄航线的具体航线类型进行设置，在此不再赘述。
另外，本实施例对于第一拍摄航线和第二拍摄航线的获取方式不做限定，例如：可以通过预先配置的***参数获得第一拍摄航线和第二拍摄航线，其中，***参数可以包括以下至少之一：飞行高度、飞行速度、重叠率、外扩边距。当然的，本领域技术人员还可以根据具体的应用场景和设计需求采用其他方式来获得第一拍摄航线和第二拍摄航线，只要能够保证第一拍摄航线和第二拍摄航线获取的准确可靠性即可，在此不再赘述。
S2：确定与第一拍摄航线相对应的第一飞行高度。
其中，第一飞行高度可以是用户预先配置的高度参数，例如：用户可以根据应用场景和应用需求来设置第一飞行高度；或者，该第一飞行高度也可以是根据对其他参数进行分析处理获得的高度参数，例如：可以获取到预设对象所在的检测区域、风速信息、风向信息以及作业时间信息等等，根据检测区域的大小、风速信息、风向信息以及作业时间信息来确定与第一拍摄航线相对应的第一飞行高度。
当然的，本领域技术人员也可以采用其他的方式来确定与第一拍摄航线相对应的第一飞行高度，只要能够保证第一飞行高度确定的准确可靠性即可，在此不再赘述。
S3：根据第一飞行高度确定与第二拍摄航线相对应的第二飞行高度，以使第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值,其中，第一拍摄分辨率与第一拍摄航线相对应，第二拍摄分辨率与第二拍摄航线相对应。
其中，在采用同一个拍摄装置来获取预设对象的图像数据(例如：顶部图像数据和侧面图像数据，或者，第一侧面图像数据和第二侧面图像数据)时，为了保证第一拍摄航线所对应的第一拍摄分辨率与第二拍摄航线所对应的第二拍摄分辨率满足预设要求(第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值)，第一拍摄航线所对应的第一飞行高度与第二拍摄航线所对应的第二飞行高度之间满足预设关系。在获取到第一飞行高度之后，可以对第一飞行高度进行分析处理，从而可以确定与第二拍摄航线相对 应的第二飞行高度。进而可以实现：在无人机以第一飞行高度执行第一拍摄航线、并根据第二飞行高度执行第二拍摄航线时，可以使得第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值，其中，第一拍摄分辨率是无人机在执行第一拍摄航线时，拍摄装置所对应的拍摄分辨率；第二拍摄分辨率是无人机在执行第二拍摄航线时，拍摄装置所对应的拍摄分辨率。进一步的，为了便于进行数据处理，在无人机执行第一拍摄航线时，第一拍摄分辨率与拍摄装置的主光轴相对应；和/或，在无人机执行第二拍摄航线时，第二拍摄分辨率与拍摄装置的主光轴相对应。
本实施例提供的航线调整方法，通过获取第一拍摄航线和第二拍摄航线，确定与第一拍摄航线相对应的第一飞行高度，而后根据第一飞行高度确定与第二拍摄航线相对应的第二飞行高度，进而可以实现：在无人机以第一飞行高度执行第一拍摄航线、并根据第二飞行高度执行第二拍摄航线时，可以使得第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值，也即使得对预设对象进行数据采集的拍摄分辨率保持近似不变，为后续的数据处理操作提供了便利，有利于提高数据处理的准确性，保证了该方法的实用性，有利于市场的推广与应用。
图5为本发明实施例提供的确定与第一拍摄航线相对应的第一飞行高度的流程示意图；在上述实施例的基础上，继续参考附图5所示，本实施例中的确定与第一拍摄航线相对应的第一飞行高度可以包括：
S21：获取与第一拍摄航线相对应的第一拍摄分辨率。
其中，第一拍摄分辨率可以是用户预先配置的分辨率参数，例如：用户可以根据应用场景和应用需求的不同来设置不同的第一拍摄分辨率。当然的，本领域技术人员也可以采用其他的方式来获取与第一拍摄航线相对应的第一拍摄分辨率，只要能够保证第一拍摄分辨率获取的准确可靠性即可，在此不再赘述。
S22：根据第一拍摄分辨率确定第一飞行高度。
在获取到第一拍摄分辨率之后，可以对第一拍摄分辨率进行分析处理，从而可以确定第一飞行高度。具体的，参考附图6所示，本实施例中的根据第一拍摄分辨率确定第一飞行高度可以包括：
S221：获取无人机执行第一拍摄航线时的图像采集参数。
其中，图像采集参数包括以下至少之一：像元尺寸、焦距。上述的像元 尺寸与拍摄装置的型号和结构相关；焦距可以是预先设置的或者用户设定的，并且，用户还可以根据不同的应用场景对拍摄装置的焦距进行调整。
S222：根据第一拍摄分辨率和图像采集参数确定第一飞行高度。
在获取到第一拍摄分辨率和图像采集参数之后，可以对第一拍摄分辨率和图像采集参数进行分析处理，从而可以确定第一飞行高度。具体的，参考附图7所示，在第一拍摄航线为垂直拍摄航线，第二拍摄航线为倾斜拍摄航线时，本实施例中的根据第一拍摄分辨率和图像采集参数确定第一飞行高度可以包括：
S2221：获取第一拍摄分辨率与焦距的乘积值。
S2222：将乘积值与像元尺寸的比值确定为第一飞行高度。
具体的，在获取到第一拍摄分辨率、焦距和像元尺寸之后，则可以根据以下公式确定第一飞行高度：
Figure PCTCN2019108506-appb-000001
其中，h为第一飞行高度，GSD 正射为与垂直拍摄航线相对应的第一拍摄分辨率，f为焦距，l为像元尺寸。
通过上述公式不仅可以准确地获取到第一飞行高度，并且也提高了第一飞行高度获取的灵活可靠性，即用户不仅仅可以对第一飞行高度进行预先配置，也可以通过第一拍摄分辨率来获取第一飞行高度，进一步提高了该方法使用的灵活可靠性。
图8为本发明实施例提供的根据第一飞行高度确定与第二拍摄航线相对应的第二飞行高度的流程示意图；在上述实施例的基础上，继续参考附图8所示，本实施例对于根据第一飞行高度确定与第二拍摄航线相对应的第二飞行高度的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，较为优选的，本实施例中的根据第一飞行高度确定与第二拍摄航线相对应的第二飞行高度可以包括：
S31：获取倾斜拍摄航线相对于地面的倾斜角度。
S32：根据第一飞行高度和倾斜角度确定第二飞行高度。
其中，为了便于理解本实施例中的实现原理，首先对第一飞行高度与第二飞行高度之间存在的关联关系进行说明，具体的，参考附图9-10所示。假设相机焦距为f(图中小三角形的垂线)，像元尺寸为l，在无人机执行垂直拍摄航线时，飞行对地高度为h；倾斜拍摄航线的主光轴的倾斜角度为对地夹角 为∠α(正射摄影中此角大小为90度)；
对于垂直拍摄航线而言，则有公式：
Figure PCTCN2019108506-appb-000002
而对于倾斜拍摄航线而言，则有公式：
Figure PCTCN2019108506-appb-000003
通过上述两个公式，可以获知：对于同一拍摄装置，同样在主光轴处，第二拍摄分辨率GSD 倾斜的大小为第一拍摄分辨率GSD 正射的1/sinα倍。例如：当倾斜角度为45度时，通过倾斜拍摄航线和垂直拍摄航线所获得的两套图像之间的GSD大小(即分辨率)差距为约1.4倍，对于之后的数据处理过程有较大影响。
为了避免因拍摄分辨率不同而影响数据处理的过程，在获取到第一飞行高度之后，则可以上述公式确定第二拍摄航线所对应的第二飞行高度，该第二飞行高度可以使得第二拍摄分辨率与第一拍摄分辨率近似相同。此时，则可以先获取倾斜拍摄航线相对于地面的倾斜角度，具体应用时，为了提高倾斜角度获取的质量和效率，则可以获取到倾斜拍摄航线的主光轴相对于地面的倾斜角度，即以主光轴相对于地面的倾斜角度作为倾斜拍摄航线相对于地面的倾斜角度的代表进行处理。具体的，在获取倾斜角度时，可以先获取拍摄装置的位姿信息，通过拍摄装置的位置信息来确定倾斜角度；当然的，本领域技术人员也可以采用其他的方式来获取到倾斜角度，在此不再赘述。
在获取到倾斜拍摄航线相对于地面的倾斜角度之后，则可以根据第一飞行高度和倾斜角度确定第二飞行高度；具体的，参考附图11所示，本实施例中的根据第一飞行高度和倾斜角度确定第二飞行高度，包括：
S321：获取倾斜角度的正弦值。
S322：将第一飞行高度与正弦值的比值确定为第二飞行高度。
具体的，在获取到上述公式(1)和公式(2)时，在GSD 正射与GSD 倾斜近似相同时，则可以获取到第一飞行高度h 正射与第二飞行高度h 倾斜之间存在关联关系如下：
h 倾斜＝h 正射/sinα；
因此，在获取到倾斜角度之后，可以获取到倾斜角度的正弦值，并根据上述公式可以将第一飞行高度与正弦值的比值确定为第二飞行高度，从而有效地保证了第二飞行高度获取的准确可靠性，进一步提高了该方法使用的稳 定可靠性。
图12为本发明实施例提供的另一种航线调整方法的流程示意图；在上述实施例的基础上，继续参考附图12所示，为了提高该方法使用的灵活可靠性，本实施例中的方法还可以包括：
S101：获取针对倾斜拍摄航线的拍摄需求信息。
S102：根据拍摄需求信息对倾斜角度进行调整。
在对预设对象的侧面数据进行数据采集时，不同的应用场景和应用需求可以采集到不同的侧面数据。具体的，用户可以根据应用需求和设计需求针对倾斜拍摄航线输入不同的拍摄需求信息，该拍摄需求信息可以包括：获取比较深的侧面纹理数据需求或者获取比较精细的侧面纹理数据需求等等；在获取到拍摄需求信息之后，可以根据拍摄需求信息对倾斜角度进行调整，例如：可以将倾斜角度调整为45°或者60°等等，具体在对倾斜角度进行调整时，可以通过对云台的姿态角度进行调整来实现。需要注意的是，在与地面的倾斜角度越大时，则越适合拍摄深度比较深的侧面纹理数据；在与地面的倾斜角度越小时，则越适合精细地拍摄侧面纹理数据。基于上述调整原理，本领域技术人员可以根据不同的拍摄需求将倾斜角度调整为其他角度，例如：30°、50°等等，在此不再赘述。
本实施例中，通过获取针对倾斜拍摄航线的拍摄需求信息，而后根据拍摄需求信息对倾斜角度进行调整，有效地满足了用户的各种拍摄需求，保证了该方法使用的稳定可靠性。
图13为本发明实施例提供的又一种航线调整方法的流程示意图；在上述实施例的基础上，继续参考附图13所示，为了提高该方法使用的安全可靠性，本实施例中的方法还可以包括：
S201：获取第一拍摄航线与第二拍摄航线之间的执行顺序。
S202：根据执行顺序控制无人机执行第一拍摄航线和第二拍摄航线。
其中，在利用同一个无人机执行第一拍摄航线和第二拍摄航线时，第一拍摄航线和第二拍摄航线的执行顺序可以是预先配置的或者用户指定的顺序；一般情况下，垂直拍摄航线的执行顺序优先于倾斜拍摄航线的执行顺序，也即，当存在垂直拍摄航线和倾斜拍摄航线需要执行时，无人机会先执行垂直拍摄航线，在垂直拍摄航线执行完毕后再执行倾斜拍摄航线。当然的，本领域技术人员也可以根据具体的应用场景和需求设置其他的执行顺序，例如： 无人机也可以先执行倾斜拍摄航线，在倾斜拍摄航线执行完毕之后，再执行垂直拍摄航线。
在获取到执行顺序之后，可以根据执行顺序控制无人机执行第一拍摄航线和第二拍摄航线。具体的，参考附图14所示，本实施例中的根据执行顺序控制无人机执行第一拍摄航线和第二拍摄航线可以包括：
S301：控制无人机以第一飞行高度执行第一拍摄航线；
S302：控制无人机以第二飞行高度执行第二拍摄航线。
其中，步骤S301与步骤S302的执行顺序即为上述实施例中所获取的第一拍摄航线与第二拍摄航线之间的执行顺序，可以理解的是，步骤S301与步骤S302的执行顺序并不限于上述序号所限定的顺序，也即：步骤S302也可以在步骤S301之前执行。具体的，在控制无人机以第一飞行高度执行第一拍摄航线，且以第二飞行高度执行第二拍摄航线时，可以有效地保证无人机在执行第一拍摄航线和第二拍摄航线所对应的拍摄分辨率基本保持一致。
需要注意的是，本实施例中的根据执行顺序控制无人机执行第一拍摄航线和第二拍摄航线在不同的应用场景下可以具有不同的执行主体，具体的，一种应用场景为：执行主体为地面端设备，此时，地面端设备可以与无人机通信连接，地面端设备可以直接控制无人机根据执行顺序执行第一拍摄航线和第二拍摄航线。又一种应用场景为：执行主体为无人机，此时，在无人机获取到执行顺序、第一拍摄航线和第二拍摄航线之后，可以根据执行顺序直接执行第一拍摄航线和第二拍摄航线，此时的地面端设备可以用于显示无人机所执行的第一拍摄航线和第二拍摄航线。还一种应用场景为：执行主体包括地面端设备和无人机，此时，本实施例中的方法步骤适应性调整为如下步骤：
S202a：地面端设备将第一拍摄航线、第二拍摄航线以及执行顺序发送至无人机。
S202b：无人机接收地面端设备发送的第一拍摄航线、第二拍摄航线以及执行顺序，并根据执行顺序执行第一拍摄航线和第二拍摄航线。
此时，地面端设备可以生成第一拍摄航线和第二拍摄航线，可以针对第一拍摄航线和第二拍摄航线获取执行顺序，为了能够实现对无人机的控制，地面端设备可以将第一拍摄航线、第二拍摄航线以及执行顺序发送至无人机，无人机接收到第一拍摄航线、第二拍摄航线以及执行顺序之后，可以根据执 行顺序来执行执行第一拍摄航线和第二拍摄航线，以实现通过无人机上的拍摄装置获取预设对象的图像数据，从而有效地保证了无人机作业的质量和效率。
图15为本发明实施例提供的还一种航线调整方法的流程示意图；在上述实施例的基础上，继续参考附图15所示，在控制无人机以第一飞行高度执行第一拍摄航线之后，本实施例中的方法还包括：
S401：获取无人机的第一飞行高度与第二飞行高度的高度差值。
S402：在高度差值大于或等于预设的距离阈值时，则将无人机的第一飞行高度调整为第二飞行高度。
具体的，在控制无人机以第一飞行高度执行第一拍摄航线之后，可以控制无人机以第二飞行高度执行第二拍摄航线，此时，无人机当前的飞行高度即为第一飞行高度，为了能够实现对无人机的准确控制，需要获取无人机的第一飞行高度与第二飞行高度之间的高度差值，在获取到高度差值之后，则可以将高度差值与预先设置的距离阈值进行分析比较，在高度差值小于距离阈值时，则可以说明第一飞行高度与第二飞行高度近似一致，此时则不需要对无人机的飞行高度进行调整；在高度差值大于或等于距离阈值时，则说明第一飞行高度与第二飞行高度不同，此时，为了能够使得无人机在执行第一拍摄航线所对应的第一拍摄分辨率与执行第二拍摄航线时所对应的第二拍摄分辨率近似一致，则需要将无人机的第一飞行高度调整为第二飞行高度，从而可以控制无人机以第二飞行高度执行第二拍摄航线。
举例来说：在当需要对预设对象进行精细的3D建模时，需要获取预设对象的顶部图像数据和侧面图像数据。此时，如果使用搭载单镜头的拍摄装置对预设对象进行拍摄时，则需要进行正射摄影与倾斜摄影，也即，无人机需要执行一条垂直拍摄航线和四条倾斜拍摄航线。在作业过程中，可以首先采用正射拍摄，从区域的正上方，控制无人机以第一飞行高度执行垂直拍摄航线，此时镜头朝下进行拍照，重点在于拍摄预设对象正上方的纹理信息。在完成正射方向的摄影测量后，可以调整相机云台的角度，并将无人机的飞行高度由第一飞行高度调整为第二飞行高度，开始分别依次执行多个倾斜摄影航线，从而可以准确地获取到预设对象的多个侧面纹理数据。
进一步的，在获得预设对象的顶部图像数据和侧面图像数据之后，本实施例中的方法还可以包括：
S501：根据预设对象的顶部图像数据和侧面图像数据对预设对象进行三维建模处理，获得与预设对象相对应的三维模型。
其中，为了能够实现对预设对象进行三维建模处理，预设对象的侧面图像数据可以包括：针对预设对象左侧面的左侧面图像数据、针对预设对象右侧面的右侧面图像数据、针对预设对象前侧面进行拍摄的前侧面图像数据、针对预设对象后侧面进行拍摄的后侧面图像数据；此时，可以结合所获得的预设对象的顶部图像数据和侧面图像数据对预设对象进行三维建模处理，进而可以获得与预设对象相对应的三维模型，这样可以使得用户直观地了解预设对象的形态特征，提高了该方法的实用性。
具体应用时，参考附图16所示，本应用实施例提供了一种可调节高度的航线调整方法，该方法的执行主体包括地面端设备和无人机，在通过地面端设备和无人机执行上述的航线调整方法时，可以实现：当用户使用单镜头的拍摄装置、且基于无人机、垂直拍摄航线和多个倾斜拍摄航线(如5航线)针对预设对象进行数据采集时，地面端设备中可以设定云台的角度值，根据设定的云台角度值和当前航线执行的云台角度值可以判定当前航线是垂直拍摄航线(正射航线)还是倾斜拍摄航线。在确定垂直拍摄航线和倾斜拍摄航线之后，用户可以针对垂直拍摄航线设定，地面端设备可以根据设定的分别计算正射航线高度和倾斜航线高度。或者，用户可以直接针对垂直拍摄航线设定正射航线高度，地面端设备可以根据设定的和云台的倾斜角度来计算倾斜航线高度，实现了对垂直拍摄航线与倾斜拍摄航线之间的高度信息进行确定和调整，进而保证了正射照片和倾斜照片的分辨率位于同样水平。
具体的，该方法可以包括如下步骤：
step1：用户通过地面端设备设定与垂直拍摄航线相对应的正射分辨率。
step2：根据正射分辨率确定与垂直拍摄航线相对应的正射飞行高度。
具体的，在使用地面端设备进行航测飞行任务设置的过程中，地面端设备可以支持GSD分辨率的设置，从而可以获取到正射分辨率，根据分辨率进行正射飞行高度的计算，假设像元大小为l，焦距为f，则与垂直拍摄航线相对应的正射飞行高度可以利用以下公式计算获得，即
＝。
需要注意的是，在用户使用多个镜头的相机对预设对象进行数据采集时，多个镜头的焦距可以不同。具体的，可以先在多个镜头中确定一正射镜头，而后获取到正射镜头的正射焦距，获取正射镜头的正射焦距与其他镜头的倾斜焦距之间的对应关系，将正射角度按比例进行缩小，确定与其他镜头相对应的倾斜焦距，之后，可以利用上述的数据处理方式获取到正射飞行高度和倾斜飞行高度。
与上述实施方式不同的是，又一种可实现的方式，具体为：
step2a：用户通过地面端设备设定与垂直拍摄航线相对应的正射飞行高度为h。
step3：根据正射飞行高度确定与倾斜拍摄航线相对应的倾斜飞行高度。
具体的，设定倾斜拍摄航线的倾斜角度为对地∠α，则基于正射飞行高度、倾斜角度∠α和以下公式，可以计算出与倾斜拍摄航线相对应的倾斜飞行高度：
＝
在以倾斜飞行高度控制无人机执行倾斜拍摄航线，以正射飞行高度控制无人机执行垂直拍摄航线时，与垂直拍摄航线相对应的正射拍摄分辨率和与倾斜拍摄航线相对应的倾斜拍摄分辨率近似一致。
step4：地面端设备可以将一套5航线的主任务分解成5个子任务，其中，包括：垂直拍摄航线(正射飞行高度h，任务标记为mission_ortho)和不同方向的倾斜拍摄航线(倾斜高度，任务标记为mission_obl_1，2，3，4)。
step5：在地面端设备设定好5套子任务后(包括航线、高度、相机设置参数等)，可以将主任务的参数发送至无人机(无人机的飞控***)。
step6：无人机按照接收到的任务设定逐个(默认先执行正射任务mission_ortho，执行完正射任务后，再依次执行倾斜任务)执行任务。用户也可以自行设定飞机作业子任务的顺序。
具体的，在无人机执行子任务时，可以先判定下一任务的任务标记，并检查此刻飞行高度，如果此刻飞行高度与当前作业或飞行的高度有偏差，则对飞行高度进行调整，调整至相应正确高度，执行下一任务；从而保证通过拍摄装置获得的所有照片的GSD(分辨率)的一致性。
本应用实施例提供的航线调整方法，可以支持通过设定的正射航线高度来计算与倾斜拍摄航线所对应的倾斜航线高度，也可以通过设定的GSD来计算与垂直拍摄航线相对应的正射航线高度和与倾斜拍摄航线所对应的倾斜航线高度；并且，在倾斜摄影测量的过程中，当从垂直拍摄航线切换到倾斜拍摄航线时，可以根据当前执行的航线和即将执行的航线，自动调整其作业高度，使得GSD(与主光轴相对应的GSD)保持近似不变，为后续的建图处理提供便利，提高了数据处理的准确可靠性。
图17为本发明实施例提供的一种航线调整***的结构示意图；参考附图17所示，本实施例提供了一种航线调整***，该航线调整***可以执行上述图4所示的航线调整方法，具体的，该航线调整***可以包括：
存储器12，用于存储计算机程序；
处理器11，用于运行存储器12中存储的计算机程序以实现：
获取第一拍摄航线和第二拍摄航线，所述第一拍摄航线用于通过无人机上的拍摄装置沿第一拍摄视角获取预设对象的图像数据，所述第二拍摄航线用于通过无人机的拍摄装置沿第二拍摄视角获取预设对象的图像数据，所述第一拍摄视角与所述第二拍摄视角不相同；
确定与所述第一拍摄航线相对应的第一飞行高度；
根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度，以使第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值,其中，所述第一拍摄分辨率与所述第一拍摄航线相对应，所述第二拍摄分辨率与所述第二拍摄航线相对应。
其中，该航线生成***的结构中还可以包括通信接口13，用于电子设备与其他设备或通信网络通信。
在一个实施例中，所述第一拍摄航线为垂直拍摄航线，所述第二拍摄航线为倾斜拍摄航线；所述垂直拍摄航线用于通过无人机上的拍摄装置沿垂直拍摄视角获取预设对象的顶部图像数据，所述倾斜拍摄航线用于通过无人机上的拍摄装置沿倾斜拍摄视角获取预设对象的侧面图像数据；或者，
所述第一拍摄航线为第一倾斜拍摄航线，所述第二拍摄航线为第二倾斜拍摄航线；所述第一倾斜拍摄航线用于通过无人机上的拍摄装置沿第一倾斜拍摄视角获取预设对象的第一侧面图像数据，所述第二倾斜拍摄航线用于通过无人机上的拍摄装置沿第二倾斜拍摄视角获取预设对象的第二侧面图像数据。
在一个实施例中，在处理器11确定与第一拍摄航线相对应的第一飞行高度时，处理器11用于：获取与第一拍摄航线相对应的第一拍摄分辨率；根据第一拍摄分辨率确定第一飞行高度。
在一个实施例中，在处理器11根据第一拍摄分辨率确定第一飞行高度时，处理器11用于：获取无人机执行第一拍摄航线时的图像采集参数；根据第一拍摄分辨率和图像采集参数确定第一飞行高度。
在一个实施例中，图像采集参数包括以下至少之一：像元尺寸、焦距。
在一个实施例中，在所述第一拍摄航线为垂直拍摄航线，所述第二拍摄航线为倾斜拍摄航线时，处理器11根据第一拍摄分辨率和图像采集参数确定第一飞行高度时，处理器11用于：获取第一拍摄分辨率与焦距的乘积值；将 乘积值与像元尺寸的比值确定为第一飞行高度。
在一个实施例中，在处理器11根据第一飞行高度确定与第二拍摄航线相对应的第二飞行高度时，处理器11用于：获取倾斜拍摄航线相对于地面的倾斜角度；根据第一飞行高度和倾斜角度确定第二飞行高度。
在一个实施例中，在处理器11根据第一飞行高度和倾斜角度确定第二飞行高度时，处理器11用于：获取倾斜角度的正弦值；将第一飞行高度与正弦值的比值确定为第二飞行高度。
在一个实施例中，处理器11还用于：获取针对倾斜拍摄航线的拍摄需求信息；根据拍摄需求信息对倾斜角度进行调整。
在一个实施例中，在无人机执行第一拍摄航线时，第一拍摄分辨率与拍摄装置的主光轴相对应；和/或，在无人机执行第二拍摄航线时，第二拍摄分辨率与拍摄装置的主光轴相对应。
在一个实施例中，倾斜拍摄航线包括以下至少一种类型的航线：针对预设对象左侧面进行拍摄的倾斜拍摄航线；针对预设对象右侧面进行拍摄的倾斜拍摄航线；针对预设对象前侧面进行拍摄的倾斜拍摄航线；针对预设对象后侧面进行拍摄的倾斜拍摄航线。
在一个实施例中，处理器11还用于：获取第一拍摄航线与第二拍摄航线之间的执行顺序；根据执行顺序控制无人机执行第一拍摄航线和第二拍摄航线。
在一个实施例中，垂直拍摄航线的执行顺序优先于倾斜拍摄航线的执行顺序。
在一个实施例中，在处理器11根据执行顺序控制无人机执行第一拍摄航线和第二拍摄航线时，处理器11用于：控制无人机以第一飞行高度执行第一拍摄航线；控制无人机以第二飞行高度执行第二拍摄航线。
在一个实施例中，在控制无人机以第一飞行高度执行第一拍摄航线之后，处理器11还用于：获取无人机的第一飞行高度与第二飞行高度的高度差值；在高度差值大于或等于预设的距离阈值时，则将无人机的第一飞行高度调整为第二飞行高度。
在一个实施例中，处理器11还用于：根据预设对象的顶部图像数据和侧面图像数据对预设对象进行三维建模处理，获得与预设对象相对应的三维模型。
图17所示航线调整***可以执行图4-图16所示实施例的方法，本实施例未详细描述的部分，可参考对图4-图16所示实施例的相关说明。该技术方案的执行过程和技术效果参见图4-图16所示实施例中的描述，在此不再赘述。
另外，本发明实施例提供了一种计算机可读存储介质，存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，程序指令用于实现上述图4-图16的航线调整方法。
另外，本实施例的另一方面提供了一种地面端设备，包括：上述任意一种的航线调整***。
此外，本实施例的又一方面提供了一种无人机，包括：上述任意一种的航线调整***。
图18为本发明实施例提供的另一种航线调整***的结构示意图；参考附图18所示，本实施例提供了另一种航线调整***，该***可以包括地面端设备21和无人机22，其中，地面端设备21与无人机22通信连接。
地面端设备21，用于获取第一拍摄航线和第二拍摄航线，所述第一拍摄航线用于通过无人机上的拍摄装置沿第一拍摄视角获取预设对象的图像数据，所述第二拍摄航线用于通过无人机的拍摄装置沿第二拍摄视角获取预设对象的图像数据，所述第一拍摄视角与所述第二拍摄视角不相同；确定与所述第一拍摄航线相对应的第一飞行高度；根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度，以使第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值,其中，所述第一拍摄分辨率与所述第一拍摄航线相对应，所述第二拍摄分辨率与所述第二拍摄航线相对应。
在一个实施例中，所述第一拍摄航线为垂直拍摄航线，所述第二拍摄航线为倾斜拍摄航线；所述垂直拍摄航线用于通过无人机上的拍摄装置沿垂直拍摄视角获取预设对象的顶部图像数据，所述倾斜拍摄航线用于通过无人机上的拍摄装置沿倾斜拍摄视角获取预设对象的侧面图像数据；或者，
所述第一拍摄航线为第一倾斜拍摄航线，所述第二拍摄航线为第二倾斜拍摄航线；所述第一倾斜拍摄航线用于通过无人机上的拍摄装置沿第一倾斜拍摄视角获取预设对象的第一侧面图像数据，所述第二倾斜拍摄航线用于通 过无人机上的拍摄装置沿第二倾斜拍摄视角获取预设对象的第二侧面图像数据。
在一个实施例中，地面端设备21还用于：获取与第一拍摄航线相对应的第一拍摄分辨率；根据第一拍摄分辨率确定第一飞行高度。
在一个实施例中，地面端设备21还用于：获取无人机执行第一拍摄航线时的图像采集参数；根据第一拍摄分辨率和图像采集参数确定第一飞行高度。
在一个实施例中，图像采集参数包括以下至少之一：像元尺寸、焦距。
在一个实施例中，在所述第一拍摄航线为垂直拍摄航线，所述第二拍摄航线为倾斜拍摄航线时，地面端设备21还用于：获取第一拍摄分辨率与焦距的乘积值；将乘积值与像元尺寸的比值确定为第一飞行高度。
在一个实施例中，地面端设备21还用于：获取倾斜拍摄航线相对于地面的倾斜角度；根据第一飞行高度和倾斜角度确定第二飞行高度。
在一个实施例中，地面端设备21还用于：获取倾斜角度的正弦值；将第一飞行高度与正弦值的比值确定为第二飞行高度。
在一个实施例中，地面端设备21还用于：获取针对倾斜拍摄航线的拍摄需求信息；根据拍摄需求信息对倾斜角度进行调整。
在一个实施例中，在无人机执行第一拍摄航线时，第一拍摄分辨率与拍摄装置的主光轴相对应；和/或，在无人机执行第二拍摄航线时，第二拍摄分辨率与拍摄装置的主光轴相对应。
在一个实施例中，倾斜拍摄航线包括以下至少一种类型的航线：针对预设对象左侧面进行拍摄的倾斜拍摄航线；针对预设对象右侧面进行拍摄的倾斜拍摄航线；针对预设对象前侧面进行拍摄的倾斜拍摄航线；针对预设对象后侧面进行拍摄的倾斜拍摄航线。
在一个实施例中，地面端设备21还用于：获取第一拍摄航线与第二拍摄航线之间的执行顺序；
此时，无人机22用于：根据执行顺序执行第一拍摄航线和第二拍摄航线。
在一个实施例中，垂直拍摄航线的执行顺序优先于倾斜拍摄航线的执行顺序。
在一个实施例中，无人机22还用于：以第一飞行高度执行第一拍摄航线；以第二飞行高度执行第二拍摄航线。
在一个实施例中，在无人机22以第一飞行高度执行第一拍摄航线之后， 地面端设备21还用于：获取无人机的第一飞行高度与第二飞行高度的高度差值；在高度差值大于或等于预设的距离阈值时，则将无人机的第一飞行高度调整为第二飞行高度。
在一个实施例中，地面端设备21还用于：根据预设对象的顶部图像数据和侧面图像数据对预设对象进行三维建模处理，获得与预设对象相对应的三维模型。
图18所示航线调整***可以执行图4-图16所示实施例的方法，本实施例未详细描述的部分，可参考对图4-图16所示实施例的相关说明。该技术方案的执行过程和技术效果参见图4-图16所示实施例中的描述，在此不再赘述。
以上各个实施例中的技术方案、技术特征在与本相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本申请保护范围内的等同实施例。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关遥控装置和方法，可以通过其它的方式实现。例如，以上所描述的遥控装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，遥控装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的 全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (36)

  1. 一种航线调整方法，其特征在于，包括：
    获取第一拍摄航线和第二拍摄航线，所述第一拍摄航线用于通过无人机上的拍摄装置沿第一拍摄视角获取预设对象的图像数据，所述第二拍摄航线用于通过无人机的拍摄装置沿第二拍摄视角获取预设对象的图像数据，所述第一拍摄视角与所述第二拍摄视角不相同；
    确定与所述第一拍摄航线相对应的第一飞行高度；
    根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度，以使第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值,其中，所述第一拍摄分辨率与所述第一拍摄航线相对应，所述第二拍摄分辨率与所述第二拍摄航线相对应。
  2. 根据权利要求1所述的方法，其特征在于，所述航线调整方法应用于地面端设备和/或无人机。
  3. 根据权利要求2所述的方法，其特征在于，
    所述第一拍摄航线为垂直拍摄航线，所述第二拍摄航线为倾斜拍摄航线；所述垂直拍摄航线用于通过无人机上的拍摄装置沿垂直拍摄视角获取预设对象的顶部图像数据，所述倾斜拍摄航线用于通过无人机上的拍摄装置沿倾斜拍摄视角获取预设对象的侧面图像数据；或者，
    所述第一拍摄航线为第一倾斜拍摄航线，所述第二拍摄航线为第二倾斜拍摄航线；所述第一倾斜拍摄航线用于通过无人机上的拍摄装置沿第一倾斜拍摄视角获取预设对象的第一侧面图像数据，所述第二倾斜拍摄航线用于通过无人机上的拍摄装置沿第二倾斜拍摄视角获取预设对象的第二侧面图像数据。
  4. 根据权利要求3所述的方法，其特征在于，确定与所述第一拍摄航线相对应的第一飞行高度，包括：
    获取与所述第一拍摄航线相对应的第一拍摄分辨率；
    根据所述第一拍摄分辨率确定所述第一飞行高度。
  5. 根据权利要求4所述的方法，其特征在于，根据所述第一拍摄分辨率确定所述第一飞行高度，包括：
    获取所述无人机执行所述第一拍摄航线时的图像采集参数；
    根据所述第一拍摄分辨率和图像采集参数确定所述第一飞行高度。
  6. 根据权利要求5所述的方法，其特征在于，
    所述图像采集参数包括以下至少之一：像元尺寸、焦距。
  7. 根据权利要求6所述的方法，其特征在于，在所述第一拍摄航线为垂直拍摄航线，所述第二拍摄航线为倾斜拍摄航线时，根据所述第一拍摄分辨率和图像采集参数确定所述第一飞行高度，包括：
    获取所述第一拍摄分辨率与所述焦距的乘积值；
    将所述乘积值与所述像元尺寸的比值确定为所述第一飞行高度。
  8. 根据权利要求7所述的方法，其特征在于，根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度，包括：
    获取所述倾斜拍摄航线相对于地面的倾斜角度；
    根据所述第一飞行高度和倾斜角度确定所述第二飞行高度。
  9. 根据权利要求8所述的方法，其特征在于，根据所述第一飞行高度和倾斜角度确定所述第二飞行高度，包括：
    获取所述倾斜角度的正弦值；
    将所述第一飞行高度与所述正弦值的比值确定为所述第二飞行高度。
  10. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    获取针对所述倾斜拍摄航线的拍摄需求信息；
    根据所述拍摄需求信息对所述倾斜角度进行调整。
  11. 根据权利要求3-10中任意一项所述的方法，其特征在于，
    在所述无人机执行第一拍摄航线时，所述第一拍摄分辨率与所述拍摄装置的主光轴相对应；和/或，
    在所述无人机执行第二拍摄航线时，所述第二拍摄分辨率与所述拍摄装置的主光轴相对应。
  12. 根据权利要求3-10中任意一项所述的方法，其特征在于，所述倾斜拍摄航线包括以下至少一种类型的航线：
    针对预设对象左侧面进行拍摄的倾斜拍摄航线；
    针对预设对象右侧面进行拍摄的倾斜拍摄航线；
    针对预设对象前侧面进行拍摄的倾斜拍摄航线；
    针对预设对象后侧面进行拍摄的倾斜拍摄航线。
  13. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    获取所述第一拍摄航线与第二拍摄航线之间的执行顺序；
    根据所述执行顺序控制所述无人机执行所述第一拍摄航线和第二拍摄航线。
  14. 根据权利要求13所述的方法，其特征在于，所述垂直拍摄航线的执行顺序优先于所述倾斜拍摄航线的执行顺序。
  15. 根据权利要求13所述的方法，其特征在于，根据所述执行顺序控制所述无人机执行所述第一拍摄航线和第二拍摄航线，包括：
    控制所述无人机以第一飞行高度执行所述第一拍摄航线；
    控制所述无人机以第二飞行高度执行所述第二拍摄航线。
  16. 根据权利要求15所述的方法，其特征在于，在控制所述无人机以第一飞行高度执行所述第一拍摄航线之后，所述方法还包括：
    获取所述无人机的第一飞行高度与所述第二飞行高度的高度差值；
    在所述高度差值大于或等于预设的距离阈值时，则将所述无人机的第一飞行高度调整为所述第二飞行高度。
  17. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    根据所述预设对象的顶部图像数据和侧面图像数据对所述预设对象进行三维建模处理，获得与所述预设对象相对应的三维模型。
  18. 一种航线调整***，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于运行所述存储器中存储的计算机程序以实现：
    获取第一拍摄航线和第二拍摄航线，所述第一拍摄航线用于通过无人机上的拍摄装置沿第一拍摄视角获取预设对象的图像数据，所述第二拍摄航线用于通过无人机的拍摄装置沿第二拍摄视角获取预设对象的图像数据，所述第一拍摄视角与所述第二拍摄视角不相同；
    确定与所述第一拍摄航线相对应的第一飞行高度；
    根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度，以使第一拍摄分辨率与第二拍摄分辨率之间的差值小于或等于预设阈值,其中，所述第一拍摄分辨率与所述第一拍摄航线相对应，所述第二拍摄分辨率与所述第二拍摄航线相对应。
  19. 根据权利要求18所述的航线调整***，其特征在于，
    所述第一拍摄航线为垂直拍摄航线，所述第二拍摄航线为倾斜拍摄航线； 所述垂直拍摄航线用于通过无人机上的拍摄装置沿垂直拍摄视角获取预设对象的顶部图像数据，所述倾斜拍摄航线用于通过无人机上的拍摄装置沿倾斜拍摄视角获取预设对象的侧面图像数据；或者，
    所述第一拍摄航线为第一倾斜拍摄航线，所述第二拍摄航线为第二倾斜拍摄航线；所述第一倾斜拍摄航线用于通过无人机上的拍摄装置沿第一倾斜拍摄视角获取预设对象的第一侧面图像数据，所述第二倾斜拍摄航线用于通过无人机上的拍摄装置沿第二倾斜拍摄视角获取预设对象的第二侧面图像数据。
  20. 根据权利要求19所述的航线调整***，其特征在于，在所述处理器确定与所述第一拍摄航线相对应的第一飞行高度时，所述处理器用于：
    获取与所述第一拍摄航线相对应的第一拍摄分辨率；
    根据所述第一拍摄分辨率确定所述第一飞行高度。
  21. 根据权利要求20所述的航线调整***，其特征在于，在所述处理器根据所述第一拍摄分辨率确定所述第一飞行高度时，所述处理器用于：
    获取所述无人机执行所述第一拍摄航线时的图像采集参数；
    根据所述第一拍摄分辨率和图像采集参数确定所述第一飞行高度。
  22. 根据权利要求21所述的航线调整***，其特征在于，
    所述图像采集参数包括以下至少之一：像元尺寸、焦距。
  23. 根据权利要求22所述的航线调整***，其特征在于，在所述第一拍摄航线为垂直拍摄航线，所述第二拍摄航线为倾斜拍摄航线时，所述处理器根据所述第一拍摄分辨率和图像采集参数确定所述第一飞行高度时，所述处理器用于：
    获取所述第一拍摄分辨率与所述焦距的乘积值；
    将所述乘积值与所述像元尺寸的比值确定为所述第一飞行高度。
  24. 根据权利要求23所述的航线调整***，其特征在于，在所述处理器根据所述第一飞行高度确定与所述第二拍摄航线相对应的第二飞行高度时，所述处理器用于：
    获取所述倾斜拍摄航线相对于地面的倾斜角度；
    根据所述第一飞行高度和倾斜角度确定所述第二飞行高度。
  25. 根据权利要求24所述的航线调整***，其特征在于，在所述处理器根据所述第一飞行高度和倾斜角度确定所述第二飞行高度时，所述处理器用 于：
    获取所述倾斜角度的正弦值；
    将所述第一飞行高度与所述正弦值的比值确定为所述第二飞行高度。
  26. 根据权利要求24所述的航线调整***，其特征在于，所述处理器还用于：
    获取针对所述倾斜拍摄航线的拍摄需求信息；
    根据所述拍摄需求信息对所述倾斜角度进行调整。
  27. 根据权利要求19-26中任意一项所述的航线调整***，其特征在于，
    在所述无人机执行第一拍摄航线时，所述第一拍摄分辨率与所述拍摄装置的主光轴相对应；和/或，
    在所述无人机执行第二拍摄航线时，所述第二拍摄分辨率与所述拍摄装置的主光轴相对应。
  28. 根据权利要求19-26中任意一项所述的航线调整***，其特征在于，所述倾斜拍摄航线包括以下至少一种类型的航线：
    针对预设对象左侧面进行拍摄的倾斜拍摄航线；
    针对预设对象右侧面进行拍摄的倾斜拍摄航线；
    针对预设对象前侧面进行拍摄的倾斜拍摄航线；
    针对预设对象后侧面进行拍摄的倾斜拍摄航线。
  29. 根据权利要求28所述的航线调整***，其特征在于，所述处理器还用于：
    获取所述第一拍摄航线与第二拍摄航线之间的执行顺序；
    根据所述执行顺序控制所述无人机执行所述第一拍摄航线和第二拍摄航线。
  30. 根据权利要求29所述的航线调整***，其特征在于，所述垂直拍摄航线的执行顺序优先于所述倾斜拍摄航线的执行顺序。
  31. 根据权利要求29所述的航线调整***，其特征在于，在所述处理器根据所述执行顺序控制所述无人机执行所述第一拍摄航线和第二拍摄航线时，所述处理器用于：
    控制所述无人机以第一飞行高度执行所述第一拍摄航线；
    控制所述无人机以第二飞行高度执行所述第二拍摄航线。
  32. 根据权利要求31所述的航线调整***，其特征在于，在控制所述无 人机以第一飞行高度执行所述第一拍摄航线之后，所述处理器还用于：
    获取所述无人机的第一飞行高度与所述第二飞行高度的高度差值；
    在所述高度差值大于或等于预设的距离阈值时，则将所述无人机的第一飞行高度调整为所述第二飞行高度。
  33. 根据权利要求28所述的航线调整***，其特征在于，所述处理器还用于：
    根据所述预设对象的顶部图像数据和侧面图像数据对所述预设对象进行三维建模处理，获得与所述预设对象相对应的三维模型。
  34. 一种地面端设备，其特征在于，包括：权利要求18至33任一项所述的航线调整***。
  35. 一种无人机，其特征在于，包括：权利要求18至33任一项所述的航线调整***。
  36. 一种计算机可读存储介质，其特征在于，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现权利要求1-17中任意一项所述的航线调整方法。
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