WO2022077236A1 - 测绘相机的控制方法、测绘相机、无人机以及测绘*** - Google Patents
测绘相机的控制方法、测绘相机、无人机以及测绘*** Download PDFInfo
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- WO2022077236A1 WO2022077236A1 PCT/CN2020/120703 CN2020120703W WO2022077236A1 WO 2022077236 A1 WO2022077236 A1 WO 2022077236A1 CN 2020120703 W CN2020120703 W CN 2020120703W WO 2022077236 A1 WO2022077236 A1 WO 2022077236A1
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- 238000013507 mapping Methods 0.000 title claims abstract description 373
- 238000000034 method Methods 0.000 title claims abstract description 76
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- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000002452 interceptive effect Effects 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 14
- 238000012937 correction Methods 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 239000000243 solution Substances 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000012482 calibration solution Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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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
- G05D1/10—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 application relates to the technical field of surveying and mapping, and in particular, to a control method of a surveying and mapping camera, a surveying and mapping camera, an unmanned aerial vehicle, and a surveying and mapping system.
- UAV has a wide range of applications in the field of surveying and mapping.
- a surveying and mapping camera is mounted on the UAV.
- the image of the surveying and mapping area is collected by the surveying and mapping camera.
- the lens of the surveying and mapping camera is usually a non-detachable lens, and before the surveying and mapping camera leaves the factory, the position of the focusing lens group when the lens is focused to infinity is calibrated, and then the focusing lens group is fixed in this position by physical locking.
- the present application provides a control method of a surveying and mapping camera, a surveying and mapping camera, an unmanned aerial vehicle, and a surveying and mapping system.
- a method for controlling a surveying and mapping camera wherein the surveying and mapping camera is mounted on an unmanned aerial vehicle, and the method includes:
- the focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.
- a surveying and mapping camera is provided, the surveying and mapping camera is mounted on a drone, the surveying and mapping camera includes a processor, a memory, and a computer program stored in the memory for execution by the processor, When the processor executes the computer program, the following steps are implemented:
- the focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.
- an unmanned aerial vehicle comprising the surveying and mapping camera of the above-mentioned second aspect.
- a surveying and mapping system includes a drone and a control terminal, the control terminal is installed with a designated APP, and the drone includes a surveying and mapping camera;
- the designated APP is used to receive the target route input by the user and send it to the UAV;
- the surveying and mapping camera includes a processor, a memory, and a computer program stored in the memory for execution by the processor.
- the processor executes the computer program, the following steps are implemented:
- the focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.
- a computer-readable storage medium on which computer program instructions are stored.
- the instructions are executed by a processor, the method for controlling a surveying and mapping camera mentioned in the first aspect can be implemented.
- the target position of the focusing lens group when the lens of the surveying and mapping camera mounted on the UAV is focused to infinity can be automatically determined, and then the target position of the focusing lens group can be determined.
- the focusing lens group is adjusted to the target position and the focus is locked, so that the surveying and mapping camera can capture images of the surveying and mapping area. Since the focusing lens group of the surveying and mapping camera is not physically locked, during the execution of the surveying and mapping task, the target position of the focusing lens group when the lens is focused to infinity in the current operating environment can be automatically determined, and the position of the focusing lens group can be adjusted. It can solve the problem that the focus position of the surveying and mapping camera drifts due to temperature changes, resulting in blurred images.
- FIG. 1 is a schematic diagram of an infinity focus range of a camera according to an embodiment of the present application.
- FIG. 2 is a flowchart of a method for controlling a surveying and mapping camera according to an embodiment of the present application.
- FIG. 3( a ) is a schematic diagram of a target route according to an embodiment of the present application.
- Figure 3(b) is a schematic diagram of adding a buffer area outside the target flight route according to an embodiment of the present application.
- FIG. 4 is a schematic diagram of an application scenario of an embodiment of the present application.
- FIG. 5 is a schematic diagram of a logical structure of a surveying and mapping camera according to an embodiment of the present application.
- the object to be captured can be focused, and the focus can be adjusted to the plane where the object to be captured is located, so as to ensure that the captured image of the captured object is clear.
- the lens of a camera is generally composed of multiple groups of lenses. By adjusting the distance between one or more lens groups and other lens groups, the position of the focus can be adjusted. Among them, the lens group used to change the focus position is called focus. Lens group, the position of the focus can be changed by adjusting the position of the focusing lens group, such as moving the focus forward or backward, so that it is aimed at the target to be photographed.
- the lens of the camera usually also includes an infinite distance threshold, which is related to the aperture, pixel, and sensor of the camera.
- an infinite distance threshold which is related to the aperture, pixel, and sensor of the camera.
- the photographed target is focused, and the image of the photographed target greater than the infinite distance threshold in the camera is clear.
- the infinity distance threshold of a certain type of surveying and mapping camera is 100m
- focus the surveying and mapping camera and use the surveying and mapping camera to shoot within the range of 100m to infinity.
- the photographed target is clear.
- the camera In order to make the camera image clearly when shooting objects beyond the infinity distance threshold, the camera is usually focused at infinity (also called focusing to infinity), that is, the focus target is located within the camera's infinity focus range, and then The camera is used to focus on the focus target, so that the focus is aligned with the focus target, and the position of the focus lens group is determined at this time. This process is called focusing to infinity.
- infinity also called focusing to infinity
- the distance between the lens of the surveying and mapping camera and the photographed target in the surveying and mapping area is relatively far, and the photographed target is usually located in the infinity focus range of the lens of the surveying and mapping camera. Therefore, generally before the surveying and mapping camera leaves the factory, the lens of the surveying and mapping camera will be pre-calibrated to infinity focus to determine the position of the focusing lens group of the lens when the lens of the surveying and mapping camera is focused to infinity, and then fixed by glue or bolts, etc.
- the focusing lens group is fixed in this position by means of physical locking, and the position of the focusing lens group cannot be moved during the subsequent operation of the surveying and mapping camera.
- an embodiment of the present application provides a method for controlling a surveying and mapping camera, where the surveying and mapping camera is mounted on a drone.
- the focusing lens group of the surveying and mapping camera in the embodiment of the present application It is not fixed by physical locking, but can automatically determine the position of the focusing lens group when the surveying and mapping camera focuses to infinity in the current environment during the surveying and mapping operation, adjust the position of the focusing lens group and lock the focus to ensure that the collected The image of the surveyed area is clear.
- the surveying and mapping camera and the drone in the embodiment of the present application may be an integrated device.
- the surveying and mapping camera and the drone may also be two independent devices, and the surveying and mapping camera may communicate with the drone through a physical interface.
- the connection can also be communicated with the drone through a wireless communication network, which is not limited in this embodiment of the present application.
- the integrated device can share a set of processors, and thus, the control method of the surveying and mapping camera can be executed by the shared processor.
- this control method can be performed by the mapping camera.
- part of the processing steps of the control method may be performed by a surveying and mapping camera, and some of the processing steps may be performed by an unmanned aerial vehicle.
- the lens of the surveying and mapping camera in the embodiment of the present application may be a fixed-focus lens, that is, during use, the focal length of the surveying and mapping camera lens cannot be adjusted.
- the The lens can also be a zoom lens.
- control method of the surveying and mapping camera is shown in FIG. 2 and includes the following steps:
- the user can control the UAV to perform surveying and mapping tasks through the control terminal, and the control terminal can install a designated APP.
- the user can set the target route of the UAV to perform the surveying and mapping task and control the flight of the UAV through the APP.
- the drone will operate according to the target route. Since the surveying and mapping area is generally located within the infinity focus range of the surveying and mapping camera, the surveying and mapping camera can automatically determine the focus of the lens in the current environment during the operation of the drone according to the target route.
- the target position of the focusing lens group of the lens when reaching infinity.
- the focusing lens group can be adjusted within a certain range of positions.
- the focusing lens group By driving the focusing lens group to move through the device in the surveying camera that drives the focusing lens group to move, its position can be changed. When the focusing lens group is located in different positions, the focus position of the camera will also occur. Variety. Due to changes in the working environment, the position of the focal point will change when the camera focuses to infinity. Therefore, it is necessary to determine the target position of the focusing lens group when the lens focuses to infinity according to the actual operating conditions.
- the timing of the target position can be determined according to actual needs. For example, it can be executed before each surveying and mapping task is performed, or in order to ensure that each image collected is clear, it can also be executed before each image is collected, or when the drone arrives on the route. Executed at the position specified in , or executed once at a certain time interval, which is not limited here.
- the device that drives the focusing lens group to move in the surveying and mapping camera can adjust the focusing lens group to the target position, and then lock the focus. After the focus is locked, the position of the focus of the lens is fixed, and then the image of the surveying and mapping area is collected during the flight of the drone according to the target route, that is, a clear image can be collected.
- the surveying and mapping camera provided by the embodiment of the present application is not factory-calibrated, that is, the position of the focusing lens group when the camera is focused to infinity is not calibrated, and then physically locked so that it cannot be changed.
- the target position of the focusing lens group when focusing to infinity is automatically determined at any time according to the actual operating environment, and then the position of the focusing lens group is adjusted, which can avoid the focus position drift due to temperature changes and the collected images are not clear. The problem.
- the UAV can include a gimbal, and the surveying and mapping camera can be mounted on the UAV through the gimbal, wherein the gimbal can be a single-axis gimbal or a multi-axis gimbal.
- a three-axis pan/tilt may be used, and when the image of the surveying and mapping area is collected, the pan/tilt may be controlled to rotate, so that the surveying and mapping camera can take pictures of the surveying and mapping region at different angles.
- the target position of the focusing lens group when the lens of the surveying and mapping camera is focused to infinity it is possible to pre-calibrate the position of the focusing lens group of the lens when the lens of the surveying and mapping camera is focused to infinity under different temperatures. position to get the calibration data. Then, the target position of the focusing lens group when the lens is focused to infinity is determined according to the temperature of the environment where the lens is located and the calibration data. For example, before the surveying and mapping camera leaves the factory, a calibration plate can be used to perform infinity focus calibration on the lens to determine the position of the focusing lens group when the lens is focused to infinity under different temperatures, and then store it in the surveying and mapping camera.
- the surveying and mapping camera After the surveying and mapping camera leaves the factory, it can be calibrated by the user, and the calibration data is obtained and stored in the surveying and mapping camera.
- the mapping camera performs the mapping operation, the temperature of the environment where the lens is located can be determined, and then the temperature is interpolated through the calibration data to obtain the target position of the focusing lens group at this temperature.
- the temperature of the environment where the lens is located may be determined by the temperature of the surveying area obtained by the drone from the network.
- a temperature sensor may also be set in or near the lens of the surveying and mapping camera. The temperature sensor acquires the temperature of the environment in which the lens is located.
- the target position of the focusing lens group when the lens of the surveying and mapping camera is focused to infinity can also be determined by means of automatic focusing.
- a mapping camera can be focused on an object within the infinity focus range of the lens, and then an autofocus operation can be performed to determine the target location. In this way, there is no need to perform infinity focus calibration before leaving the factory, and the calibration data can be obtained, which can simplify the process of determining the target position.
- the target position in order to determine the target position more accurately, can also be determined according to the location of the lens.
- the target position is determined by the ambient temperature, calibration data, and auto-focusing method. For example, the target position determined by the two methods can be averaged or weighted to obtain the final target position of the focusing lens group.
- the surveying and mapping camera does not have the function of positioning or ranging, but UAVs generally have the function of positioning or ranging, for example, positioning or ranging can be performed through the binocular vision sensor, lidar, GPS and other devices of the UAV. Therefore, in some embodiments, the UAV can be used for positioning or ranging.
- the positioning function or ranging function determines whether the focus target is within the infinity focus range of the lens. If the focus target is within the lens' infinity focus range, you can send an instruction to focus to infinity to the surveying and mapping camera.
- the user After the command to focus to infinity, perform an autofocus operation to determine the target position. If the focus target is not within the infinity focus range of the lens, the user can be prompted to adjust the flying height of the drone, or adjust the aperture of the mapping camera so that the focus target is within the lens' infinity focus range.
- the focus target can be selected according to the actual situation.
- the photographed target in the mapping area can be used as the focus target of the lens, or a specified target can be used as the focus target, which is not limited here.
- a specified target can be used as the focus target, which is not limited here.
- the camera sends a command to focus to infinity.
- the specified position can be a certain position in the target route, or the position after the drone flies from the take-off point to a certain height, as long as the drone is at the specified position, the focus target is within the infinity focus range of the lens.
- a surveying and mapping camera can use a building in front of it as a focus target.
- the distance between the drone and the focus target can be measured by the ranging device on the drone.
- the distance between the drone and the building is greater than the infinity distance threshold, it sends an instruction to focus to infinity to the surveying and mapping camera, so that the surveying and mapping camera can perform an auto-focusing operation to determine the target position.
- the instruction to focus to infinity may be transmitted to the surveying and mapping camera through a preset data transmission protocol by the flight control system of the UAV after determining that the UAV is located at the designated position.
- a drone and a surveying and mapping camera can be two independent devices, and the two devices can transmit data through a predefined physical interface and data transmission protocol, or through a predefined wireless data transmission protocol.
- the flight control system of the man-machine detects that the drone is at the specified position, it can send an instruction to focus to infinity to the surveying and mapping camera through a predefined data protocol, so that the surveying and mapping camera can perform automatic focusing operations.
- the transmission link may be long and the transmission link may not be stable, resulting in a slow transmission efficiency of the command.
- the instruction in order to improve the transmission efficiency of the instruction, can also be triggered through a pre-designed hardware trigger interface. After the UAV's flight control system determines that the UAV is located at the specified position, the instruction to focus to infinity can be triggered through the pre-designed hardware trigger interface on the mapping camera. For example, by pulling up or down the hardware interface level, and trigger the instruction focusing to infinity through pure hardware, so that the time for transmitting the instruction through the transmission link can be omitted, and the transmission efficiency of the instruction can be improved.
- the photographed targets in the surveying and mapping area on the ground are usually within the infinity focus range of the lens of the surveying and mapping camera. Therefore, in order to improve the operation efficiency, it can also be used when the UAV is on the target route. , and directly use the photographed target in the surveying and mapping area as the focusing target, so that the surveying and mapping camera can perform an automatic focusing operation to determine the target position.
- the designated position may be the starting waypoint of the target route of the UAV.
- the The flight control system can send an instruction to focus to infinity to the surveying and mapping camera.
- the surveying and mapping camera After the surveying and mapping camera receives the instruction, it can complete the operation of automatically focusing to infinity, determine the target position of the focusing lens group, and adjust the focusing lens group to After the target position, the focus is locked, so that during the flight of the drone according to the target route, the surveying and mapping camera collects images according to the determined position of the focusing lens group, and obtains a clear image.
- the designated location may also be a buffer area outside the target route.
- the target route can include multiple route segments.
- the temperature of the surveying and mapping area corresponding to different route segments fluctuates greatly. If only one autofocus operation is performed at the starting waypoint of the target route, it may be possible to collect images later in the future. During the process, there will still be a phenomenon that the focus position drifts due to temperature changes, so that the collected images are not clear.
- the UAV when the UAV is currently switching between two flight segments, the UAV usually starts to decelerate before reaching the end point of the previous flight segment to adjust the course and switch to the next flight segment, as shown in Figure 3
- the target route includes route segment 1, route segment 2, and route segment 3.
- Point A in the figure is the starting waypoint.
- the gimbal equipped with the surveying and mapping camera still needs to be rotated to different directions to collect images of the surveying and mapping area, which may cause the gimbal to hit the limit during rotation due to the rapid deceleration of the drone, which will also affect the collected The quality of the image of the mapped area.
- an additional buffer area can be added at the end waypoint of each route segment, as shown in Figure 3(b), the buffer area is the extension area of the end waypoint of each route segment (the dotted line in the figure). part), the buffer area can be a straight area or a curved area, which is not limited in this application.
- the UAV can switch between two flight segments through the buffer area. For example, the UAV arrives at the previous route. When the route segment (such as route segment 1) ends at waypoint C, the deceleration begins. During the deceleration process, no one will continue to fly for a while and adjust the heading. The area where the drone flies outside the route segment is the buffer area.
- the UAV when the UAV flies within the route segment, there is no need to decelerate, which can avoid the problem of hitting the limit when the gimbal rotates, and ensure the quality of the collected images.
- it can provide time for the UAV to focus automatically without affecting the image acquisition of the surveying and mapping area.
- the image capture when the drone is in the buffer area, the image capture can be stopped, so as to avoid affecting the auto-focus of the drone.
- the surveying and mapping camera can perform auto-focusing and focus-locking operations on other waypoints of the target route in addition to the starting waypoint of the target route and the buffer area.
- the locking operation for example, at a certain time interval, or at every preset number of waypoints, that is, performing an automatic focus and focus locking operation, is not limited in this application.
- the orientations of the surveying and mapping cameras may also be located in different directions during the rotation of the gimbal. Therefore, before the surveying and mapping camera performs the automatic focusing operation to determine the target position, the gimbal can be controlled to rotate to ensure that the lens of the surveying and mapping camera faces the ground, and then the automatic focusing operation is performed.
- the lenses used in surveying and mapping cameras are non-removable lenses.
- the lens of the surveying and mapping camera can be designed as an interchangeable lens, and the user can replace the lens of the surveying and mapping camera by himself. Since the parameters corresponding to the lens will also change after the lens is replaced, the lens parameters stored in the mapping camera system do not match the replaced lens.
- the lens parameters may include the target position of the focusing lens group when the lens is focused to infinity, internal parameters of the lens (such as focal length, sensor center offset, etc.), and distortion correction parameters of the lens. When the lens is replaced, these lens parameters will also change. If the lens parameters of the last lens stored in the system are still used, problems will occur in the captured images.
- a lens identifier that uniquely identifies the lens may be set for each lens, such as an SN number or other numbers or symbols identifying the lens.
- the lens parameters of each lens can be bound to the lens ID, and the body and lens of each mapping camera are also bound, for example, the lens ID of the lens is stored in the body of the mapping camera.
- data transmission can be performed between the body and the lens of the surveying and mapping camera through a predefined data transmission protocol, and a lens identification field can be added to the data transmission protocol of the two.
- the lens When the lens is installed on the body of the surveying and mapping camera
- the lens can transmit instructions to the surveying and mapping camera, and the body of the surveying and mapping camera can identify the lens identification in the data transmission protocol, so as to determine whether the lens is switched according to the lens identification.
- the lens parameters of various lenses may be pre-stored in the mapping camera, and when the replacement of the lens is detected, the replaced lens may be determined from the pre-stored lens parameters according to the lens identifier of the replaced lens. parameters, and then control the mapping camera for image acquisition according to the lens parameters of the replaced lens.
- the user may be prompted to calibrate the parameters of the replaced lens through the interactive interface of the control terminal of the drone. For example, the user can be reminded through a pop-up window that the lens parameters stored in the system do not match the current lens. Please calibrate yourself. During the process of calibrating the lens parameters by yourself, you can display the detailed calibration steps to the user through the APP on the control terminal or Demonstrate a demo video to prompt users to calibrate the lens parameters by themselves.
- a calibration board can be used for calibration, or the UAV can be controlled to perform a certain task, and the target position can be calibrated during the execution of the task. Therefore, multiple calibration schemes can be displayed through the interactive interface of the control terminal, and the user can select a calibration scheme through the interactive interface. After receiving the calibration scheme selected by the user, the surveying and mapping camera calibrates the target position based on the calibration scheme.
- the target position when calibrating the target position where the focusing lens group is located when the replaced lens is focused to infinity, can be calibrated by using a calibration plate. For example, the user can be prompted through the APP to place the calibration plate It is placed within the infinity focus range of the surveying and mapping camera, and then the user can trigger the surveying and mapping camera to perform infinity focus through the trigger control on the APP to determine the target position of the focusing lens group.
- a specific route task can also be used to complete the calibration of the target position, for example, the drone can be controlled to a specified altitude Afterwards, adjust the lens of the surveying and mapping camera to face the ground, and perform the auto-focusing operation to demarcate the target position.
- the drone after the drone flies to the specified height, the object on the ground is located in the infinity focus range of the surveying and mapping camera.
- the specified height can be determined according to the infinite distance threshold, and the infinite distance threshold is calculated according to the following formula (1):
- d Inf is the infinite distance threshold.
- the focus position of the focusing lens group is the infinity focus position;
- f is the focal length of the lens;
- d is the diameter of the sensor's circle of confusion, which is generally 2 sensor pixel width;
- F is the lens aperture value.
- a small-area tilt surveying and mapping operation can be performed, which is calculated by the self-calibration iterative algorithm of the modeling software.
- the lens identifier of the replaced lens and the lens parameters of the replaced lens obtained by the user's calibration can be stored in the system of the surveying and mapping camera correspondingly middle.
- the lens parameters obtained by calibration can be bound with the SN number of the replaced lens, and then stored in the surveying and mapping camera.
- the photographed target in the surveying and mapping area is within the infinity focus range of the surveying and mapping camera.
- the infinity distance threshold of the surveying and mapping camera is related to the aperture of the camera, the distance between the surveying and mapping camera and the target to be photographed can also be monitored in real time through the distance measuring device of the drone.
- the aperture of the surveying and mapping camera can also be adjusted, and the infinity distance threshold of the surveying and mapping camera can be changed, so that the object to be photographed is located within the infinity focus range of the surveying and mapping camera, and then the image of the object to be photographed is collected.
- Mapping cameras can then be applied to scenes with a wide range of heights.
- each waypoint in order to ensure that the images collected by the surveying and mapping cameras are clear during the flight of the UAV on the target route, when the target route is generated, each waypoint can be determined in combination with the elevation map of the surveying and mapping area. corresponding flight altitude.
- the elevation map can reflect the height of objects on the ground, and can determine the flying height of the drone according to the height of objects on the ground to ensure that all objects on the ground are within the infinite focusing range of the surveying and mapping camera.
- the shooting distance of the surveying and mapping camera when shooting the object to be shot can be determined according to the flying height. If the shooting distance is less than the preset distance, it is considered that the object to be shot is located outside the infinity focus range of the surveying and mapping camera. The preset distance can be determined according to the infinity The long-distance threshold is determined. At this time, the user is prompted that the focus cannot be obtained, so that the user can adjust the input flying height. In this way, it can be ensured that when no one is at any position of the target route, the photographed target in the surveying and mapping area is in the infinite focus range of the surveying and mapping camera, and can be clearly imaged.
- the mapping camera can support lenses of different focal lengths. By equipped with lenses of different focal lengths, it can meet the shooting needs of different shooting scenes. For example, a lens with a longer focal length can be used to meet the needs of long-distance and close-up fine shooting modeling.
- the surveying and mapping drone 41 includes a three-axis gimbal 411, and a surveying and mapping camera 412 is mounted on the gimbal 411.
- the lens of the surveying and mapping camera can be a fixed-focus lens or a zoom lens, and the lens adopts a detachable design, and the surveying and mapping camera can support different focal lengths lens to suit the needs of different shooting scenes.
- a temperature sensor is provided inside the lens or near the lens to detect the temperature of the environment where the lens is located.
- the user can control the movement of the drone through the control terminal 42, and a designated APP is installed on the control terminal 42, and the user can set the target route when the drone performs the surveying and mapping operation through the APP.
- the focusing lens group of the lens is not physically locked.
- the surveying and mapping camera can automatically determine the focusing lens group when the lens is focused to infinity position, and then adjust the focus lens group to this position and lock the focus to complete the image acquisition of the mapping area.
- the position of the focusing lens group when the lens is focused to infinity can be determined in the following ways:
- infinity focus calibration is carried out at different temperatures to obtain the position of the focusing lens group when the lens focuses to infinity at different temperatures, and the calibration data is stored in the camera system, and the lens is used in actual operations.
- the temperature sensor inside the lens or near the lens detects the temperature, and calculates the position of the focusing lens group when the lens is focused to infinity by interpolation based on the calibrated data.
- the timing of using this method to determine the position of the focusing lens group can be set according to actual needs, such as when the detected temperature change exceeds a preset threshold, or after every preset time period, or when the UAV is at the designated position of the target route , which is not limited here.
- the user sets the target route when the drone performs the surveying and mapping task through the APP on the control terminal.
- the waypoints of the target route can be input by dotting on the map, and the flight altitude corresponding to each waypoint can be input by the user.
- the APP can obtain the elevation map of the surveying and mapping area, determine the height of each object in the surveying and mapping area according to the elevation map, and then determine that the drone is at the flight height entered by the user according to the infinite distance threshold of the surveying and mapping camera and the height of each object. Whether the object is within the infinity focus range of the surveying and mapping camera, if not, the user will be prompted that the object cannot be focused, so that the user can adjust the input flying height.
- the flying height can also be automatically determined by the APP according to the elevation map, the infinite distance threshold of the surveying and mapping camera, and the shooting accuracy.
- the APP can send the target route to the UAV's flight control system, and the UAV's flight control system can control the UAV to fly to the starting waypoint of the target route.
- the flight control system can control the rotation of the gimbal to make the lens of the surveying and mapping camera face the ground, and then the flight control system sends an instruction to focus to infinity to the system of the surveying and mapping camera. After the surveying and mapping camera receives the instruction, it executes automatic focus operation.
- a buffer area can also be set at the end position of each route segment, and the buffer area is the extension area of the end position of the route segment.
- the buffer area By setting the buffer area, you can provide the camera with time to re-autofocus. At the same time, in the buffer area, the gimbal will stop rotating, which can avoid the risk of hitting the structure or software limit caused by the gimbal swinging backwards due to rapid deceleration.
- the lens of the embodiment of the present application is a detachable lens
- the pre-calibrated lens parameters stored in the surveying and mapping camera system will no longer match the installed lens.
- the camera system needs to be calibrated
- the lens parameters include the position of the focusing lens group when the lens is focused to infinity, the internal parameters of the camera (including the sensor center offset, focal length, etc.), and distortion correction parameters. If the calibrated lens parameters are calculated from an external system, the lens parameters can be passed through The APP, the storage interface of the surveying and mapping camera or the SD card of the surveying and mapping camera are stored in the camera system.
- the surveying and mapping camera and the lens are bound one by one, and the lens parameters and the lens SN calibrated at the factory are written into the surveying and mapping camera system together, and the lens SN field is added to the data transmission protocol between the lens and the camera body.
- the surveying and mapping camera system reads the lens SN and compares it with the lens SN stored in the camera body. If it is found that the user has changed the lens, the APP on the control terminal will prompt the user to perform a self-calibration operation.
- the calibration can also be completed by using specific route tasks.
- the flight control system can control the drone to fly over the take-off point or over the shooting point specified by the user.
- the flying height should be within the infinity focus range, and the flying height can be set according to the infinity distance threshold of the mapping camera.
- the flight control system triggers the camera to focus, and the camera system writes the position of the focusing lens group and the lens SN into the system after successful focusing.
- a small-area tilt mapping operation can be carried out, which is calculated by the self-calibration iterative algorithm of the modeling software.
- the relevant parameter files can be imported into the camera system through the storage interface of the APP surveying and mapping camera or the SD card of the surveying and mapping camera. Neutralize and bind with lens SN.
- the lens can complete the focusing operation at different shooting distances, so that the application scenarios of the surveying and mapping camera are wider, such as close-up photography, such as continuous video recording.
- Autofocus by performing autofocus and focus lock on the route, it can compensate for the focus temperature drift problem that may be caused by the temperature change of the operating environment.
- the position of the focusing lens group can be determined when focusing to infinity by combining the temperature and calibration data. The probability of focusing failure can be reduced.
- the interchangeable lens design is adopted, which can be equipped with lenses of different focal lengths.
- the use of longer focal length lenses can meet the needs of long-distance and close-up fine shooting modeling.
- the present application also provides a surveying and mapping camera, which is mounted on an unmanned aerial vehicle.
- the surveying and mapping camera 50 includes a lens 51 , a processor 52 , a memory 53 , and a camera stored in the memory 53 .
- the focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.
- the processor when the processor is configured to determine the target position where the focusing lens group of the lens is located when the lens of the mapping camera is focused to infinity, the processor is specifically configured to:
- the target position is determined according to the temperature of the environment where the lens of the surveying and mapping camera is located and calibration data, and the calibration data is used to represent the position of the focusing lens group when the lens of the surveying and mapping camera is focused to infinity at different temperatures, and / or
- the target position is determined by means of automatic focusing.
- the surveying camera includes a temperature sensor, and the temperature of the environment where the lens of the surveying camera is located is obtained by the temperature sensor.
- the processor when configured to determine the target position by means of automatic focusing, it is specifically configured to:
- an auto-focusing operation is performed to determine the target position, wherein the instruction to focus to infinity is triggered when the drone is at a specified position, and the unmanned When the camera is located at the designated position, the focus target is located within the infinity focus range of the lens.
- the instruction to focus to infinity is sent to the surveying and mapping by the flight control system of the UAV when it is determined that the UAV is located at the designated position through a preset data transmission protocol camera;
- the instruction to focus to infinity is sent to the mapping camera through a hardware trigger interface by the flight control system of the UAV when it is determined that the UAV is located at the designated position.
- the focus target is a photographed target within the mapping area
- the specified position includes:
- a buffer area outside the target route wherein the target route includes a plurality of route segments, the buffer area is an extension area of the termination waypoint of each route segment, and the buffer area is used to realize the The man-machine switching between the two described flight segments.
- the mapping camera stops capturing images when the drone is in the buffer area.
- the UAV includes a gimbal
- the mapping camera is mounted on the UAV through the gimbal.
- the processor before the processor is configured to perform the autofocus operation, the processor is further configured to:
- the pan/tilt is controlled to rotate to adjust the lens of the surveying camera to face the ground.
- the processor is also used to:
- the user When it is detected that the lens of the surveying and mapping camera is replaced, the user is prompted to calibrate the lens parameters of the replaced lens through the interactive interface of the control terminal of the drone.
- the lens parameters include one or more of the following:
- the target position where the focusing lens group is located when the lens is focused to infinity, the internal parameters of the lens, and the distortion correction parameters of the lens is focused to infinity, the internal parameters of the lens, and the distortion correction parameters of the lens.
- the lens parameter is the target position
- the method further includes:
- the target position is calibrated based on the calibration scheme.
- the calibration scheme includes:
- the object is within the infinity focus range of the mapping camera.
- the lens identifier of the lens is bound to the lens parameter, and the processor is configured to detect that the lens of the mapping camera is replaced, and is specifically configured to:
- the data transfer protocol between the lens of the surveying camera and the body of the surveying camera includes a lens identification field.
- the processor is further configured to:
- the lens identifier of the replaced lens and the lens parameter of the replaced lens obtained by user calibration are stored correspondingly.
- the processor is also used to:
- the lens parameters of the replaced lens are searched from the lens parameters of various types of lenses stored in advance based on the lens identifier of the replaced lens.
- the processor is configured to collect images of the surveying and mapping area during the flight of the UAV according to the target route, and is specifically configured to:
- the aperture of the surveying and mapping camera is adjusted so that the photographed target is located within the infinity focus range of the surveying and mapping camera, and then the captured image is collected. describe the image of the subject being photographed.
- the target route is determined based on:
- the flying height of the UAV is determined according to the elevation map, so as to generate the target route according to the flying height.
- the mapping camera supports lenses of different focal lengths.
- the present application also provides an unmanned aerial vehicle, which is the surveying and mapping camera in any of the above-mentioned embodiments.
- the application also provides a surveying and mapping system, the surveying and mapping system includes an unmanned aerial vehicle and a control terminal, the control terminal is installed with a designated APP, and the unmanned aerial vehicle includes a surveying and mapping camera;
- the designated APP is used to receive the target route input by the user and send it to the UAV;
- the surveying and mapping camera includes a processor, a memory, and a computer program stored in the memory for execution by the processor.
- the processor executes the computer program, the following steps are implemented:
- the focusing lens group is adjusted to the target position and the focus is locked, so as to control the surveying and mapping camera to capture images of the surveying and mapping area during the flight of the drone according to the target route.
- the designated APP is further configured to prompt the user to calibrate the lens parameters of the replaced lens through an interactive interface when the lens of the surveying and mapping camera is replaced.
- the designated APP is further configured to display a calibration scheme for calibrating lens parameters to the user through an interactive interface, receive an instruction from the user to select a calibration scheme, and prompt the user to adjust the lens parameters based on the calibration scheme selected by the user. Calibration is performed.
- the designated APP is further configured to receive the flying height input by the user, and determine the shooting distance for the surveying and mapping camera to capture the image of the photographed target in the surveying and mapping area according to the flying height; When the above-mentioned shooting distance is less than the preset distance, the user will be prompted that the focus cannot be focused through the interactive interface.
- an embodiment of the present specification further provides a computer storage medium, where a program is stored in the storage medium, and when the program is executed by a processor, the control method for a surveying and mapping camera in any of the foregoing embodiments is implemented.
- Embodiments of the present specification may take the form of a computer program product embodied on one or more storage media having program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.
- Computer-usable storage media includes permanent and non-permanent, removable and non-removable media, and storage of information can be accomplished by any method or technology.
- Information may be computer readable instructions, data structures, modules of programs, or other data.
- Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
- PRAM phase-change memory
- SRAM static random access memory
- DRAM dynamic random access memory
- RAM random access memory
- ROM read only memory
- EEPROM Electrically Erasable Programmable Read Only Memory
- Flash Memory or other memory technology
- CD-ROM Compact Disc Read Only Memory
- CD-ROM Compact Disc Read Only Memory
- DVD Digital Versatile Disc
- Magnetic tape cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-
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Abstract
一种测绘相机(412,50)的控制方法、测绘相机(412,50)、无人机(41)以及测绘***。测绘相机(412,50)搭载于无人机(41),方法包括:S202,在无人机(41)按照目标航线进行测绘作业的过程中,确定测绘相机(412,50)的镜头(51)对焦到无穷远时镜头(51)的对焦镜组所处的目标位置;S204,将对焦镜组调整至目标位置并进行对焦锁定,以在无人机(41)按照目标航线飞行过程中控制测绘相机(412,50)对测绘区域进行图像采集。由于没有对测绘相机(412,50)的对焦镜组进行物理锁定,在执行测绘任务过程中,可以自动确定当前作业环境下镜头(51)对焦到无穷远时对焦镜组所处的目标位置,并调整对焦镜组的位置,可以解决因为温度变化导致测绘相机(412,50)焦点位置漂移,造成采集的图像模糊的问题。
Description
本申请涉及测绘技术领域,具体而言,涉及一种测绘相机的控制方法、测绘相机、无人机以及测绘***。
无人机在测绘领域具有广泛的应用,通常在无人机上搭载测绘相机,在无人机按照预定的航线飞行时,通过测绘相机采集测绘区域的图像。目前,测绘相机的镜头通常为不可拆卸镜头,并且测绘相机在出厂前,则标定好镜头对焦到无穷远时对焦镜组的位置,然后通过物理锁定的方式将对焦镜组固定在该位置上。由于无人机需要在不同作业环境下进行作业,不同作业环境的温度会发生变化,焦点的位置也会随温度变化发生漂移,导致采集的测绘区域的图像模糊,无法建模。因此,有必要提供一种方案解决测绘相机因温度变化引起的焦点位置漂移的问题,以保证测绘过程中采集的图像清晰。
发明内容
有鉴于此,本申请提供一种测绘相机的控制方法、测绘相机、无人机以及测绘***。
根据本申请的第一方面,提供一种测绘相机的控制方法,所述测绘相机搭载于无人机,所述方法包括:
在所述无人机按照目标航线进行测绘作业的过程中,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;
将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
根据本申请的第二方面,提供一种测绘相机,所述测绘相机搭载于无人机,所述测绘相机包括处理器、存储器、存储于所述存储器可供所述处理器执行的计算机程序,所述处理器执行所述计算机程序时,实现以下步骤:
在所述无人机按照目标航线进行测绘作业的过程中,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;
将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
根据本申请的第三方面,提供一种无人机,所述无人机包括上述第二方面的测绘相机。
根据本申请的第四方面,提供一种测绘***,所述测绘***包括无人机和控制终端,所述控制终端安装有指定APP,所述无人机包括测绘相机;
所述指定APP用于接收用户输入的目标航线并发送给所述无人机;
所述测绘相机包括处理器、存储器以及存储在所述存储器可供所述处理器执行的计算机程序,所述处理器执行所述计算机程序时,实现以下步骤:
在所述无人机按照所述目标航线进行测绘作业的过程中,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;
将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
根据本申请的第五方面,提供一种计算机可读存储介质,其上存储有计算机程序指令,当该指令被处理器执行时,可实现上述第一方面提及的测绘相机控制方法。
应用本申请提供的方案,在无人机按照目标航线执行测绘任务的过程中,可以自动确定无人机上搭载的测绘相机的镜头对焦到无穷远时对焦镜组所处的目标位置,然后可以将对焦镜组调整至该目标位置并进行对焦锁 定,以便测绘相机对测绘区域进行图像采集。由于没有对测绘相机的对焦镜组进行物理锁定,在执行测绘任务过程中,可以自动确定当前作业环境下镜头对焦到无穷远时对焦镜组所处的目标位置,并调整对焦镜组的位置,可以解决因为温度变化导致测绘相机焦点位置漂移,造成采集的图像模糊的问题。
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。
图1是本申请一个实施例相机无穷远对焦范围的示意图。
图2是本申请一个实施例的一种测绘相机控制方法流程图。
图3(a)是本申请一个实施例的一种目标航线的示意图。
图3(b)是本申请一个实施例的一种在目标航线外增加缓冲区域的示意图。
图4是本申请一个实施例的应用场景的示意图。
图5是本申请一个实施例的一种测绘相机的逻辑结构示意图。
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,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,都属于本申请保护的范围。
在使用相机采集图像时,为了采集得到清晰的图像,可以对被拍摄目标进行对焦,将焦点调整至被拍摄目标所在的平面,以保证采集的被拍摄目标的图像清晰。相机的镜头一般由多组镜片组成,通过调整其中的一组或多组镜片组与其他镜片组的距离,即可以调整焦点的位置,其中,用于改变焦点位置的镜片组,则称为对焦镜组,通过调整对焦镜组的位置可以改变焦点的位置,比如将焦点前移或后移,使其对准被拍摄目标。
相机的镜头通常还包括一个无穷远距离阈值,该无穷远距离阈值与相机的光圈、像元以及传感器等有关。当被拍摄目标与镜头的距离超过该无穷远距离阈值时,对被拍摄目标进行对焦,则大于该无穷远距离阈值的被拍摄目标在相机中的成像都是清晰的。举个例子,假设某种型号的测绘相机的无穷远距离阈值为100m,当测绘相机与被拍摄目标的距离大于100m时,对测绘相机进行对焦,则使用该测绘相机拍摄100m至无穷远范围内的被拍摄目标都是清晰的。如图1所示,当被拍摄目标与测绘相机的镜头的距离大于该无穷远距离阈值d,一般称该被拍摄目标位于该测绘相机镜头的无穷远对焦范围内,此时,被拍摄目标在测绘相机中的成像是清晰的,而当被拍摄目标与测绘相机的镜头的距离小于该无穷远距离阈值d,一般称该被拍摄目标位于该测绘相机镜头的无穷远对焦范围外,此时被拍摄目标在测绘相机中的成像模糊。
为了让相机在拍摄无穷远距离阈值以外的物体时可以清晰成像,通常会对相机进行无穷远对焦(也可以称为对焦到无穷远),即让对焦目标位于相机的无穷远对焦范围内,然后采用相机对该对焦目标进行对焦,使焦点对准对焦目标,并确定此时对焦镜组的位置,这一过程称为对焦到无穷远。
在使用无人机搭载测绘相机采集测绘区域的图像的场景,测绘相机的镜头与测绘区域内的被拍摄目标的距离较远,被拍摄目标通常位于测绘相机镜头的无穷远对焦范围内。所以,一般在测绘相机出厂前,就会预先对测绘相机的镜头进行无穷远对焦标定,确定测绘相机的镜头对焦到无穷远 时镜头的对焦镜组所处的位置,然后通过胶水或者螺栓固定等物理锁定的方式将对焦镜组固定在该位置上,测绘相机在后续的作业过程中,对焦镜组的位置无法移动。但是由于无人机在作业过程中,作业环境的温度存在差异,镜头的焦点的位置会随着环境温度的变化发生漂移,导致测绘相机采集的测绘区域的图像模糊,无法建模。
基于此,本申请实施例提供一种测绘相机的控制方法,该测绘相机搭载于无人机上。为了在测绘作业过程中,可以随时调整镜头的对焦镜组的位置以改变焦点的位置,以解决因作业环境温度的变化导致的焦点位置漂移的问题,本申请实施例中测绘相机的对焦镜组不采用物理锁定的方式固定,而是可以在测绘作业过程中自动确定当前环境下测绘相机对焦到无穷远时对焦镜组所在位置,调整对焦镜组的位置并进行对焦锁定,以保证采集得到的测绘区域的图像清晰。
本申请实施例中的测绘相机与无人机可以是集成为一体的一体式设备,当然,测绘相机与无人机也可以是两个独立的设备,测绘相机可以通过物理接口与无人机通信连接,当然,也可以通过无线通信网络与无人机通信连接,本申请实施例不作限定。
在无人机与测绘相机是一体式设备的场景,该一体式设备可以共用一套处理器,因而,该测绘相机的控制方法可以由该共用处理器执行。在无人机与测绘相机是两个独立设备的场景,该控制方法可以由测绘相机执行。当然,在某些实施例中,该控制方法的部分处理步骤可以由测绘相机执行,部分处理步骤可以由无人机执行。
本申请实施例的测绘相机的镜头可以是定焦镜头,即在使用过程中,测绘相机的镜头的焦距不可调,当然,在某些场景下,为了适应不同的拍摄场景需求,该测绘相机的镜头也可以是变焦镜头。
具体的,所述测绘相机的控制方法如图2所示,包括以下步骤:
S202、在所述无人机按照目标航线进行测绘作业的过程中,确定所述测绘 相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;
S204、将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
通常用户可以通过控制终端控制无人机执行测绘任务,控制终端可以安装指定的APP,用户可以通过该APP设定无人机的执行测绘任务的目标航线以及控制无人机飞行等。用户设置目标航线后,无人机会按照目标航线作业,由于测绘区域一般位于测绘相机无穷远对焦范围内,因而在无人机按照目标航线作业的过程中,测绘相机可以自动确定当前环境下镜头对焦到无穷远时镜头的对焦镜组所处的目标位置。通常,对焦镜组可在一定位置范围内调节,通过测绘相机中驱动对焦镜组移动的装置驱动对焦镜组移动,可以改变其位置,对焦镜组位于不同位置时,相机的焦点位置也会发生变化。由于作业环境的变化,相机对焦到无穷远时焦点的位置会发生变化,因而需要根据实际作业情况确定镜头对焦到无穷远时对焦镜组所处的目标位置,其中,确定对焦镜组所处的目标位置的时机可以根据实际需求确定,比如,可以在每次执行测绘任务前执行,或者为了保证采集的每张图像都清晰,也可以在采集每张图像前执行,或者在无人机到达航线中指定的位置时执行,或者每隔一定时间间隔执行一次,在此不做限定。
在确定镜头对焦到无穷远时对焦镜组所处的目标位置后,即可以通过测绘相机中驱动对焦镜组移动的装置调整对焦镜组至该目标位置,然后进行对焦锁定。进行对焦锁定后,镜头焦点的位置即固定,然后在无人机按照目标航线飞行的过程中对测绘区域的图像进行采集,即可以采集得到清晰的图像。
由于本申请实施例提供的测绘相机并非在出厂前即标定相机对焦到无穷远时对焦镜组的位置,然后物理锁定,使其无法改变。而是在测绘过程中, 根据实际作业环境随时自动确定对焦到无穷远时对焦镜组的目标位置,然后调整对焦镜组的位置,这样可以避免因为温度变化导致焦点位置漂移,采集的图像不清晰的问题。
在某些实施例中,无人机可以包括云台,测绘相机可以通过云台搭载在无人机上,其中,云台可以单轴云台或者多轴云台。在某些实施例中,可以采用三轴云台,在采集测绘区域的图像时,可以通过控制云台转动以实现测绘相机在不同角度对测绘区域进行摆拍。
在某些实施例中,为了确定测绘相机的镜头对焦到无穷远时对焦镜组所处的目标位置,可以预先标定不同温度下测绘相机的镜头对焦到无穷远时,镜头的对焦镜组所处的位置,得到标定数据。然后,根据镜头所处环境的温度以及该标定数据确定镜头对焦到无穷远时对焦镜组所处的目标位置。比如,可以在测绘相机出厂前,采用标定板对镜头进行无穷远对焦标定,确定不同温度下,镜头对焦到无穷远时对焦镜组的位置,然后存储在测绘相机中。当然,也可以是在测绘相机出厂后,由用户自行标定,得到该标定数据并存储在测绘相机中。在测绘相机执行测绘作业时,可以确定镜头所处环境的温度,然后通过标定数据对该温度进行插值处理,得到该温度下对焦镜组所处的目标位置。
其中,镜头所处环境的温度可以由无人机从网络中获取的测绘区域的温度确定,当然,在某些实施例中,也可以在测绘相机的镜头内或者镜头附近设置一个温度传感器,通过该温度传感器获取镜头所处环境的温度。
采用标定数据和镜头温度确定镜头对焦到无穷远时对焦镜组所处的目标位置,可以在无人机每次执行任务前执行,也可以在检测到环境温度变化超过一定的阈值后执行,或者间隔预设的时长执行,具体可以根据实际作业需求灵活设置。
在某些实施例中,为了确定测绘相机的镜头对焦到无穷远时对焦镜组所处的目标位置,也可以采用自动对焦的方式确定镜头对焦到无穷远时对焦镜组所处的目标位置。比如,可以将测绘相机对焦到镜头的无穷远对焦范围内的物体,然后执行自动对焦的操作,以确定该目标位置。这样便无需在出厂前进行无穷远对焦标定,得到标定数据,可以简化确定该目标位置的流程。
当然,由于通过标定数据确定目标位置或者通过自动对焦的方式确定目标位置都可能存在不准确的问题,在某些实施例中,为了确定的目标位置可以更加精确,也可以同时结合根据镜头所处环境温度和标定数据以及自动对焦的方式确定该目标位置,比如,可以将两种方式确定的目标位置求平均值,或者加权平均值,得到最终的对焦镜组所处的目标位置。
在采用自动对焦的方式确定镜头对焦到无穷远时对焦镜组所处的目标位置时,需确保对焦目标位于镜头的无穷远对焦范围内,通常测绘相机不具有定位功能或者测距的功能,但是无人机一般具有定位或测距的功能,比如可以通过无人机的双目视觉传感器、激光雷达、GPS等装置进行定位或者测距,因此,在某些实施例中,可以借助无人机的定位功能或者测距功能确定对焦目标是否位于镜头的无穷远对焦范围内,如果对焦目标位于镜头的无穷远对焦范围内,可以向测绘相机发送对焦到无穷远的指令,测绘相机在接收到该对焦到无穷远的指令后,执行自动对焦的操作,以确定该目标位置。如果对焦目标不在镜头的无穷远对焦范围内,则可以提示用户调整无人机的飞行高度,或者调整测绘相机的光圈,以使对焦目标位于镜头的无穷远对焦范围内。
其中,对焦目标可以根据实际情况自行选择,比如,可以将测绘区域中的被拍摄目标作为镜头的对焦目标,或者可以以某个指定的目标作为对焦目标,在此不做限定。在判定对焦目标是否位于镜头的无穷远对焦范围内时,可以判定无人机是否位于指定位置,当无人机位于指定位置时,则认为对焦 目标处于镜头的无穷远对焦范围内,则向测绘相机发送对焦到无穷远的指令。指定位置可以是目标航线中的某个位置,也可以无人机从起飞点飞行到一定高度后的位置,只要无人机位于该指定位置时,对焦目标位于镜头无穷远对焦范围内即可。举个例子,测绘相机可以以正前方的某个建筑物作为对焦目标,在无人机飞行过程中,可以通过无人机上的测距装置测量无人机与该对焦目标的距离,当检测到无人机与该建筑物的距离大于无穷远距离阈值时,则向测绘相机发送对焦到无穷远的指令,以便测绘相机执行自动对焦的操作,确定该目标位置。在某些实施例中,对焦到无穷远的指令可以由无人机的飞行控制***在确定无人机位于指定位置后,通过预设的数据传输协议传输给测绘相机。比如,无人机和测绘相机可以是两个独立的设备,两个设备可以通过预先定义的物理接口和数据传输协议进行数据传输,或者通过预先定义的无线数据传输协议进行数据的传输,在无人机的飞行控制***检测到无人机位于指定位置后,则可以通过预先定义的数据协议向测绘相机发送对焦到无穷远的指令,以便测绘相机执行自动对焦的操作。
无人机的飞控***采用上述方式将对焦到无穷远的指令发送给测绘相机时,由于传输链路可能较长,并且传输链路可能不太稳定,导致该指令的传输效率较慢。在某些实施例中,为了提高该指令的传输效率,也可以通过预先设计的硬件触发接口来触发该指令。在无人机的飞行控制***确定无人机位于指定位置后,可以通过测绘相机上预先设计的硬件触发接口触发该对焦到无穷远的指令,比如,可以通过拉高或者拉低该硬件接口的电平,通过纯硬件的方式触发该对焦到无穷远的指令,这样便可以省略通过传输链路传输该指令的时间,提高该指令的传输效率。当然,由于无人机按照目标航线飞行时,地面上测绘区域内被拍摄目标通常都在测绘相机镜头的无穷远对焦范围内,因此,为了提高作业效率,也可以在无人机位于目标航线时,直接以 测绘区域内的被拍摄目标作为对焦目标,以便测绘相机执行自动对焦操作,确定该目标位置。为了保证无人机按照目标航线飞行过程中,测绘相机采集的图像清晰,可以在执行任务前,进行一次自动对焦。所以,在某些实施例中,该指定位置可以是无人机的目标航线的起始航点,当无人机的控制***检测到无人机到达该起始航点时,无人机的飞行控制***可以向测绘相机发送对焦到无穷远的指令,测绘相机接收到该指令后,可以完成自动对焦到无穷远的操作,确定对焦镜组所处的目标位置,并将对焦镜组调整至该目标位置后进行对焦锁定,以便无人机按照该目标航线飞行的过程中,测绘相机根据确定好的对焦镜组的位置采集图像,得到清晰的图像。
在某些实施例中,指定位置也可以是位于目标航线之外的缓冲区域。通常,目标航线可以包括多条航线段,在某些场景中,不同航线段对应的测绘区域温度波动较大,如果只在目标航线起始航点进行一次自动对焦操作,可能在后续采集图像的过程中,仍会出现因为温度变化导致焦点位置发生漂移,从而采集的图像不清晰的现象。此外,目前无人机在两条航线段之间进行切换时,通常无人机还没有到达前一条航线段的终点时,就开始减速,以调整航向,切换到下一条航线段,如图3(a)所示,假设目标航线包括航线段1、航线段2、航线段3,图中点A为起始航点,通常无人机还未到达航线段1的终止航点C时,就开始减速,如图中的B点位置,以便无人机在航点C时速度减为0,然后可以调整航向,切换到航线段2,而无人机减速过程中(图中B点至C点这一段),搭载测绘相机的云台依然要转动到不同的方向采集测绘区域的图像,这就可能因无人机急速减速造成云台在转动过程中撞限位,同时也会影响采集的测绘区域的图像的质量。
为了避免上述问题,可以在每条航线段的终止航点处额外增加一缓冲区域,如图3(b)所示,缓冲区域为每条航线段终止航点的延伸区域(如图中的虚 线部分),该缓冲区域可以是直线区域,也可以是曲线区域,本申请不做限制,无人机可以通过该缓冲区域实现两条航线段之间的切换,比如,无人机在到达前一条航线段(如航线段1)的终止航点C时,才开始减速,减速过程中无人会继续飞行一段,并调整航向,无人机在航线段外飞行的这段区域即为缓冲区域。这样无人机在航线段内飞行时,无需减速,可以避免云台转动出现撞限位的问题,保证采集图像的质量。同时,通过在目标航线外增加缓冲区域,可以为无人机自动对焦提供时间,不会影响对测绘区域的图像采集。在某些实施例中,无人机位于缓冲区域时,可以停止采集图像,这样可以避免对无人机自动对焦产生影响。
当然,在某些实施例中,测绘相机除了在目标航线的起始航点以及在缓冲区域执行自动对焦及对焦锁定的操作,也可以在目标航线的其他航点处也执行自动对焦再进行对焦锁定的操作,比如,每隔一定时间间隔,或者每隔预设数量个航点,即执行一次自动对焦和对焦锁定的操作,本申请不作限制。
在某些实施例中,如果测绘相机是通过云台搭载于无人机,在云台转动过程中,测绘相机的朝向也可能位于不同的朝向。所以,在测绘相机执行自动对焦操作以确定该目标位置之前,可以先控制云台转动,以确保测绘相机的镜头朝向地面,然后再进行自动对焦的操作。
目前测绘相机所用到的镜头为不可拆卸的镜头,当镜头出现故障或者损坏时,需要返厂维修,用户无法自行更换镜头,维修成本高,容错性较差。为了克服该问题,在某些实施例中,该测绘相机的镜头可以设计成可交换镜头,用户可以自行更换测绘相机的镜头。由于镜头更换后,镜头对应的参数也会发生变化,导致测绘相机***中存储的镜头参数与更换后的镜头不匹配。
在某些实施例中,镜头参数可以包括镜头对焦到无穷远时对焦镜组所处的目标位置、镜头的内参数(如焦距、sensor中心偏移量等)以及镜头的畸变 校正参数。当镜头发生更换,这些镜头参数也会变化,如果依然采用***存储的上一个镜头的镜头参数,则会导致采集的图像出现问题。
在某些实施例中,可以为每个镜头设置一个唯一标识该镜头的镜头标识,比如可以是SN号或其他标识该镜头的数字或符号。可以将每个镜头的镜头参数和镜头标识绑定,同时每个测绘相机的机身和镜头也绑定,比如在测绘相机机身中存储镜头的镜头标识。当将镜头安装到测绘相机机身时,测绘相机会检测当前镜头的镜头标识与预先存储的镜头标识是否一致,如果不一致,则确定镜头发生了更换。
在某些实施例中,测绘相机的机身和镜头之间可以通过预定义的数据传输协议进行数据传输,可以在两者的数据传输协议中增加镜头标识字段,当镜头安装到测绘相机机身时,镜头可以向测绘相机传输指令,测绘相机的机身可以识别数据传输协议中的镜头标识,从而根据镜头标识判定镜头是否发生切换。
在某些实施例中,可以在测绘相机中预先存储多种镜头的镜头参数,当检测到镜头发生更换后,可以根据更换后的镜头的镜头标识从预先存储的镜头参数中确定更换后的镜头参数,然后根据更换后的镜头的镜头参数控制测绘相机进行图像采集。
在某些实施例中,在检测到镜头发生更换后,也可以通过无人机的控制终端的交互界面提示用户对更换后的镜头参数进行标定。比如,可以通过弹窗信息提示用户,***存储的镜头参数与当期镜头不匹配,请自行标定,在用户自行标定镜头参数的过程中,可以通过控制终端上的APP向用户展示详细的标定步骤或者展示演示视频,以便提示用户自行对镜头参数进行标定。
在某些实施例中,在对更换后镜头的对焦到无穷时对焦镜组所处的目标位置进行标定时,标定方案可以有很多种。比如,可以利用标定板进行标定, 也可以控制无人机执行一定的任务,在执行任务的过程中,对该目标位置进行标定。因而,可以通过控制终端的交互界面展示多种标定方案,用户可以通过交互界面选取一种标定方案,测绘相机在接收到用户选取的标定方案后,基于该标定方案对该目标位置进行标定。
在某些实施例中,在对更换后镜头的对焦到无穷时对焦镜组所处的目标位置进行标定时,可以利用标定板对该目标位置进行标定,比如,可以通过APP提示用户将标定板摆放在测绘相机无穷远对焦范围内,然后用户可以通过APP上的触发控件触发测绘相机进行无穷远对焦,以确定对焦镜组所在的目标位置。
当然,由于采用标定板进行标定需占用比较大的场地,在某些实施例中,为节省场地,也可利用特定的航线任务完成该目标位置的标定,比如,可以控制无人机到指定高度后,调整测绘相机的镜头朝向地面,并执行自动对焦的操作,以标定该目标位置。其中,无人机飞行到指定高度后,地面中的物***于测绘相机的无穷远对焦范围内。其中,该指定高度可以根据无穷远距离阈值确定,该无穷远距离阈值根据以下公式(1)计算得到:
其中,d
Inf为无穷距离阈值,当拍摄距离大于该值并进行对焦时,对焦镜组的合焦位置即为无穷远对焦位置;f为镜头的焦距;d为传感器的弥散圆直径,一般为2个传感器像素宽度;F为镜头光圈值。
对于测绘相机内参及畸变校正参数,可进行一次小面积的倾斜测绘作业,通过建模软件的自标定迭代算法计算得到。
在某些实施例中,在用户完成对更换后的镜头的镜头参数的标定后,可以将更换后的镜头的镜头标识和用户标定得到的更换后的镜头的镜头参数对 应存储到测绘相机的***中。比如,可以将标定得到的镜头参数与更换后的镜头的SN号绑定,然后存储到测绘相机中。
由于实时执行自动对焦确定镜头对焦到无穷远对焦镜组的位置,会严重影响作业效率,所以通常在设置目标航线时,会保证测绘区域的被拍摄目标位于测绘相机的无穷远对焦范围内。针对测绘区域海拔波动较大的场景,还可以结合无人机的仿地飞行功能或仿面飞行功能,始终保持测绘区域的被拍目标位于测绘相机的无穷远对焦范围内。当然,在某些实施例中,由于测绘相机的无穷远距离阈值与相机的光圈有关,也可以通过无人机的测距装置实时监测测绘相机与被拍摄目标的距离,如果确定被拍摄目标位于测绘相机的无穷远对焦范围外,也可以调整测绘相机的光圈,改变测绘相机的无穷远距离阈值,使被拍摄目标位于测绘相机的无穷远对焦范围内,再采集被拍摄目标的图像,这样,测绘相机便可以适用高度范围变化较大的场景。
当然,在某些实施例中,为了保证无人机在目标航线飞行的过程中,测绘相机采集的图像都是清晰的,在生成目标航线时,可以结合测绘区域的高程地图确定每个航点对应的飞行高度。高程地图可以反应地面各物体的高度,可以根据地面各物体的高度,确定无人机的飞行高度,以保证地面各物体都在测绘相机的无穷远对焦范围内。
在某些实施例中,为了保证无人机在目标航线飞行的过程中,测绘相机采集的图像都是清晰的,在用户设置目标航线时,比如,用户输入每个航点对应的飞行高度时,可以根据该飞行高度确定测绘相机拍摄被拍摄物体时的拍摄距离,如果该拍摄距离小于预设距离,则认为被拍摄目标位于测绘相机无穷远对焦范围外,其中,该预设距离可以根据无穷远距离阈值确定,这时,则提示用户无法对焦,以便用户可以调整输入的飞行高度。这样便可以确保无人位于目标航线的任一位置时,测绘区域中的被拍摄目标都处于测绘相机 的无穷远对焦范围内,都可以清晰成像。
在某些实施例中,该测绘相机可以支持不同焦段的镜头。通过搭载不同焦段的镜头,可以满足不同拍摄场景的拍摄需求。比如,可以采用更长焦距的镜头,以满足远距离贴近精细拍摄建模的需求。
为了进一步解释本申请的测绘相机控制方法,以下结合一个具体实施例加以解释。
如图4所示,为本申请一个实施例中的应用场景示意图。测绘无人机41上包括一三轴云台411,云台411上搭载有一测绘相机412,测绘相机的镜头可以是定焦镜头或变焦镜头,该镜头采用可拆卸设计,测绘相机可支持不同焦段的镜头以适应不同的拍摄场景的需求。其中,在镜头内部或者镜头附近设有温度传感器,以检测镜头所处环境的温度。用户可以通过控制终端42控制无人机运动,控制终端42上安装有指定APP,用户可以通过该APP设置无人机执行测绘作业时的目标航线。
其中,为了避免测绘相机镜头的焦点位置随着温度变化漂移,镜头的对焦镜组未采用物理锁定的方式,在执行测绘任务的过程中,测绘相机可以自动确定镜头对焦到无穷远时对焦镜组的位置,然后将对焦镜组调整至该位置并进行对焦锁定,以完成测绘区域的图像采集。
可以采用以下方式确定镜头对焦到无穷远时对焦镜组的位置:
(1)通过镜头所处环境的温度和标定数据确定对焦镜组的位置
在测绘相机镜头出厂前,在不同温度下进行无穷远对焦标定,标定得到不同温度下镜头对焦到无穷远时对焦镜组的位置,并将标定数据存入相机***中,镜头在实际作业中利用镜头内部或镜头附近的温度传感器检测温度,并根据标定得到的数据插值计算镜头对焦到无穷远时对焦镜组的位置。
采用该方式确定对焦镜组的位置的时机可以根据实际需求设定,比如当 检测到温度变化超过预设阈值时,或者每隔预设时长后,或者在无人机位于目标航线的指定位置时,在此不作限定。
(2)采用自动对焦的方式确定对焦镜组的位置
用户通过控制终端上的APP设置无人机执行测绘任务时的目标航线,其中,可以通过在地图上打点方式输入目标航线的航点,每个航点对应的飞行高度可以由用户自行输入。APP可以获取测绘区域的高程地图,根据高程地图确定测绘区域中各物体的高度,然后根据测绘相机的无穷远距离阈值和各物体的高度确定无人机位于用户输入的飞行高度时,测绘区域各物体是否处于测绘相机无穷远对焦范围内,如果不处于,则提示用户无法对焦,以便用户调整输入的飞行高度。当然,飞行高度也可以由APP根据高程地图、测绘相机的无穷远距离阈值以及拍摄精度自动确定。
用户通过APP确定目标航线后,APP可以将目标航线发送给无人机的飞行控制***,无人机的飞行控制***可以控制无人机飞到目标航线的起始航点,在无人机到达起始航点时,飞行控制***可以控制云台转动,使测绘相机的镜头朝向地面,然后飞行控制***向测绘相机的***发送对焦到无穷远的指令,测绘相机接收到该指令后,执行自动对焦的操作。
当然,为了避免同一测绘区域内温度差异较大,导致测绘相机焦点位置发生漂移,还可以在每条航线段的终点位置设置一缓冲区域,缓冲区域为航线段终点位置的延伸区域,用于实现无人机在不同航线段的切换,当无人机位于缓冲区域时,开始减速和切换航向,同时停止云台转动和图像采集,无人机飞行控制***在检测到无人机位于缓冲区域时,控制云台转动,使镜头朝向地面,然后向测绘相机***发送对焦到无穷远的指令,以便测绘相机再次进行自动对焦和对焦锁定的操作。通过设置缓区域,可以给相机提供重新进行自动对焦的时间,同时,在缓冲区域内,云台暂停转动,可以避免因急 速减速导致云台向后摆动导致的撞结构或软件限位的风险。
由于本申请实施例的镜头为可拆卸镜头,当镜头更换后,测绘相机***存储的预先标定的镜头参数将不再匹配所安装的镜头,一般而言,对于测绘相机,相机***中需要进行标定的镜头参数有镜头对焦到无穷远时对焦镜组的位置、相机内参(包括Sensor中心偏移量、焦距等等)、畸变校正参数,若标定的镜头参数从外部***计算得到,镜头参数可通过APP、测绘相机的存储接口或者测绘相机的SD卡存入相机***中。
本申请实施例采用以下方式解决镜头与镜头参数的匹配问题:
生产过程中,测绘相机与镜头一一绑定,将出厂时所标定的镜头参数及镜头SN共同写入测绘相机***内,在镜头与相机机身的数据传输协议中加入镜头SN字段,在测绘相机***启动后测绘相机***读取镜头SN并和机身中已存储的镜头SN进行比对,若发现用户更换镜头,则通过控制终端上的APP提示用户进行自标定操作。
对于镜头对焦到无穷远时对焦镜组的位置,用户在自行标定时,可采用以下方法进行标定:
(1)利用标定板标定,将测绘标定板摆放在相机无穷远对焦的范围内,通过APP触发***进行对焦标定,对焦成功后自动将镜头SN及标定参数写入相机***中。
(2)为节省场地,也可利用特定的航线任务完成标定,比如飞行控制***可以控制无人机飞行至起飞点上空或用户规定的拍摄点上空。飞行高度应处于无穷远对焦范围内,飞行高度可以根据测绘相机无穷远距离阈值设置。
当无人机到达指定位置后,飞行控制***触发相机进行对焦操作,相机***将对焦成功后的对焦镜组位置及镜头SN写入***中。
对于相机内参及畸变校正参数,可进行一次小面积的倾斜测绘作业,通 过建模软件的自标定迭代算法计算得到,相关参数文件可通过APP测绘相机的存储接口或者测绘相机的SD卡导入相机***中并和镜头SN进行绑定。
本申请实施例提供的测绘相机,由于不采用物理锁定镜头对焦镜组的方式,镜头在不同拍摄距离下均可以完成对焦操作,使得测绘相机的应用场景更广,如贴近摄影,如录像中连续自动对焦,通过在航线中进行自动对焦及对焦锁定,可补偿作业环境温度变化可能带来的对焦温飘问题,另外,也可结合温度和标定数据确定对焦到无穷远时对焦镜组的位置,可以降低对焦失败的概率。此外,通过采用可交换镜头,当镜头损坏时,只需要更换镜头即可,降低了***损坏时的维护成本,***容错性更高。同时,采用可交换镜头设计,可搭载不同焦段的镜头,如采用更长焦距的镜头可满足远距离贴近精细拍摄建模的需求。
此外,本申请还提供一种测绘相机,所述测绘相机搭载于无人机,如图5所示,所述测绘相机50包括镜头51,处理器52、存储器53以及存储在所述存储器53可供所述处理器52执行的计算机程序,所述处理器52执行所述计算机程序时,实现以下步骤:
在所述无人机按照目标航线进行测绘作业的过程中,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;
将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
在某些实施例中,所述处理器用于确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置时,具体用于:
根据所述测绘相机的镜头所处环境的温度以及标定数据确定所述目标位置,所述标定数据用于表征不同温度下所述测绘相机的镜头对焦到无穷远时所述对焦镜组的位置,和/或
采用自动对焦的方式确定所述目标位置。
在某些实施例中,所述测绘相机包括温度传感器,所述测绘相机的镜头所处环境的温度通过所述温度传感器获取。
在某些实施例中,所述处理器用于采用自动对焦的方式确定所述目标位置时,具体用于:
在接收到对焦到无穷远的指令时,执行自动对焦的操作,以确定所述目标位置,其中,所述对焦到无穷远的指令在所述无人机位于指定位置时触发,所述无人机位于所述指定位置时,对焦目标位于所述镜头的无穷远对焦范围内。
在某些实施例中,所述对焦到无穷远的指令由所述无人机的飞行控制***在确定所述无人机位于所述指定位置时通过预设的数据传输协议发送给所述测绘相机;或
所述对焦到无穷远的指令由所述无人机的飞行控制***在确定所述无人机位于所述指定位置时通过硬件触发接口发送给所述测绘相机。
在某些实施例中,所述对焦目标为所述测绘区域内的被拍摄目标,所述指定位置包括:
所述目标航线的起始航点;和/或
所述目标航线外的缓冲区域;其中,所述目标航线包括多条航线段,所述缓冲区域为每条所述航线段的终止航点的延伸区域,所述缓冲区域用于实现所述无人机在两条所述航线段之间的切换。
在某些实施例中,所述无人机位于所述缓冲区域时,所述测绘相机停止采集图像。
在某些实施例中,所述无人机包括云台,所述测绘相机通过所述云台搭载于所述无人机。
在某些实施例中,所述处理器用于执行自动对焦操作之前,还用于:
控制所述云台转动以调整所述测绘相机的镜头朝向地面。
在某些实施例中,所述处理器还用于:
当检测到所述测绘相机的镜头发生更换时,则通过所述无人机的控制终端的交互界面提示用户对更换后的镜头的镜头参数进行标定。
在某些实施例中,所述镜头参数包括以下一种或多种:
所述镜头对焦到无穷远时所述对焦镜组所处的目标位置、所述镜头的内参数以及所述镜头的畸变校正参数。
在某些实施例中,所述镜头参数为所述目标位置,通过所述无人机的控制终端的交互界面提示用户对更换后的镜头的镜头参数进行标定之后,还包括:
接收用户通过所述交互界面选取的对所述目标位置进行标定的标定方案;
基于所述标定方案对所述目标位置进行标定。
在某些实施例中,所述标定方案包括:
利用标定板对所述目标位置进行标定;和/或
控制所述无人机飞行到指定高度后,调整所述镜头朝向地面,并执行自动对焦的操作,以标定所述目标位置,其中,所述无人机飞行到指定高度后,所述地面上的物***于所述测绘相机的无穷远对焦范围内。
在某些实施例中,所述镜头的镜头标识与所述镜头参数绑定,所述处理器用于检测到所述测绘相机的镜头发生更换时,具体用于:
当检测到当前镜头的镜头标识与所述测绘相机存储的镜头标识不一致时,则确定所述测绘相机的镜头发生更换。
在某些实施例中,所述测绘相机的镜头与所述测绘相机的机身的数据传输协议包括镜头标识字段。
在某些实施例中,所述处理器用于提示用户对更换后的镜头的镜头参数进行标定之后,还用于:
将所述更换后的镜头的镜头标识和用户标定得到的所述更换后的镜头的镜头参数对应存储。
在某些实施例中,所述处理器还用于:
当检测到所述测绘相机的镜头发生更换时,则基于更换后的镜头的镜头标识从预先存储的多种镜头的镜头参数中查找所述更换后的镜头的镜头参数。
在某些实施例中,所述处理器用于在所述无人机按照目标航线飞行过程中对测绘区域进行图像采集时,具体用于:
当确定所述被拍摄目标位于所述测绘相机的无穷远对焦范围外,则调整所述测绘相机的光圈,以使所述被拍摄目标位于所述测绘相机的无穷远对焦范围内后再采集所述被拍摄目标的图像。
在某些实施例中,所述目标航线基于以下方式确定:
获取所述测绘区域的高程地图;
根据所述高程地图确定所述无人机的飞行高度,以根据所述飞行高度生成所述目标航线。
在某些实施例中,所述测绘相机支持不同焦段的镜头。
其中,采用测绘相机采集测绘区域图像的具体实现细节可参考上述方法中各实施例的描述,在此不再赘述。
此外,本申请还提供一种无人机,该无人机上述任一实施例中的测绘相机。
其中,采用测绘相机采集测绘区域图像的具体实现细节可参考上述方法中各实施例的描述,在此不再赘述。
进一步的,本申请还提供一种测绘***,该测绘***包括无人机和控制 终端,所述控制终端安装有指定APP,所述无人机包括测绘相机;
所述指定APP用于接收用户输入的目标航线并发送给所述无人机;
所述测绘相机包括处理器、存储器以及存储在所述存储器可供所述处理器执行的计算机程序,所述处理器执行所述计算机程序时,实现以下步骤:
在所述无人机按照所述目标航线进行测绘作业的过程中,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;
将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
在某些实施例中,所述指定APP还用于在所述测绘相机的镜头发生更换时,则通过交互界面提示用户对更换后的镜头的镜头参数进行标定。
在某些实施例中,所述指定APP还用于通过交互界面向用户显示对镜头参数进行标定的标定方案,接收用户选取标定方案的指令,基于用户选取的标定方案提示用户对所述镜头参数进行标定。
在某些实施例中,所述指定APP还用于接收用户输入的飞行高度,根据所述飞行高度确定所述测绘相机对所述测绘区域内的被拍摄目标进行图像采集的拍摄距离;当所述拍摄距离小于预设距离时,则通过交互界面提示用户无法对焦。
其中,采用测绘相机采集测绘区域图像的具体实现细节可参考上述方法中各实施例的描述,在此不再赘述。
相应地,本说明书实施例还提供一种计算机存储介质,所述存储介质中存储有程序,所述程序被处理器执行时实现上述任一实施例中测绘相机的控制方法。
本说明书实施例可采用在一个或多个其中包含有程序代码的存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程 序产品的形式。计算机可用存储介质包括永久性和非永久性、可移动和非可移动媒体,可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括但不限于:相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带,磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质,可用于存储可以被计算设备访问的信息。
对于装置实施例而言,由于其基本对应于方法实施例,所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的,其中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模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下,即可以理解并实施。
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍,本文中应用了具体个例对本发明的原理及实施方式进行了阐述,以上实施例的说明 只是用于帮助理解本发明的方法及其核心思想;同时,对于本领域的一般技术人员,依据本发明的思想,在具体实施方式及应用范围上均会有改变之处,综上所述,本说明书内容不应理解为对本发明的限制。
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- 一种测绘相机的控制方法,其特征在于,所述测绘相机搭载于无人机,所述方法包括:在所述无人机按照目标航线进行测绘作业的过程中,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
- 根据权利要求1所述的方法,其特征在于,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置,包括:根据所述测绘相机的镜头所处环境的温度以及标定数据确定所述目标位置,所述标定数据用于表征不同温度下所述测绘相机的镜头对焦到无穷远时所述对焦镜组的位置,和/或采用自动对焦的方式确定所述目标位置。
- 根据权利要求2所述的方法,其特征在于,所述测绘相机包括温度传感器,所述测绘相机的镜头所处环境的温度通过所述温度传感器获取。
- 根据权利要求2或3所述的方法,其特征在于,采用自动对焦的方式确定所述目标位置,包括:在接收到对焦到无穷远的指令时,执行自动对焦的操作,以确定所述目标位置,其中,所述对焦到无穷远的指令在所述无人机位于指定位置时触发,所述无人机位于所述指定位置时,对焦目标位于所述镜头的无穷远对焦范围内。
- 根据权利要求4所述的方法,其特征在于,所述对焦到无穷远的指令由所述无人机的飞行控制***在确定所述无人机位于所述指定位置时通过预设的数据传输协议发送给所述测绘相机;或所述对焦到无穷远的指令由所述无人机的飞行控制***在确定所述无人机位于所述指定位置时通过所述测绘相机上的硬件触发接口触发。
- 根据权利要求4或5所述的方法,其特征在于,所述对焦目标为所述测绘区域内的被拍摄目标,所述指定位置包括:所述目标航线的起始航点;和/或所述目标航线外的缓冲区域;其中,所述目标航线包括多条航线段,所述缓冲区域为每条所述航线段的终止航点的延伸区域,所述缓冲区域用于实现所述无人机在两条所述航线段之间的切换。
- 根据权利要求6所述的方法,其特征在于,所述无人机位于所述缓冲区域时,所述测绘相机停止采集图像。
- 根据权利要求4-7任一项所述的方法,其特征在于,所述无人机包括云台,所述测绘相机通过云台搭载于所述无人机。
- 根据权利要求8所述的方法,其特征在于,在执行自动对焦操作之前,还包括:控制所述云台转动以调整所述测绘相机的镜头朝向地面。
- 根据权利要求1-9任一项所述的方法,其特征在于,所述方法还包括:当检测到所述测绘相机的镜头发生更换时,则通过所述无人机的控制终端的交互界面提示用户对更换后的镜头的镜头参数进行标定。
- 根据权利要求10所述的方法,其特征在于,所述镜头参数包括以下一种或多种:所述镜头对焦到无穷远时所述对焦镜组所处的目标位置、所述镜头的内参数以及所述镜头的畸变校正参数。
- 根据权利要求11所述的方法,其特征在于,所述镜头参数为所述目标位置,通过所述无人机的控制终端的交互界面提示用户对更换后的镜头的 镜头参数进行标定之后,还包括:接收用户通过所述交互界面选取的对所述目标位置进行标定的标定方案;基于所述标定方案对所述目标位置进行标定。
- 根据权利要求12所述的方法,其特征在于,所述标定方案包括:利用标定板对所述目标位置进行标定;和/或控制所述无人机飞行到指定高度后,调整所述镜头朝向地面,并执行自动对焦的操作,以标定所述目标位置,其中,所述无人机飞行到指定高度后,所述地面上的物***于所述测绘相机的无穷远对焦范围内。
- 根据权利要求10-13任一项所述的方法,其特征在于,所述镜头的镜头标识与所述镜头参数绑定,检测到所述测绘相机的镜头发生更换包括:当检测到当前镜头的镜头标识与所述测绘相机存储的镜头标识不一致时,则确定所述测绘相机的镜头发生更换。
- 根据权利要求14所述的方法,其特征在于,所述测绘相机的镜头与所述测绘相机的机身的数据传输协议包括镜头标识字段。
- 根据权利要求10-15任一项所述的方法,其特征在于,提示用户对更换后的镜头的镜头参数进行标定之后,还包括:将所述更换后的镜头的镜头标识和用户标定得到的所述更换后的镜头的镜头参数对应存储。
- 根据权利要求1-9任一项所述的方法,其特征在于,所述方法还包括:当检测到所述测绘相机的镜头发生更换时,则基于更换后的镜头的镜头标识从预先存储的多种镜头的镜头参数中查找所述更换后的镜头的镜头参数。
- 根据权利要求1所述的方法,其特征在于,在所述无人机按照目标航线飞行过程中对测绘区域进行图像采集,包括:当确定所述被拍摄目标位于所述测绘相机的无穷远对焦范围外,则调整 所述测绘相机的光圈,以使所述被拍摄目标位于所述测绘相机的无穷远对焦范围内后再采集所述被拍摄目标的图像。
- 根据权利要求1-18任一项所述的方法,其特征在于,所述目标航线基于以下方式确定:获取所述测绘区域的高程地图;根据所述高程地图确定所述无人机的飞行高度,以根据所述飞行高度生成所述目标航线。
- 根据权利要求1-19任一项所述的方法,其特征在于,所述测绘相机支持不同焦段的镜头。
- 一种测绘相机,其特征在于,所述测绘相机搭载于无人机,所述测绘相机包括处理器、存储器以及存储在所述存储器可供所述处理器执行的计算机程序,所述处理器执行所述计算机程序时,实现以下步骤:在所述无人机按照目标航线进行测绘作业的过程中,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
- 根据权利要求21所述的测绘相机,其特征在于,所述处理器用于确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置时,具体用于:根据所述测绘相机的镜头所处环境的温度以及标定数据确定所述目标位置,所述标定数据用于表征不同温度下所述测绘相机的镜头对焦到无穷远时所述对焦镜组的位置,和/或采用自动对焦的方式确定所述目标位置。
- 根据权利要求22所述的测绘相机,其特征在于,所述测绘相机包括 温度传感器,所述测绘相机的镜头所处环境的温度通过所述温度传感器获取。
- 根据权利要求22或23所述的测绘相机,其特征在于,所述处理器用于采用自动对焦的方式确定所述目标位置时,具体用于:在接收到对焦到无穷远的指令时,执行自动对焦的操作,以确定所述目标位置,其中,所述对焦到无穷远的指令在所述无人机位于指定位置时触发,所述无人机位于所述指定位置时,对焦目标位于所述镜头的无穷远对焦范围内。
- 根据权利要求24所述的测绘相机,其特征在于,所述对焦到无穷远的指令由所述无人机的飞行控制***在确定所述无人机位于所述指定位置时通过预设的数据传输协议发送给所述测绘相机;或所述对焦到无穷远的指令由所述无人机的飞行控制***在确定所述无人机位于所述指定位置时通过所述测绘相机上的硬件触发接口触发。
- 根据权利要求24或25所述的测绘相机,其特征在于,所述对焦目标为所述测绘区域内的被拍摄目标,所述指定位置包括:所述目标航线的起始航点;和/或所述目标航线外的缓冲区域;其中,所述目标航线包括多条航线段,所述缓冲区域为每条所述航线段的终止航点的延伸区域,所述缓冲区域用于实现所述无人机在两条所述航线段之间的切换。
- 根据权利要求26所述的测绘相机,其特征在于,所述无人机位于所述缓冲区域时,所述测绘相机停止采集图像。
- 根据权利要求24-27任一项所述的测绘相机,其特征在于,所述无人机包括云台,所述测绘相机通过所述云台搭载于所述无人机。
- 根据权利要求28所述的测绘相机,其特征在于,所述处理器用于执行自动对焦操作之前,还用于:控制所述云台转动以调整所述测绘相机的镜头朝向地面。
- 根据权利要求21-29任一项所述的测绘相机,其特征在于,所述处理器还用于:当检测到所述测绘相机的镜头发生更换时,则通过所述无人机的控制终端的交互界面提示用户对更换后的镜头的镜头参数进行标定。
- 根据权利要求30所述的测绘相机,其特征在于,所述镜头参数包括以下一种或多种:所述镜头对焦到无穷远时所述对焦镜组所处的目标位置、所述镜头的内参数以及所述镜头的畸变校正参数。
- 根据权利要求31所述的测绘相机,其特征在于,所述镜头参数为所述目标位置,通过所述无人机的控制终端的交互界面提示用户对更换后的镜头的镜头参数进行标定之后,还包括:接收用户通过所述交互界面选取的对所述目标位置进行标定的标定方案;基于所述标定方案对所述目标位置进行标定。
- 根据权利要求32所述的测绘相机,其特征在于,所述标定方案包括:利用标定板对所述目标位置进行标定;和/或控制所述无人机飞行到指定高度后,调整所述镜头朝向地面,并执行自动对焦的操作,以标定所述目标位置,其中,所述无人机飞行到指定高度后,所述地面上的物***于所述测绘相机的无穷远对焦范围内。
- 根据权利要求30-33任一项所述的测绘相机,其特征在于,所述镜头的镜头标识与所述镜头参数绑定,所述处理器用于检测到所述测绘相机的镜头发生更换时,具体用于:当检测到当前镜头的镜头标识与所述测绘相机存储的镜头标识不一致时,则确定所述测绘相机的镜头发生更换。
- 根据权利要求34所述的测绘相机,其特征在于,所述测绘相机的镜头与所述测绘相机的机身的数据传输协议包括镜头标识字段。
- 根据权利要求30-35任一项所述的测绘相机,其特征在于,所述处理器用于提示用户对更换后的镜头的镜头参数进行标定之后,还用于:将所述更换后的镜头的镜头标识和用户标定得到的所述更换后的镜头的镜头参数对应存储。
- 根据权利要求21-29任一项所述的测绘相机,其特征在于,所述处理器还用于:当检测到所述测绘相机的镜头发生更换时,则基于更换后的镜头的镜头标识从预先存储的多种镜头的镜头参数中查找所述更换后的镜头的镜头参数。
- 根据权利要求21所述的测绘相机,其特征在于,所述处理器用于在所述无人机按照目标航线飞行过程中对测绘区域进行图像采集时,具体用于:当确定所述被拍摄目标位于所述测绘相机的无穷远对焦范围外,则调整所述测绘相机的光圈,以使所述被拍摄目标位于所述测绘相机的无穷远对焦范围内后再采集所述被拍摄目标的图像。
- 根据权利要求21-38任一项所述的测绘相机,其特征在于,所述目标航线基于以下方式确定:获取所述测绘区域的高程地图;根据所述高程地图确定所述无人机的飞行高度,以根据所述飞行高度生成所述目标航线。
- 根据权利要求22-39任一项所述的测绘相机,其特征在于,所述测绘相机支持不同焦段的镜头。
- 一种无人机,其特征在于,所述无人机包括如权利要求21-40任一项所述的测绘相机。
- 一种测绘***,其特征在于,所述测绘***包括无人机和控制终端,所述控制终端安装有指定APP,所述无人机包括测绘相机,;所述指定APP用于接收用户输入的目标航线并发送给所述无人机;所述测绘相机包括处理器、存储器以及存储在所述存储器可供所述处理器执行的计算机程序,所述处理器执行所述计算机程序时,实现以下步骤:在所述无人机按照所述目标航线进行测绘作业的过程中,确定所述测绘相机的镜头对焦到无穷远时所述镜头的对焦镜组所处的目标位置;将所述对焦镜组调整至所述目标位置并进行对焦锁定,以在所述无人机按照所述目标航线飞行过程中控制所述测绘相机对测绘区域进行图像采集。
- 根据权利要求42所述的测绘***,其特征在于,所述指定APP还用于在所述测绘相机的镜头发生更换时,则通过交互界面提示用户对更换后的镜头的镜头参数进行标定。
- 根据权利要求42所述的测绘***,其特征在于,所述指定APP还用于通过交互界面向用户显示对镜头参数进行标定的标定方案,接收用户选取标定方案的指令,基于用户选取的标定方案提示用户对所述镜头参数进行标定。
- 根据权利要求42所述的测绘***,其特征在于,所述指定APP还用于接收用户输入的飞行高度,根据所述飞行高度确定所述测绘相机对所述测绘区域内的被拍摄目标进行图像采集的拍摄距离;当所述拍摄距离小于预设距离时,则通过交互界面提示用户无法对焦。
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CN118050028A (zh) * | 2024-04-15 | 2024-05-17 | 三和数码测绘地理信息技术有限公司 | 一种降低测绘误差的测绘无人机及测绘方法 |
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