CN112204636A

CN112204636A - Route adjustment method, ground terminal equipment, unmanned aerial vehicle, system and storage medium

Info

Publication number: CN112204636A
Application number: CN201980034065.9A
Authority: CN
Inventors: 陈建林; 黄振昊; 石仁利
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2021-01-08
Also published as: WO2021035606A1

Abstract

The embodiments of the present application provide a route adjustment method, ground terminal equipment, unmanned aerial vehicle, system and storage medium. The method includes: acquiring a first oblique shooting route and a restricted area corresponding to a preset object, and the first oblique shooting route is used for In order to obtain the side data of the preset object through the shooting device on the drone; the restricted area is used to restrict the flight of the drone; when the first oblique shooting route intersects the restricted area, it is determined that the first oblique shooting route is located in the restricted area. The overlapping route in the area; the overlapping route in the first oblique shooting route is adjusted according to the restricted area to obtain the second oblique photographing route, and the distance between the second oblique photographing route and the restricted area is at least a preset safety distance. The technical solution provided by this embodiment can complete the collection of the side data of the preset object on the premise of ensuring the safety of the UAV and without the need to divide the flight task into more complex sub-tasks, thus ensuring the integrity of the flight task .

Description

Course adjustment method, ground end equipment, unmanned aerial vehicle, system and storage medium

Technical Field

The invention relates to the technical field of communication, in particular to a route adjusting method, ground end equipment, an unmanned aerial vehicle, a system and a storage medium.

Background

Along with the rapid development of scientific technology, the technical development of unmanned aerial vehicles is more and more mature, and the user can carry on other devices through unmanned aerial vehicles and carry out various operations. When the unmanned aerial vehicle is used for carrying the shooting device for shooting, the flight paths for controlling the unmanned aerial vehicle can comprise a vertical shooting flight path and an oblique shooting flight path, wherein the oblique shooting flight path can translate front and back, left and right relative to the shooting target range, and for the part of the flight path which translates in the oblique shooting flight path, if buildings or obstacles exist, the unmanned aerial vehicle is easy to collide.

Disclosure of Invention

The invention provides a flight path adjusting method, ground end equipment, an unmanned aerial vehicle, a system and a storage medium, which are used for solving the problem that the unmanned aerial vehicle is easy to collide and risk if buildings or obstacles exist in a flight path part which is subjected to translation in a flight path aiming at oblique photography in the prior art.

The first aspect of the invention is to provide a route adjusting method, which comprises the following steps:

the method comprises the steps of obtaining a first inclined shooting route and a limit area corresponding to a preset object, wherein the first inclined shooting route is used for obtaining side data of the preset object through a shooting device on the unmanned aerial vehicle; the restricted area is used for restricting the flight of the unmanned aerial vehicle;

when the first inclined shooting route intersects with the limited area, determining an overlapped route located in the limited area in the first inclined shooting route;

and adjusting the overlapped route in the first inclined shooting route according to the limited area to obtain a second inclined shooting route, wherein the distance between the second inclined shooting route and the limited area is at least a preset safety distance.

A second aspect of the present invention is to provide a course adjustment system, including:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement:

A third aspect of the present invention is to provide a ground-end apparatus, comprising: the course adjustment system according to the second aspect described above.

A fourth aspect of the present invention is to provide an unmanned aerial vehicle, including: the course adjustment system according to the second aspect described above.

A fifth aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium having stored therein program instructions for the lane generation method according to the first aspect.

The route adjusting method, the ground end equipment, the unmanned aerial vehicle, the system and the storage medium provided by the invention have the advantages that by acquiring the first inclined shooting route and the limit area corresponding to the preset object, by determining an overlapping one of the first oblique shooting routes that is located within the restricted area when the first oblique shooting route intersects the restricted area, then, the overlapped route in the first inclined shooting routes is adjusted according to the limited area, a second inclined shooting route with the distance between the second inclined shooting route and the limited area being at least a preset safety distance is obtained, and when the unmanned aerial vehicle can be controlled based on the second inclined shooting route, thereby realizing that the collision of the unmanned aerial vehicle can be effectively avoided while ensuring the completion of the flight operation, and the safety and reliability of the unmanned aerial vehicle operation are further ensured, and the practicability of the method is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic diagram of a vertical photography provided by the prior art;

FIG. 2 is a schematic diagram of a prior art oblique photography;

FIG. 3 is a schematic diagram of a plurality of oblique shooting routes provided by the prior art;

FIG. 4 is a schematic flow chart illustrating a lane adjustment method according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a confinement region provided in an embodiment of the invention;

FIG. 6 is a schematic diagram of a restricted area and a vertical shooting path according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a first oblique shooting path intersecting the restricted area provided by an embodiment of the present invention;

FIG. 8 is a first schematic diagram of a portion of the first oblique shooting route intersecting the restricted area according to an embodiment of the present invention;

FIG. 9 is a first schematic diagram illustrating an adjustment of an overlapping flight path in the first inclined shooting flight path according to the restricted area according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a process for obtaining a second inclined shooting route according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of obtaining a second oblique shooting path according to an embodiment of the present invention;

FIG. 12 is a second schematic diagram of a portion of the intersection of the first oblique shooting route and the restricted area according to the embodiment of the present invention;

FIG. 13 is a first enlarged partial schematic view of an adjustment of an overlapping flight path in the first inclined shooting flight path in FIG. 12 according to an embodiment of the present invention;

FIG. 14 is a second enlarged partial schematic view of an adjustment of an overlapping flight path in the first inclined shooting flight path of FIG. 12 according to an embodiment of the present invention;

FIG. 15 is a schematic diagram of a process for obtaining a second inclined shooting route for the first inclined shooting route in FIG. 12 according to an embodiment of the present invention;

FIG. 16 is a schematic diagram of obtaining a second inclined shooting route for the first inclined shooting route in FIG. 12 according to an embodiment of the present invention;

FIG. 17 is a schematic flow chart illustrating another lane adjustment method according to an embodiment of the present invention;

FIG. 18 is a schematic diagram of a third shooting path according to an embodiment of the present invention;

fig. 19 is a schematic diagram of acquiring a tilt angle of the pan/tilt head corresponding to the number of flights according to the embodiment of the present invention;

FIG. 20 is a flowchart illustrating a further lane adjustment method according to an embodiment of the present invention;

FIG. 21 is a schematic flow chart illustrating a further lane adjustment method according to an embodiment of the present invention;

FIG. 22 is a schematic structural diagram of a lane adjustment system according to an embodiment of the present invention;

fig. 23 is a schematic structural diagram of another lane adjustment system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In order to facilitate understanding of the technical solutions of the present application, the following briefly describes the prior art:

in the aerial survey using the unmanned aerial vehicle, a 5-direction flying operation mode may be adopted, wherein the 5-direction may include one vertical shooting direction and four shooting directions, as shown in fig. 1-2. For a certain area to be detected, 5 flight paths for performing flight operations in the directions corresponding to the area to be detected can be acquired, wherein as shown in fig. 3, a vertical shooting flight path corresponds to the vertical shooting direction, and at this time, a shooting device (for example, a camera) on the unmanned aerial vehicle is directly facing the area to be detected. The corresponding shooting directions of the four shooting directions are inclined shooting routes which can respectively shift a certain distance from front to back, left to right according to a set camera inclination angle, and at the moment, areas shot by the unmanned aerial vehicle in different inclined shooting routes are all detection ranges of areas to be detected.

However, for the part of the flight path in which the translation occurs in the flight path of the oblique photography, if a building or an obstacle is present, the unmanned aerial vehicle is easily put at risk of collision. In order to avoid collision of the unmanned aerial vehicle, one flight operation task can be disassembled into a plurality of subtasks to be completed, or special manual flight can be completed at corners. However, when the unmanned aerial vehicle does not fly to the scene that can shoot the texture of the side of the survey area, the quality of data acquisition is poor, and the efficiency of data processing in the later period is affected, for example: the quality detection result of the preset object based on the data is seriously affected, or the three-dimensional model established for the preset object based on the data is affected.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.

FIG. 4 is a schematic flow chart illustrating a lane adjustment method according to an embodiment of the present invention; referring to fig. 4, in order to solve the above problems in the prior art, the present embodiment provides a route adjusting method, and it should be noted that the route adjusting method may be applied to ground-end equipment and/or an unmanned aerial vehicle, that is, an execution subject of the route adjusting method may be the ground-end equipment; or, the execution main body of the air route adjusting method can also be an unmanned aerial vehicle, and at the moment, the ground end equipment can be used for displaying air route information; or, the execution main body of the air route adjusting method may include a ground end device and an unmanned aerial vehicle, and at this time, the ground end device may be in communication connection with the unmanned aerial vehicle. In the following, the ground end device or the unmanned aerial vehicle is taken as an example to be described, and the method at this time may include:

s1: the method comprises the steps of obtaining a first inclined shooting route and a limit area corresponding to a preset object, wherein the first inclined shooting route is used for obtaining side data of the preset object through a shooting device on the unmanned aerial vehicle; the restricted area is used to restrict the flight of the drone.

Wherein the first inclined shooting route may include at least one of: the system comprises an inclined shooting route for shooting the left side surface of a preset object, an inclined shooting route for shooting the right side surface of the preset object, an inclined shooting route for shooting the front side surface of the preset object and an inclined shooting route for shooting the back side surface of the preset object; the first oblique shooting route can be used for acquiring side data (side texture data) of a preset object through a shooting device on the unmanned aerial vehicle. In addition, the embodiment does not limit the acquisition mode of the first oblique shooting route, for example: the first oblique shooting route may be obtained by pre-configured system parameters, wherein the system parameters may include at least one of: flight height, flight speed, overlap ratio, flaring margin. Of course, a person skilled in the art may also obtain the first inclined shooting route in other manners according to a specific application scenario and design requirements, as long as the accurate reliability of obtaining the first inclined shooting route can be ensured, which is not described herein again.

In addition, the restricted area corresponding to the preset object can be a preset area, or can also be an area determined after data is analyzed and processed, and the restricted area is a flight area for restricting the unmanned aerial vehicle, so that the flight safety of the unmanned aerial vehicle can be ensured. Specifically, after the preset object is determined, the ambient environment information where the preset object is located may be acquired, and the limitation area may be determined based on the ambient environment information, as shown in fig. 5 to 6, assuming that the illustrated white frame position is the position where the preset object is located, when the unmanned aerial vehicle performs a task for the preset object, and the building height in the north may affect the normal operation height of the unmanned aerial vehicle, there is a safety risk for the unmanned aerial vehicle, and therefore, the unmanned aerial vehicle may be drawn into the limitation area 100 surrounded by the black line in the drawing, it may be understood that the shape of the limitation area 100 may be changed in different application scenes or application scenes, and the shape of the limitation area 100 may be a regular shape or an irregular shape. Generally, the restricted area 100 may be related to the height of a building, the height of an obstacle or the location of the area, that is: for buildings/obstacles or locations that affect the normal operation of the drone, in terms of height and/or location, may be demarcated as a restricted area 100 to avoid collisions. As shown in fig. 6, a vertical shooting lane 200 is disposed below the restricted area 100, and since a shooting angle of the vertical shooting lane 200 is directly opposite to a preset object, a position of the preset object is a position where the vertical shooting lane 200 is located.

Further, in acquiring the limited region, it is possible to realize a manner in which the user can manually plan the limited region on the surrounding environment information, so that the limited region set by the user can be acquired. In another implementation manner, the restricted area may be imported by using a Markup Language (KML) technology, specifically, a user may upload a plurality of area point information corresponding to the restricted area through a Markup KML file, and the restricted area may be generated by using the area point information. Of course, a person skilled in the art may also use other methods to obtain the restricted area corresponding to the preset object, as long as the accurate reliability of the restricted area obtaining is ensured, and details are not described herein.

S2: when the first inclined shooting route intersects with the limited area, an overlapping route located in the limited area in the first inclined shooting route is determined.

After the first inclined shooting route and the limiting area corresponding to the preset object are obtained, analysis processing can be carried out between the first inclined shooting route and the limiting area to judge whether the first inclined shooting route intersects with the limiting area or not, and if the first inclined shooting route does not intersect with the limiting area, the first inclined shooting route does not need to be adjusted. Specifically, referring to fig. 7, an overlapping route 201a of the first oblique shooting route 201 located in the restricted area 100 may be determined first, and specifically, the overlapping route 201a may be determined by an intersection point formed by the first oblique shooting route 201 and the restricted area 100.

S3: and adjusting the overlapped route in the first inclined shooting route according to the limited area to obtain a second inclined shooting route, wherein the distance between the second inclined shooting route and the limited area is at least a preset safety distance.

The preset safety distance is a preset minimum safety distance between the unmanned aerial vehicle and the restricted area, and when the distance between the unmanned aerial vehicle and the restricted area is greater than or equal to the preset safety distance, the collision danger of the unmanned aerial vehicle can be effectively avoided, and the safety and reliability of the flight of the unmanned aerial vehicle are ensured; when the distance between unmanned aerial vehicle and the restricted area is less than preset safe distance, then make unmanned aerial vehicle bump danger easily. Therefore, after the overlapping route is obtained, the overlapping route can be adjusted according to the limited area, so that a second inclined shooting route can be obtained, and the distance between the second inclined shooting route and the limited area at the moment is at least a preset safety distance.

In addition, the embodiment does not limit the specific implementation manner of adjusting the overlapping route in the first inclined shooting route according to the limited area, and a person skilled in the art may adjust the overlapping route in the first inclined shooting route according to the effect that the second inclined shooting route can achieve, for example: the overlapped routes can be removed from the first inclined shooting route to obtain a new route endpoint of the first inclined shooting route, wherein the new route endpoint is an intersection point formed by the first inclined shooting route and the edge of the limited area close to the first inclined shooting route; and then, carrying out reverse translation on the new end point of the flight line along the first inclined shooting flight line to adjust the distance between the new end point of the flight line and the limited area to a preset safe distance, and then carrying out closed connection on the new end point of the flight line on the first inclined shooting flight line to obtain a second inclined flight line, thereby realizing that the part of the inclined shooting flight line shielded or imaged by the limited area can be adjusted on the basis of the limited area in a self-adaptive manner, ensuring the continuity of flight operation and continuously acquiring the side data as far as possible.

The course adjustment method provided by this embodiment obtains the first inclined shooting course and the restricted area corresponding to the preset object, by determining an overlapping one of the first oblique shooting routes that is located within the restricted area when the first oblique shooting route intersects the restricted area, then adjusting an overlapped route in the first inclined shooting routes according to the limited area to obtain a second inclined shooting route of which the distance to the limited area is at least a preset safety distance, then, when the unmanned aerial vehicle is controlled based on the second inclined shooting route, the shooting route part which is shielded or imaged by the limited area is effectively realized, the method can complete the acquisition of the side data of the preset object on the premise of ensuring the operation safety of the unmanned aerial vehicle and not dividing the flight task into more complex subtasks; the integrity of the flight task is guaranteed, uncontrollable and unstable factors caused by artificial supplement of shooting are reduced, the accuracy and reliability of data acquisition are guaranteed, and the practicability of the method is improved.

FIG. 8 is a first schematic diagram of a portion of a first oblique shooting route intersecting a restricted area according to an embodiment of the present invention; FIG. 9 is a first schematic diagram illustrating an adjustment of an overlapping flight path in a first inclined shooting flight path according to a restricted area according to an embodiment of the present invention; FIG. 10 is a schematic diagram of a process for obtaining a second inclined shooting route according to an embodiment of the present invention; FIG. 11 is a schematic diagram of obtaining a second oblique shooting path according to an embodiment of the present invention; on the basis of the above-mentioned embodiment, with continuing reference to fig. 8-11, the adjusting the overlapping route in the first inclined shooting route according to the restricted area in the present embodiment, and obtaining the second inclined shooting route may include:

s31: an intersection point between the first oblique shooting route and the restricted area is determined.

S32: and carrying out reverse translation on the intersection along the first inclined shooting route to obtain a new route endpoint, wherein the distance between the new route endpoint and the limited area is a preset safety distance.

S33: and carrying out closed connection on the new endpoint of the route on the first inclined shooting route to obtain a second inclined shooting route.

For convenience of understanding, the inclined shooting route for shooting the north side of the preset object in fig. 8 is taken as an example of the first inclined shooting route 201, at this time, in order to accurately obtain the data of the north side of the preset object, the first inclined shooting route 201 is inclined and shifted towards the north direction, so that the first inclined shooting route 201 intersects with the limited area 100, at this time, the intersection 300 existing between the first inclined shooting route 201 and the limited area 100 may be determined according to the relative position of the first inclined shooting route 201 and the limited area 100, where the number of the intersection 300 may be one or more, and specifically, latitude and longitude information of one or more intersections 300 may be determined by using a navigation device, as shown in fig. 8. After the latitude and longitude information of the intersection 300 is obtained, the intersection 300 may be reversely translated along the first inclined shooting route 201, wherein the distance of the reverse translation is related to the distance between each sub-route (one end close to the limited area) in the first inclined shooting route 201 and the limited area, so as to obtain a new route end point 300 ', as shown in fig. 9, wherein the distance between the new route end point 300' and the limited area 100 is a preset safety distance. After acquiring the new course end point 300 ', the new course end point 300' on the first inclined shooting course 201 may be connected in a closing manner to obtain a second inclined shooting course, as shown in fig. 10-11.

The intersection point between the first inclined shooting route and the limited area is determined, then the intersection point is translated reversely along the first inclined shooting route to obtain a new route end point, then the new route end point on the first inclined shooting route is connected in a closed mode, and a second inclined shooting route which does not intersect with the limited area is obtained.

On the basis of the above embodiment, with continued reference to fig. 12-16, when the overlapping routes include the adjacent first sub-route and the second sub-route, the performing the closed connection of the new endpoint of the route on the first inclined shooting route in the embodiment, and obtaining the second inclined shooting route may include:

s331: a first length of the first sub-flight path and a second length of the second sub-flight path are obtained.

S332: and connecting the first sub route with the second sub route according to the first length and the second length to obtain a part of second inclined shooting route.

Wherein, after obtaining the new extreme point of airline, to first slope shooting airline, the inclined airline may appear in the connecting wire that the new extreme point of airline constitutes, and at this moment, in order to guarantee the fail safe nature of unmanned aerial vehicle work, need with the inclined airline adjustment to with straight type airline to can turn to through the right angle when making unmanned aerial vehicle carry out the switching direction, be convenient for to unmanned aerial vehicle controlled accurate reliability.

For the sake of easy understanding, the inclined shooting route for shooting the east side of the preset object in fig. 12 to 16 is taken as the first inclined shooting route 202 as an example, in order to accurately obtain the data of the east side of the preset object, the first inclined shooting route 202 is inclined and shifted towards the east direction, and at this time, the first inclined shooting route 202 intersects with the restricted area 100, as shown in fig. 12; the first inclined shooting route 202 may then be adjusted using the method steps in the above embodiments so that a new route endpoint 301 for the first inclined shooting route 202 may be obtained, as shown in FIGS. 13-14; after the new lane endpoint 301 is acquired, the first length of the first sub-lane 2021 and the second length of the second sub-lane 2022 which are adjacent to each other may be acquired based on the new lane endpoint 301, and then the first length and the second length may be analyzed and processed, and the first sub-lane 2021 and the second sub-lane 2022 may be connected according to the analysis and processing result, so that a part of the second oblique shooting lane 202 may be acquired.

Specifically, when the first sub-route 2021 is provided with a first endpoint 3011 and the second sub-route 2022 is provided with a second endpoint 3012; a method for connecting a first sub-route with a second sub-route according to a first length and a second length to obtain a partial second inclined shooting route, comprising:

s3321: and when the first length is smaller than the second length, determining a third end point on the second sub route according to the first length, wherein the distance between the second end point and the third end point is the difference value between the second length and the first length.

S3322: and connecting the first end point and the third end point in a closed manner to obtain a part of second inclined shooting route.

As shown in fig. 13-14, when the first length is smaller than the second length, that is, the length of the first sub-route 2021 is smaller than the length of the second sub-route 2022, if the first end point 3011 and the second end point 3012 are directly connected in a closed manner, an inclined route is formed. In order to avoid the above-mentioned situation of inclined routes, the length of the longer second sub-route 2022 may be adjusted to coincide with the length of the shorter first sub-route 2021, and specifically, the third endpoint 3013 may be determined on the second sub-route 2022 according to the first length, and at this time, the distance between the second endpoint 3012 and the third endpoint 3013 on the second sub-route 2022 is the difference between the second length and the first length. After the third endpoint 3013 is acquired, the first endpoint 3011 and the third endpoint 3013 may be connected in a closed manner to obtain a part of the second inclined shooting route, as shown in fig. 15 to 16.

Similarly, when a first end point is arranged on the first sub route and a second end point is arranged on the second sub route; still another way to achieve connecting the first sub-flight path with the second sub-flight path according to the first length and the second length to obtain a partial second inclined shooting flight path comprises:

s3323: and when the first length is equal to the second length, the first end point and the second end point are connected in a closed mode, and a part of second inclined shooting route is obtained.

Specifically, when the first length is equal to the second length, the first end point on the first sub route and the second end point on the second sub route may be directly connected in a closed manner, so that a part of the second inclined shooting route may be obtained.

Or, a mode for connecting the first sub route with the second sub route according to the first length and the second length to obtain a part of the second inclined shooting route comprises the following steps:

s3324: and when the first length is greater than the second length, determining a fourth endpoint on the first sub-route according to the second length, wherein the distance between the first endpoint and the fourth endpoint is the difference between the first length and the second length.

S3325: and carrying out closed connection on the fourth end point and the second end point to obtain a part of second inclined shooting route.

The specific implementation process of the steps in this embodiment is similar to the implementation process of the steps S3321 to S3322, and reference may be made to the above statements specifically, which are not described herein again.

Through the above-described adjustment process, it is possible to realize adjustment of a part of the inclined shooting routes of the first inclined shooting route intersecting the limited area, so that a second inclined shooting route corresponding to the first inclined shooting route can be obtained, as shown in fig. 16.

In this embodiment, carry out the closed connection with the new extreme point of the airline on the first slope shooting airline, the in-process of obtaining the second slope shooting airline, first length through acquireing first sub-airline and the second length of second sub-airline, then be connected first sub-airline and second sub-airline according to first length and second length, the condition that the second slope shooting airline and restricted area appear the overlap has been avoided effectively, also avoid simultaneously when controlling unmanned aerial vehicle, need adjust to certain acute angle can realize the adjustment of direction, and then guaranteed the reliable and stable nature of controlling unmanned aerial vehicle, the quality and the efficiency of unmanned aerial vehicle operation have been improved.

FIG. 17 is a schematic flow chart illustrating another lane adjustment method according to an embodiment of the present invention; on the basis of any one of the above embodiments, with reference to fig. 17, in order to improve the quality and efficiency of obtaining the side data of the preset object, the method in this embodiment may further include:

s101: and acquiring a third shooting route corresponding to the overlapped route according to the limited area, wherein the third shooting route is flush with the edge, close to the overlapped route, in the limited area.

S102: and controlling the unmanned aerial vehicle to execute a third shooting route.

When the first inclined shooting route intersects with the limited area, an overlapping route exists between the first inclined shooting route and the limited area, and in order to guarantee safety and reliability of flight of the unmanned aerial vehicle, the overlapping route in the first inclined shooting route is removed. In order to avoid the influence on the accuracy and the integrity of the side data acquisition due to the removed overlapped route, a third shooting route corresponding to the overlapped route can be acquired according to the limited area, and the process of acquiring the side data based on the first inclined shooting route is compensated through the third shooting route, so that the quality and the accuracy of the side data acquisition can be ensured; this third shooting path is flush with the edge of the restricted area near the overlapping path, as shown in fig. 18, and the third shooting path 205 is flush with the edge of the restricted area 100. After the third shooting route is acquired, the unmanned aerial vehicle can be controlled to execute the third shooting route. The unmanned aerial vehicle is controlled to execute the third shooting route, and different execution main bodies can be provided under different application scenes, specifically, one application scene is as follows: the execution main part is ground end equipment, and at this moment, ground end equipment can with unmanned aerial vehicle communication connection, ground end equipment can direct control unmanned aerial vehicle and carry out the third route of taking a photograph. Yet another application scenario is: the execution main part is unmanned aerial vehicle, and at this moment, after unmanned aerial vehicle acquireed the third route of taking a photograph, can directly carry out the third route of taking a photograph, ground end equipment at this moment can be used for showing the third route of taking a photograph that unmanned aerial vehicle executed. Yet another application scenario is: the execution main body comprises ground end equipment and an unmanned aerial vehicle, and at the moment, the method in the embodiment has the following steps in adaptive adjustment:

s102 a: and the ground end equipment sends the third shooting route to the unmanned aerial vehicle.

S102 b: and the unmanned aerial vehicle receives a third shooting and shooting route sent by the ground end equipment and executes the third shooting and shooting route.

At this moment, ground end equipment can generate the third route of taking a photograph, in order to realize the control to unmanned aerial vehicle, ground end equipment can shoot the route of taking a photograph with the third and send to unmanned aerial vehicle, and after unmanned aerial vehicle received the third route of taking a photograph, can carry out the third route of taking a photograph to the realization acquires the side data of predetermineeing the object through the shooting device on the unmanned aerial vehicle, thereby has guaranteed the quality and the efficiency of unmanned aerial vehicle operation effectively.

Further, when the unmanned aerial vehicle comprises a cloud platform, the shooting device can be arranged on the cloud platform, and the shooting angle of the shooting device can be adjusted by adjusting the inclination angle of the cloud platform; specifically, the controlling the drone to execute the third shooting route in this example may include:

s1021: the flight times of the unmanned aerial vehicle and the tilt angle of the cradle head corresponding to the flight times are obtained.

Wherein, unmanned aerial vehicle's flight number of times can set up with specific application scene and application demand, for example: the application requirement of the unmanned aerial vehicle is that side data of four sides of a preset object needs to be acquired, and at the moment, the flying frequency of the unmanned aerial vehicle can be determined to be four times; the application demand of unmanned aerial vehicle is for needing to acquire the side data of the three side of presetting the object, and this moment, unmanned aerial vehicle's the number of times of flight then can confirm to be the cubic. In order to guarantee the integrality and the reliability that side data acquireed, can adjust the inclination of cloud platform during every flight, it is specific, the cloud platform inclination that acquires and the flight number of times corresponding in this embodiment can include:

s10211: and determining a data acquisition position corresponding to the preset object, a route center position of the third shooting route and the altitude of the unmanned aerial vehicle.

S10212: and determining the tilt angle of the cradle head corresponding to the flight times according to the flight height, the data acquisition position and the central position of the flight line.

Specifically, as shown in fig. 18 to 19, after the third shooting route 205 is acquired, a route center position o point of the third shooting route 205 may be acquired, and a data acquisition position corresponding to the preset object and a flight height of the unmanned aerial vehicle may be preset; the data acquisition positions corresponding to the preset objects can include P1, P2, P3 and P4, after the air route center position o point and the data acquisition positions are obtained, a plurality of inclined lines can be obtained by connecting the air route center position and the data acquisition positions, and the tilt angle of the holder corresponding to the number of flight times can be determined according to the triangular relation between the inclined lines and the air height. Specifically, as shown in fig. 19, assuming that the projection coordinate of the o point of the center position of the flight path is the o 'point, and the distance from the o' point to the P1 point is L1, at this time, the relation between the tilt angle θ 1 of the pan head and the altitude H and the distance L1 is: tan (θ 1) ═ L1/H, at which time, in the case where L1 and the altitude H are known, the pan tilt angle θ 1 can be determined. Similarly, a plurality of pan tilt angles θ 2, θ 3, and θ 4 may be determined in a similar manner.

S1022: and controlling the unmanned aerial vehicle according to the third shooting route, the flight times and the tilt angle of the holder.

After the tilt angle and the number of flights of the holder are obtained, the unmanned aerial vehicle can be controlled to execute a third shooting route based on the number of flights and the tilt angle of the holder; that is, based on different cloud platform inclination, control unmanned aerial vehicle and take a photograph the airline and carry out repeated flight many times along same third, when taking a photograph the airline and fly along the third at every time, can adjust a cloud platform inclination. For example: when controlling unmanned aerial vehicle to carry out the third time and taking a photograph the airline for the first time, cloud platform inclination can be theta 1, when controlling unmanned aerial vehicle to carry out the third time and taking a photograph the airline for the second time, can adjust cloud platform inclination and be theta 2, when controlling unmanned aerial vehicle to carry out the third time and taking a photograph the airline for the third time, can adjust cloud platform inclination and be theta 3, when controlling unmanned aerial vehicle to carry out the third time and taking a photograph the airline for the fourth time, can adjust cloud platform inclination and be theta 4. Because the shooting angle of the shooting device can change along with the change of the inclination angle of the holder, the omnibearing data acquisition operation can be carried out on the side surface of the preset object, and the complete reliability of side surface data acquisition is ensured.

It should be noted that when the unmanned aerial vehicle is controlled according to the third shooting route, the number of flights and the tilt angle of the holder, different execution main bodies can be provided in different application scenes. One application scenario is as follows: the execution main part is ground end equipment, and at this moment, ground end equipment can with unmanned aerial vehicle communication connection, ground end equipment can directly control unmanned aerial vehicle and carry out the third route of taking a photograph based on flight number of times and cloud platform inclination. Yet another application scenario is: the execution main part is unmanned aerial vehicle, and at this moment, after unmanned aerial vehicle acquires the third route of taking a photograph, flight number and cloud platform inclination, can directly carry out the third route of taking a photograph based on flight number and cloud platform inclination, ground terminal equipment at this moment can be used for showing the third route of taking a photograph that unmanned aerial vehicle executed. Yet another application scenario is: the execution main body comprises ground end equipment and an unmanned aerial vehicle, and at the moment, the method in the embodiment has the following steps in adaptive adjustment:

s1022 a: and the ground end equipment sends the third shooting route to the unmanned aerial vehicle.

S1022 b: and the unmanned aerial vehicle receives a third shooting air route sent by the ground end equipment and flies through the third shooting air route, the predetermined flying times and the inclination angle of the holder.

At this moment, ground end equipment can generate the third and take a photograph of the airline, unmanned aerial vehicle can obtain flight number of times and cloud platform inclination, in order to realize the flight control to unmanned aerial vehicle, ground end equipment can take a photograph of the airline with the third and send unmanned aerial vehicle to, unmanned aerial vehicle receives after taking a photograph of the airline with the third, can carry out the third and take a photograph of the airline based on flight number of times and cloud platform inclination to the realization acquires the side data of predetermineeing the object through the shooting device on unmanned aerial vehicle, thereby unmanned aerial vehicle operation's quality and efficiency have been guaranteed effectively.

It should be noted that when the first oblique shooting route intersects the limited area, two situations may be included, one being: all route end points at one side end of the first inclined shooting route intersect with the limited area, as shown in FIG. 8; in another case, a part of the route end point of one side end of the first oblique shooting route intersects the restricted area, as shown in fig. 12. When the end point of a partial route at one side end of the first inclined shooting route is intersected with the limiting area and the intersected side of the limiting area is relatively curved, the process of generating a third shooting route can be abandoned for the first inclined shooting route at the moment, namely, in some application scenes, certain route sacrifice can be accepted to ensure that complex scene tasks can be carried out. Of course, a third shooting route may also be generated for the first inclined shooting route at this time, and a person skilled in the art may select different route adjustment strategies according to specific design requirements and application requirements, which is not described herein again.

The flight path adjusting method provided by the embodiment can solve the problems that in the prior art, if a building or an obstacle exists, a task cannot be completed or needs to be disassembled into a plurality of subtasks or special manual flight is needed at a corner to complete aiming at a flight path part which is translated in an inclined shooting flight path; and the readjustment of the task of the inclined shooting air route can be realized according to the set limit area, a part of air routes are abandoned to ensure that the task can be smoothly carried out, and the multi-angle repeated flight is carried out on the third shooting air route which can fly and is closest to the limit area, so that the side data of the preset object can be obtained to the maximum extent, the problem of incomplete coverage of the edge image caused by the reduction of the air routes is compensated, and the integrity and the accuracy of the acquisition of the side data of the preset object are further ensured.

On the basis of any of the above embodiments, after obtaining the second oblique shooting route, the method in this embodiment may further include:

s4: and controlling the unmanned aerial vehicle to execute a second inclined shooting route.

It can be understood that, as the number of the first inclined shooting air routes can be one or more, when the number of the first inclined shooting air routes is multiple, the number of the second inclined shooting air routes is multiple, at this time, when the unmanned aerial vehicle is controlled to execute the second inclined shooting air routes, the unmanned aerial vehicle can be controlled to sequentially complete the flight operation of the multiple second inclined shooting air routes according to the preset planned air route sequence; for example: according to the planned route sequence, the unmanned aerial vehicle can be sequentially controlled to complete flight operation of 4 second oblique shooting routes, so that flight tasks can be completed more quickly and conveniently, and the operation quality and efficiency are improved.

In addition, the unmanned aerial vehicle is controlled to execute the second inclined shooting route, and different execution main bodies can be provided in different application scenes, specifically, one application scene is as follows: the execution main part is ground end equipment, and at this moment, ground end equipment can with unmanned aerial vehicle communication connection, ground end equipment can direct control unmanned aerial vehicle and carry out the second slope and shoot the airline. Yet another application scenario is: the execution main part is unmanned aerial vehicle, and at this moment, after unmanned aerial vehicle acquireed the second slope and shoot the airline, can directly carry out the second slope and shoot the airline, ground terminal equipment at this moment can be used for showing the second slope that unmanned aerial vehicle executed and shoot the airline. Yet another application scenario is: the execution main body comprises ground end equipment and an unmanned aerial vehicle, and at the moment, the method in the embodiment has the following steps in adaptive adjustment:

s4 a: and the ground end equipment sends the second inclined shooting route to the unmanned aerial vehicle.

S4 b: and the unmanned aerial vehicle receives a second inclined shooting air route sent by the ground end equipment and executes the second inclined shooting air route.

At the moment, the ground end equipment can generate a second inclined shooting route, in order to realize the control of the unmanned aerial vehicle, the ground end equipment can send the second inclined shooting route to the unmanned aerial vehicle, and after the unmanned aerial vehicle receives the second inclined shooting route, the second inclined shooting route can be executed, so that the side data of the preset object can be acquired through a shooting device on the unmanned aerial vehicle, and the quality and the efficiency of the operation of the unmanned aerial vehicle are effectively guaranteed.

FIG. 20 is a flowchart illustrating a further lane adjustment method according to an embodiment of the present invention; on the basis of any one of the above embodiments, with reference to fig. 20, the method in this embodiment may further include:

s201: and acquiring a route interval area of the first inclined shooting route and the interval distance of the route interval area.

S202: and when the limit area is located in the space area of the flight path and the width of the limit area is smaller than the spacing distance, controlling the unmanned aerial vehicle to execute a first inclined shooting flight path.

Specifically, after the first inclined shooting route is acquired, a route interval area of the first inclined shooting route and an interval distance of the route interval area can be determined. After the spacing distance is acquired, the position relationship and the size relationship between the limiting area and the route spacing area can be identified, when the limiting area is located in the route spacing area and the width of the limiting area is smaller than the spacing distance, for example, the spacing distance of the route spacing area of the first oblique shooting route is 5 meters, and when the width of the limiting area located in the route spacing area is 2 meters, the limiting area can be ignored at the moment because 2 meters are smaller than 5 meters, that is, the working process of the unmanned aerial vehicle is not influenced by the limiting area, and the unmanned aerial vehicle can be directly controlled to execute the first oblique shooting route.

It should be noted that there may also be three different application scenarios when controlling the drone to execute the first oblique shooting route; in specific application, one application scenario is as follows: the execution main part is ground end equipment, and at this moment, ground end equipment can with unmanned aerial vehicle communication connection, ground end equipment can the first slope of direct control unmanned aerial vehicle execution shooting airline. Yet another application scenario is: the execution main part is unmanned aerial vehicle, and at this moment, after unmanned aerial vehicle acquireed first slope and shoots the airline, can directly carry out first slope and shoot the airline, ground terminal equipment at this moment can be used for showing the first slope that unmanned aerial vehicle executed and shoot the airline. Yet another application scenario is: the execution main body comprises ground end equipment and an unmanned aerial vehicle, and at the moment, the method in the embodiment has the following steps in adaptive adjustment:

s202 a: and the ground end equipment sends the first inclined shooting route to the unmanned aerial vehicle.

S202 b: the unmanned aerial vehicle receives a first inclined shooting route sent by the ground end equipment and executes the first inclined shooting route.

At this moment, ground end equipment can generate first slope and shoot the airline, in order to realize the control to unmanned aerial vehicle, can shoot the airline with first slope and send to unmanned aerial vehicle, and unmanned aerial vehicle receives first slope and shoots the airline after, can carry out first slope and shoot the airline to the realization obtains the side data of predetermineeing the object through the shooting device on the unmanned aerial vehicle, thereby has guaranteed the quality and the efficiency of unmanned aerial vehicle operation effectively.

On the basis of the foregoing embodiment, the method in this embodiment may further include:

s301: and detecting the side quality of the data object according to the side data of the preset object.

Wherein the side data of the preset object may include at least one of: the method comprises the steps of acquiring left side data of a left side of a preset object, right side data of a right side of the preset object, front side data for shooting a front side of the preset object and rear side data for shooting a rear side of the preset object; after the side data of the preset object is obtained, the side quality of the data object can be detected based on the side data, so that the side quality information of the data object can be obtained.

For example, when the data object is a dam, the side surface of the dam needs to be periodically subjected to quality detection, at this time, the side surface data of the dam can be acquired through the unmanned aerial vehicle and the shooting device, after the side surface data is acquired, the side surface data can be analyzed and identified to detect the side surface quality of the dam, and when the side surface quality of the dam meets a preset requirement, the quality detection of the side surface of the dam can be continuously performed according to a preset frequency; when the side quality of the dam does not meet the preset requirement, the dam can be maintained and managed in time, and therefore the safety and reliability of dam work are guaranteed.

FIG. 21 is a schematic flow chart illustrating a further lane adjustment method according to an embodiment of the present invention; on the basis of the above embodiment, referring to fig. 21, the method in this embodiment may further include:

s401: and acquiring a vertical shooting air route, wherein the vertical shooting air route is used for acquiring vertical plane data of a preset object through a shooting device on the unmanned aerial vehicle.

S402: and controlling the unmanned aerial vehicle to execute a vertical shooting route.

The embodiment does not limit the acquisition mode of the vertical shooting route, for example: system parameters may be configured, which may include at least one of: flight height, flight speed, overlapping rate and outward expansion margin; and then, a vertical shooting route can be obtained through the configured system parameters, and the vertical shooting route is used for obtaining vertical data of a preset object through a shooting device on the unmanned aerial vehicle. Of course, a person skilled in the art may also obtain the vertical shooting route in other ways according to a specific application scenario and design requirements, as long as the accuracy and reliability of obtaining the vertical shooting route can be ensured, which is not described herein again.

After the vertical shooting route is acquired, the unmanned aerial vehicle may be controlled to execute the vertical shooting route, and specifically, a specific implementation process of controlling the unmanned aerial vehicle to execute the vertical shooting route in this embodiment is similar to the specific implementation process of step S4 in the foregoing embodiment, which may specifically refer to the above statements and is not described herein again.

Further, on the basis of the above embodiment, the method in this embodiment may further include:

s501: and performing three-dimensional modeling processing on the preset object according to the vertical data and the side data of the preset object to obtain a three-dimensional model corresponding to the preset object.

In order to implement three-dimensional modeling processing on the preset object, the side data of the preset object may include: the method comprises the steps of acquiring left side data of a left side of a preset object, right side data of a right side of the preset object, front side data for shooting a front side of the preset object and rear side data for shooting a rear side of the preset object; at the moment, the three-dimensional modeling processing can be carried out on the preset object by combining the acquired vertical data and the acquired side data of the preset object, and then the three-dimensional model corresponding to the preset object can be acquired, so that the user can visually know the morphological characteristics of the preset object, and the practicability of the method is improved.

FIG. 22 is a schematic structural diagram of a lane adjustment system according to an embodiment of the present invention; referring to fig. 22, the present embodiment provides an airline adjustment system that can perform the airline adjustment method shown in fig. 4 described above, and specifically, the airline adjustment system can include:

a memory 12 for storing a computer program;

a processor 11 for executing the computer program stored in the memory 12 to implement:

the method comprises the steps of obtaining a first inclined shooting route and a limit area corresponding to a preset object, wherein the first inclined shooting route is used for obtaining side data of the preset object through a shooting device on the unmanned aerial vehicle; the limiting area is used for limiting the flight of the unmanned aerial vehicle;

The lane adjustment system may further include a communication interface 13 for communicating the electronic device with other devices or a communication network. The first inclined shooting route comprises at least one of the following: an inclined shooting route for shooting the left side of the preset object; an inclined shooting route for shooting the right side of the preset object; an inclined shooting route for shooting the front side of a preset object; and the inclined shooting route is used for shooting the rear side surface of the preset object.

In one embodiment, when the processor 11 adjusts an overlapping course line in the first inclined shooting course line according to the limited area to obtain a second inclined shooting course line, the processor 11 is further configured to: determining an intersection point between the first oblique shooting route and the restricted area; carrying out reverse translation on the intersection along the first inclined shooting route to obtain a new route endpoint, wherein the distance between the new route endpoint and the limited area is a preset safety distance; and carrying out closed connection on the new endpoint of the route on the first inclined shooting route to obtain a second inclined shooting route.

In one embodiment, the overlapping flight paths include adjacent first and second sub-flight paths; at this time, when the processor 11 makes a close connection with a new endpoint of the route on the first inclined shooting route to obtain a second inclined shooting route, the processor 11 is further configured to: acquiring a first length of a first sub route and a second length of a second sub route; and connecting the first sub route with the second sub route according to the first length and the second length to obtain a part of second inclined shooting route.

In one embodiment, a first end point is arranged on the first sub route, and a second end point is arranged on the second sub route; when the processor 11 connects the first sub route with the second sub route according to the first length and the second length to obtain a part of the second inclined shooting route, the processor 11 is further configured to: when the first length is smaller than the second length, determining a third end point on the second sub route according to the first length, wherein the distance between the second end point and the third end point is the difference value between the second length and the first length; and connecting the first end point and the third end point in a closed manner to obtain a part of second inclined shooting route.

In one embodiment, a first end point is arranged on the first sub route, and a second end point is arranged on the second sub route; when the processor 11 connects the first sub route with the second sub route according to the first length and the second length to obtain a part of the second inclined shooting route, the processor 11 is further configured to: when the first length is equal to the second length, the first end point and the second end point are connected in a closed mode to obtain a part of second inclined shooting route; or when the first length is greater than the second length, determining a fourth endpoint on the first sub-route according to the second length, wherein the distance between the first endpoint and the fourth endpoint is the difference value of the first length and the second length; and carrying out closed connection on the fourth end point and the second end point to obtain a part of second inclined shooting route.

In one embodiment, the processor 11 is further configured to: and controlling the unmanned aerial vehicle to execute a second inclined shooting route.

In one embodiment, the processor 11 is further configured to: acquiring a route interval area of a first inclined shooting route and an interval distance of the route interval area; and when the limit area is located in the space area of the flight path and the width of the limit area is smaller than the spacing distance, controlling the unmanned aerial vehicle to execute a first inclined shooting flight path.

In one embodiment, the processor 11 is further configured to: acquiring a third shooting route corresponding to the overlapped route according to the limited area, wherein the third shooting route is flush with the edge, close to the overlapped route, in the limited area; and controlling the unmanned aerial vehicle to execute a third shooting route.

In one embodiment, the drone includes a pan-tilt; when the processor 11 controls the drone to execute the third shooting route, the processor 11 is further configured to: acquiring the flight times of the unmanned aerial vehicle and the tilt angle of the holder corresponding to the flight times; and controlling the unmanned aerial vehicle according to the third shooting route, the flight times and the tilt angle of the holder.

In one embodiment, when the processor 11 obtains the tilt angle of the pan/tilt head corresponding to the number of flights, the processor 11 is further configured to: determining a data acquisition position corresponding to a preset object, a route center position of a third shooting and shooting route and the altitude of the unmanned aerial vehicle; and determining the tilt angle of the cradle head corresponding to the flight times according to the flight height, the data acquisition position and the central position of the flight line.

In one embodiment, the processor 11 is further configured to: and detecting the side quality of the data object according to the side data of the preset object.

In one embodiment, the processor 11 is further configured to: acquiring a vertical shooting route, wherein the vertical shooting route is used for acquiring vertical plane data of a preset object through a shooting device on an unmanned aerial vehicle; and controlling the unmanned aerial vehicle to execute a vertical shooting route.

In one embodiment, the processor 11 is further configured to: and performing three-dimensional modeling processing on the preset object according to the vertical data and the side data of the preset object to obtain a three-dimensional model corresponding to the preset object.

The lane adjustment system shown in fig. 22 may execute the method of the embodiment shown in fig. 4-21, and a part of the embodiment not described in detail may refer to the related description of the embodiment shown in fig. 4-21. The implementation process and technical effect of the technical solution are described in the embodiments shown in fig. 4 to 21, and are not described herein again.

In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the lane adjustment method in fig. 4 to 21.

In addition, another aspect of the present embodiment provides a ground-end apparatus, including: any of the above described course adjustment systems.

Furthermore, another aspect of the present embodiment provides a drone, including: any of the above described course adjustment systems.

FIG. 23 is a schematic structural diagram of another lane adjustment system provided by an embodiment of the present invention; referring to fig. 23, the present embodiment provides another course adjustment system, which may include a ground-end device 21 and a drone 22, wherein the ground-end device 21 is in communication with the drone 22. And a ground-end device 21 for:

Wherein the first inclined shooting route comprises at least one of the following: an inclined shooting route for shooting the left side of the preset object; an inclined shooting route for shooting the right side of the preset object; an inclined shooting route for shooting the front side of a preset object; and the inclined shooting route is used for shooting the rear side surface of the preset object.

In one embodiment, the surface end device 21 is further configured to: determining an intersection point between the first oblique shooting route and the restricted area; carrying out reverse translation on the intersection along the first inclined shooting route to obtain a new route endpoint, wherein the distance between the new route endpoint and the limited area is a preset safety distance; and carrying out closed connection on the new endpoint of the route on the first inclined shooting route to obtain a second inclined shooting route.

In one embodiment, the overlapping flight paths include adjacent first and second sub-flight paths; the ground-end device 21 is also configured to: acquiring a first length of a first sub route and a second length of a second sub route; and connecting the first sub route with the second sub route according to the first length and the second length to obtain a part of second inclined shooting route.

In one embodiment, a first end point is arranged on the first sub route, and a second end point is arranged on the second sub route; the ground-end device 21 is also configured to: when the first length is smaller than the second length, determining a third end point on the second sub route according to the first length, wherein the distance between the second end point and the third end point is the difference value between the second length and the first length; and connecting the first end point and the third end point in a closed manner to obtain a part of second inclined shooting route.

In one embodiment, a first end point is arranged on the first sub route, and a second end point is arranged on the second sub route; the ground-end device 21 is also configured to: when the first length is equal to the second length, the first end point and the second end point are connected in a closed mode to obtain a part of second inclined shooting route; or when the first length is greater than the second length, determining a fourth endpoint on the first sub-route according to the second length, wherein the distance between the first endpoint and the fourth endpoint is the difference value of the first length and the second length; and carrying out closed connection on the fourth end point and the second end point to obtain a part of second inclined shooting route.

In one embodiment, the surface end device 21 is further configured to: sending the second oblique shooting route to the drone 22 to cause the drone 22 to execute the second oblique shooting route;

at this point, the drone 22 is configured to: and receiving the second inclined shooting route sent by the ground end equipment 21, and executing the second inclined shooting route.

In one embodiment, the surface end device 21 is further configured to: acquiring a route interval area of a first inclined shooting route and an interval distance of the route interval area; when the limit area is located in the route separation area and the width of the limit area is smaller than the separation distance, the first inclined shooting route is sent to the unmanned aerial vehicle 22, so that the unmanned aerial vehicle 22 executes the first inclined shooting route;

at this point, the drone 22 is configured to: and receiving the first inclined shooting route sent by the ground end equipment 21, and executing the first inclined shooting route.

In one embodiment, the surface end device 21 is further configured to: acquiring a third shooting route corresponding to the overlapped route according to the limited area, wherein the third shooting route is flush with the edge, close to the overlapped route, in the limited area; sending the third shooting route to the unmanned aerial vehicle 22 so that the unmanned aerial vehicle 22 executes the third shooting route;

at this point, the drone 22 is configured to: and receiving a third shooting route sent by the ground end equipment 21, and executing the third shooting route.

In one embodiment, the drone includes a pan-tilt; the drone 22 is also configured to: acquiring the flight times of the unmanned aerial vehicle and the tilt angle of the holder corresponding to the flight times; and performing operation according to the third shooting route, the flight times and the tilt angle of the holder.

In one embodiment, the drone 22 is also to: determining a data acquisition position corresponding to a preset object, a route center position of a third shooting and shooting route and the altitude of the unmanned aerial vehicle; and determining the tilt angle of the cradle head corresponding to the flight times according to the flight height, the data acquisition position and the central position of the flight line.

In one embodiment, the drone 22 is also to: and detecting the side quality of the data object according to the side data of the preset object.

In one embodiment, the surface end device 21 is further configured to: acquiring a vertical shooting route, wherein the vertical shooting route is used for acquiring vertical plane data of a preset object through a shooting device on an unmanned aerial vehicle; sending the vertical shooting route to the drone 22 to cause the drone 22 to execute the vertical shooting route;

at this point, the drone 22 is configured to: and receiving the vertical shooting route sent by the ground end equipment 21 and executing the vertical shooting route.

In one embodiment, the drone 22 is also to: and performing three-dimensional modeling processing on the preset object according to the vertical data and the side data of the preset object to obtain a three-dimensional model corresponding to the preset object.

The lane adjustment system shown in fig. 23 may execute the method of the embodiment shown in fig. 4-21, and a part of the embodiment not described in detail may refer to the related description of the embodiment shown in fig. 4-21. The implementation process and technical effect of the technical solution are described in the embodiments shown in fig. 4 to 21, and are not described herein again.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed related remote control device and method can be implemented in other ways. For example, the above-described remote control device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of lane adjustment, comprising:

2. The method of claim 1, wherein the course adjustment method is applied to ground end equipment and/or drones.

3. The method of claim 2, wherein adjusting overlapping routes in the first inclined shooting routes according to the restricted area to obtain a second inclined shooting route comprises:

determining an intersection between the first oblique shooting route and the restricted area;

carrying out reverse translation on the intersection along the first inclined shooting route to obtain a new route endpoint, wherein the distance between the new route endpoint and the limited area is a preset safety distance;

and carrying out closed connection on the new endpoint of the route on the first inclined shooting route to obtain the second inclined shooting route.

4. The method of claim 3, wherein the overlapping flight paths include adjacent first and second sub-flight paths; carrying out closed connection on a new endpoint of the route on the first inclined shooting route to obtain the second inclined shooting route, and the method comprises the following steps:

acquiring a first length of the first sub route and a second length of the second sub route;

and connecting the first sub route with the second sub route according to the first length and the second length to obtain part of the second inclined shooting route.

5. The method of claim 4, wherein the first sub-route has a first end point disposed thereon and the second sub-route has a second end point disposed thereon; connecting the first sub route with the second sub route according to the first length and the second length to obtain part of the second inclined shooting route, comprising:

when the first length is smaller than the second length, determining a third end point on the second sub route according to the first length, wherein the distance between the second end point and the third end point is the difference value between the second length and the first length;

and carrying out closed connection on the first end point and the third end point to obtain part of the second inclined shooting route.

6. The method of claim 4, wherein the first sub-route has a first end point disposed thereon and the second sub-route has a second end point disposed thereon; connecting the first sub route with the second sub route according to the first length and the second length to obtain part of the second inclined shooting route, comprising:

when the first length is equal to the second length, the first end point and the second end point are connected in a closed mode, and a part of second inclined shooting route is obtained; or,

when the first length is larger than the second length, determining a fourth end point on the first sub route according to the second length, wherein the distance between the first end point and the fourth end point is the difference value between the first length and the second length;

and carrying out closed connection on the fourth end point and the second end point to obtain part of the second inclined shooting route.

7. The method according to any one of claims 1-6, further comprising:

and controlling the unmanned aerial vehicle to execute the second inclined shooting route.

8. The method according to any one of claims 1-6, further comprising:

acquiring a route interval area of the first inclined shooting route and an interval distance of the route interval area;

and when the limit area is located in the space area of the route and the width of the limit area is smaller than the spacing distance, controlling the unmanned aerial vehicle to execute the first inclined shooting route.

9. The method according to any one of claims 1-6, further comprising:

acquiring a third shooting route corresponding to the overlapping route according to the limited area, wherein the third shooting route is flush with the edge, close to the overlapping route, in the limited area;

and controlling the unmanned aerial vehicle to execute the third shooting route.

10. The method of claim 9, wherein the drone includes a pan-tilt; control the unmanned aerial vehicle carries out the third is taken a photograph the airline, include:

acquiring the flight times of the unmanned aerial vehicle and the tilt angle of the holder corresponding to the flight times;

and controlling the unmanned aerial vehicle according to the third shooting route, the flight times and the tilt angle of the holder.

11. The method according to claim 10, wherein obtaining a pan-tilt angle corresponding to the number of flights comprises:

determining a data acquisition position corresponding to the preset object, a route center position of a third shooting route and the altitude of the unmanned aerial vehicle;

and determining the tilt angle of the cradle head corresponding to the flight times according to the flight height, the data acquisition position and the central position of the flight line.

12. The method of any of claims 1-6, wherein the first oblique shooting path comprises at least one of:

an inclined shooting route for shooting the left side of the preset object;

an inclined shooting route for shooting the right side of the preset object;

an inclined shooting route for shooting the front side of a preset object;

and the inclined shooting route is used for shooting the rear side surface of the preset object.

13. The method of claim 12, further comprising:

and detecting the side quality of the data object according to the side data of the preset object.

14. The method of claim 12, further comprising:

acquiring a vertical shooting route, wherein the vertical shooting route is used for acquiring vertical data of a preset object through a shooting device on the unmanned aerial vehicle;

and controlling the unmanned aerial vehicle to execute the vertical shooting route.

15. The method of claim 14, further comprising:

and carrying out three-dimensional modeling processing on the preset object according to the vertical data and the side data of the preset object to obtain a three-dimensional model corresponding to the preset object.

16. An airline adjustment system, comprising:

a memory for storing a computer program;

17. The course adjustment system of claim 16, wherein when the processor adjusts an overlapping course of the first inclined shooting course according to the restricted area to obtain a second inclined shooting course, the processor is further configured to:

18. The course adjustment system of claim 17, wherein said overlapping courses include adjacent first and second sub-courses; when the processor carries out closed connection on a new endpoint of the route on the first inclined shooting route to obtain the second inclined shooting route, the processor is further used for:

19. The course adjustment system of claim 18 wherein said first sub-course has a first end point disposed thereon and said second sub-course has a second end point disposed thereon; when the processor connects the first sub route with the second sub route according to the first length and the second length to obtain a part of the second inclined shooting route, the processor is further configured to:

20. The course adjustment system of claim 18 wherein said first sub-course has a first end point disposed thereon and said second sub-course has a second end point disposed thereon; when the processor connects the first sub route with the second sub route according to the first length and the second length to obtain a part of the second inclined shooting route, the processor is further configured to:

21. The course adjustment system of any of claims 16-20, wherein said processor is further configured to:

22. The course adjustment system of any of claims 16-20, wherein said processor is further configured to:

23. The course adjustment system of any of claims 16-20, wherein said processor is further configured to:

24. The course adjustment system of claim 23, wherein said drone includes a pan-tilt; when the processor controls the drone to execute the third shooting route, the processor is further configured to:

25. The course adjustment system of claim 24, wherein, when the processor obtains a pan-tilt angle corresponding to the number of flights, the processor is further configured to:

26. The course adjustment system of any of claims 16-20, wherein said first inclined shooting course comprises at least one of:

an inclined shooting route for shooting the left side of the preset object;

an inclined shooting route for shooting the right side of the preset object;

an inclined shooting route for shooting the front side of a preset object;

27. The course adjustment system of claim 26, wherein said processor is further configured to:

28. The course adjustment system of claim 26, wherein said processor is further configured to:

29. The course adjustment system of claim 28, wherein said processor is further configured to:

30. A ground-end apparatus, comprising: the course adjustment system of any one of claims 16 to 29.

31. An unmanned aerial vehicle, comprising: the course adjustment system of any one of claims 16 to 29.

32. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium having stored therein program instructions for implementing the lane adjustment method according to any one of claims 1 to 15.