UAV aerial photography method, UAV aerial photography controller and UAV aerial photography system

Abstract

The embodiment of the present invention discloses a drone aerial photography method, a drone aerial photography controller, and a drone aerial photography system. The drone aerial photography method includes: obtaining the scope of the survey area, a first aerial photography path, and drone information; wherein the drone information includes the aerial photography overlap rate and the number of drones; determining the aerial photography points according to the first aerial photography path and the aerial photography overlap rate; dividing the survey area into blocks according to the scope of the survey area, the number of drones, and the aerial photography points; wherein the number of divided blocks is equal to the number of drones; and controlling the drone to perform aerial photography of the allocated blocks. The drone aerial photography method provided by the present solution improves the efficiency and accuracy of drone surveys by determining the aerial photography points, dividing the blocks according to the aerial photography points, and intensively photographing certain areas with a focus.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of unmanned aerial photography, and in particular to a unmanned aerial photography method, a unmanned aerial photography controller and a unmanned aerial photography system. Background Art

[0002] With the rapid growth of the drone market, the application of 3D modeling oblique photography technology to drone aerial photography has further promoted the development of aerial photography and 3D modeling technology, and gradually established the drone aerial photography and survey ecosystem. However, the current drone aerial photography and survey ecosystem is still imperfect, and professional drone aerial photography and survey equipment is expensive. For example, five-lens surveying-grade drones are highly professional, but expensive. Using professional drone aerial photography and survey equipment for aerial photography operations has the problems of low aerial photography efficiency and high aerial photography costs. However, although ordinary civilian consumer-grade drones have certain price advantages, they have problems with poor survey accuracy and low aerial photography efficiency. Summary of the invention

[0003] The embodiments of the present invention provide a drone aerial photography method, a drone aerial photography controller and a drone aerial photography system to improve the efficiency and accuracy of drone surveys.

[0004] In a first aspect, an embodiment of the present invention provides a method for aerial photography using a drone, comprising:

[0005] Obtaining the scope of the survey area, the first aerial photography path, and drone information; wherein the drone information includes the aerial photography overlap rate and the number of drones;

[0006] Determining an aerial photography point according to the first aerial photography path and the aerial photography overlap rate;

[0007] According to the survey area, the number of drones and the aerial photography points, the survey area is divided into blocks; wherein the number of divided blocks is equal to the number of drones;

[0008] Control the drone to take aerial photos of the block assigned to it.

[0009] Optionally, the method for obtaining the first aerial photography path includes:

[0010] The UAV with a return route planning function determines a return aerial photography path according to the scope of the survey area, and uses the return aerial photography path as the first aerial photography path; and / or

[0011] A preset aerial photography path is obtained, and the preset aerial photography path is used as the first aerial photography path.

[0012] Optionally, the aerial photography overlap rate includes a lateral overlap rate and a forward overlap rate;

[0013] Methods for determining aerial photography points include:

[0014] The coordinates of each of the aerial photography points are determined according to the first aerial photography path, the lateral overlap rate, and the forward overlap rate.

[0015] Optionally, the drone information also includes the drone communication range and the take-off coordinates of each drone;

[0016] The method for dividing the survey area into blocks includes:

[0017] Determine the number of blocks into which the survey area is divided according to the number of drones;

[0018] Determine whether the communication range of the UAV can cover the survey area;

[0019] If yes, the survey area is divided equally according to the number of blocks and the distribution of the aerial photography points;

[0020] If not, determining a block division strategy for the survey area according to the take-off coordinates of each of the drones;

[0021] The survey area is divided according to the block strategy.

[0022] Optionally, the block strategy includes a flight time basic balance strategy and a block basic balance strategy;

[0023] The method for determining the block division strategy of the survey area scope includes:

[0024] Determining whether the take-off coordinates of each of the drones are the same;

[0025] If yes, the block division strategy of the survey area is the flight time basic balance strategy;

[0026] If not, the block division strategy of the survey area is the block basic balance strategy.

[0027] Optionally, the method for dividing the survey area according to the block basic balance strategy includes:

[0028] Divide the survey area into blocks according to the number of blocks and the distribution of the aerial photography points;

[0029] The method for dividing the survey area according to the basic flight time balance strategy includes:

[0030] Dividing the survey area equally according to the number of blocks and the distribution of the aerial photography points;

[0031] Calculating the flight time of each of the drones surveying its assigned area;

[0032] The block range allocated to each drone is adjusted according to the flight time of each drone until the flight time of each drone surveying the allocated block is equal.

[0033] Optionally, the method of controlling the drone to take aerial photos of the block assigned to it includes:

[0034] Connect all the aerial photography points in each block in series to form a second aerial photography path;

[0035] Each of the drones is controlled to collect image information of the aerial photography points in the block along the second aerial photography path corresponding to the block.

[0036] Optionally, the drone aerial photography system includes a plurality of drones and a drone aerial photography controller;

[0037] Each of the drones comprises a base station; the drones communicate wirelessly with each other via the base station, and the drone aerial photography controller is arranged within the drone communication range of at least one of the drones;

[0038] The communication range of the drone can cover at least one of the block ranges;

[0039] Before each of the drones collects the image information of the aerial photography point, the method further includes:

[0040] If the communication range of the drone can cover the survey area, each of the drones establishes a wireless communication connection with the drone aerial photography controller;

[0041] If the communication range of the drone cannot cover the survey area, the drone establishes a wireless communication connection with the drone aerial photography controller and / or other drones within its communication range.

[0042] In a second aspect, an embodiment of the present invention further provides a drone aerial photography controller, which includes:

[0043] An acquisition module, used to acquire the scope of the survey area, the first aerial photography path and drone information; wherein the drone information includes the aerial photography overlap rate and the number of drones;

[0044] An aerial photography point determination module, configured to determine an aerial photography point according to the first aerial photography path and the aerial photography overlap rate;

[0045] A block division module is used to divide the survey area into blocks according to the survey area, the number of drones and the aerial photography points; wherein the number of divided blocks is equal to the number of drones;

[0046] The aerial photography module is used to control the drone to take aerial photography of the block assigned to it.

[0047] In a third aspect, an embodiment of the present invention further provides a drone aerial photography system, which includes at least one drone equipped with a base station and a drone aerial photography controller for executing the drone aerial photography method proposed in any of the above embodiments.

[0048] In the embodiment of the present invention, the survey area, the first aerial photography path and the drone information are obtained; wherein the drone information includes the aerial photography overlap rate and the number of drones. Thus, preparations can be made for the subsequent control of the drone to conduct aerial photography survey. According to the first aerial photography path and the aerial photography overlap rate, the aerial photography points are determined, thereby all the aerial photography points in the survey area can be obtained, so that the distribution characteristics of the aerial photography points can be intuitively analyzed, and the areas that need to be surveyed are determined by the distribution of the aerial photography points. According to the survey area, the number of drones and the aerial photography points, the survey area is divided into blocks, and the number of divided blocks can be equal to the number of drones, so that multiple drones can perform aerial photography tasks at the same time, thereby improving the efficiency of the survey task. In addition, according to the distribution characteristics of the aerial photography points, a survey area within the survey area that needs to improve accuracy is assigned to the same drone for aerial photography operations, so that the drone's aerial photography frequency when surveying its assigned block is kept as consistent as possible, thereby improving the operating efficiency of the drone and improving the survey accuracy of the key survey area within the survey area. By controlling the drone to take aerial photos of the assigned block, the drone can be controlled to obtain aerial images according to the distribution characteristics of the aerial photography points in the corresponding assigned block. In summary, the drone aerial photography method provided by this scheme improves the efficiency and accuracy of drone surveys by determining aerial photography points, dividing blocks according to aerial photography points, and focusing on intensive aerial photography of certain areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 A schematic diagram of a flow chart of a drone aerial photography method provided by an embodiment of the present invention;

[0051] Figure 2A schematic diagram of a return aerial photography path provided by an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of the distribution of uniform aerial photography points provided by an embodiment of the present invention;

[0053] Figure 4 A schematic diagram of the distribution of hybrid aerial photography points provided by an embodiment of the present invention;

[0054] Figure 5 A schematic diagram of a flow chart of a method for dividing a survey area into blocks provided by an embodiment of the present invention;

[0055] Figure 6 A flowchart of a method for determining a block strategy for a survey area range provided by an embodiment of the present invention;

[0056] Figure 7 A schematic flow chart of a method for dividing a survey area according to a basic flight time balance strategy provided by an embodiment of the present invention;

[0057] Figure 8 A schematic diagram of equally dividing the scope of a survey area provided by an embodiment of the present invention;

[0058] Fig. 9 For Figure 8 A schematic diagram of the block range allocated to each drone adjusted based on the above;

[0059] Fig.10 A flowchart of a method for controlling a drone to take aerial photos of a block assigned to it provided by an embodiment of the present invention;

[0060] Fig.11 A communication schematic diagram of a drone provided by an embodiment of the present invention;

[0061] Fig.12 Another UAV communication schematic diagram provided by an embodiment of the present invention;

[0062] Fig.13 A schematic diagram of another UAV communication provided by an embodiment of the present invention;

[0063] Fig.14 A schematic diagram of the structure of a drone aerial photography controller provided by an embodiment of the present invention;

[0064] Fig.15 A schematic structural diagram of a drone aerial photography system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0066] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0067] Figure 1 The present invention provides a flowchart of a drone aerial photography method. This embodiment can be applied to the survey of new energy power station construction areas. The method can be executed by a drone controller, which can be implemented in hardware and / or software. The method specifically includes the following steps:

[0068] S110, obtaining the scope of the survey area, the first aerial photography path, and drone information; wherein the drone information includes the aerial photography overlap rate and the number of drones.

[0069] Specifically, the survey area refers to the specific coordinate area that needs to be surveyed. The survey area includes the key survey area and the non-key survey area. The survey of the key survey area by UAV is more accurate than the survey of the non-key survey area.

[0070] The first aerial photography path refers to the total flight route of the UAV when taking aerial photography of the survey area. The first aerial photography path may be automatically planned by the UAV with a flight route planning function according to the survey area, or may be a survey route pre-designed by surveyors for the UAV survey.

[0071] The drone information includes the drone's aerial photography parameters, the drone's flight parameters, and the drone's communication parameters. The drone information needs to be pre-input into the drone's aerial photography controller, so that the drone's aerial photography controller can control the drone's aerial photography during the drone's aerial photography operation. Exemplarily, the drone information may include: aerial photography overlap rate and the number of drones. Among them, the aerial photography overlap rate refers to the overlap probability of the first photo taken by the drone and the second photo taken by the drone during aerial photography. Obviously, the greater the aerial photography overlap rate, the more repeated parts of the aerial photos, and the more accurate the survey of the aerial photography area. The number of drones is pre-determined based on the drone's communication parameters and the scope of the survey area, where the number of drones is not necessarily the optimal number, and is any number that can meet the current survey area for aerial photography. It should be noted that the drone's communication range is one of the important determining factors when pre-determining the number of drones, that is, the number of allocated drones, and it is necessary to ensure that the aerial photography data of all drones can be transmitted to the drone's aerial photography controller in real time.

[0072] S120: Determine an aerial photography point according to the first aerial photography path and the aerial photography overlap rate.

[0073] The aerial photography points are the locations where the drone needs to take photos during flight. Once the first aerial photography path of the drone is determined, it can be known that the aerial photography points must be distributed on the first aerial photography path. In addition, the first aerial photography path is combined with the aerial photography overlap rate to mark the specific locations that need to be photographed each time, i.e., the aerial photography points, on the first aerial photography path.

[0074] It should be noted that the distribution of aerial photography points in the entire survey area is not necessarily uniform, and the distribution of aerial photography points on the first aerial photography path varies with the aerial photography overlap rate. Among them, the distribution of aerial photography points in the key survey area is relatively dense, so that the drone aerial photography controller can obtain more aerial photos of the key survey area, thereby improving the survey accuracy of the key survey area.

[0075] S130. Divide the survey area into blocks according to the survey area, the number of drones, and the aerial photography points; wherein the number of divided blocks is equal to the number of drones.

[0076] Among them, the survey area is divided into blocks, and multiple drones can perform aerial photography tasks at the same time, which can improve the efficiency of the survey task. Among them, the number of divided blocks can be equal to the number of drones. Each block can be divided according to the distribution of aerial photography points. For example, a part of the area with dense aerial photography points is divided into a block, and a part of the area with sparse aerial photography points is divided into a block. Therefore, according to the distribution characteristics of aerial photography points, a certain survey area within the survey area that needs to improve accuracy can be assigned to the same drone for aerial photography operations, so that the drone's aerial photography frequency when surveying its assigned block is kept consistent as much as possible, avoiding the time wasted by the drone adjusting the aerial photography frequency, thereby improving the operating efficiency of the drone and improving the survey accuracy of the key survey area within the survey area.

[0077] S140, controlling the drone to take aerial photos of the allocated block.

[0078] Specifically, the series line of aerial photography points in each block can be used as the actual aerial photography route of the drone, so the drone can be controlled to fly according to the actual aerial photography route in its corresponding allocated block and take images at each aerial photography point. The image taken by the drone during the aerial photography process can be a single image or a group of images with different perspectives (such as five views in oblique photography). This solution does not impose specific restrictions on this. Surveyors can control the drone to obtain images with different requirements according to actual needs.

[0079] In the embodiment of the present invention, the survey area, the first aerial photography path and the drone information are obtained; wherein the drone information includes the aerial photography overlap rate and the number of drones. Thus, preparations can be made for the subsequent control of the drone to conduct aerial photography survey. According to the first aerial photography path and the aerial photography overlap rate, the aerial photography points are determined, thereby all the aerial photography points in the survey area can be obtained, so that the distribution characteristics of the aerial photography points can be intuitively analyzed, and the areas that need to be surveyed are determined by the distribution of the aerial photography points. According to the survey area, the number of drones and the aerial photography points, the survey area is divided into blocks, and the number of divided blocks can be equal to the number of drones, so that multiple drones can perform aerial photography tasks at the same time, thereby improving the efficiency of the survey task. In addition, according to the distribution characteristics of the aerial photography points, a survey area within the survey area that needs to improve accuracy is assigned to the same drone for aerial photography operations, so that the drone's aerial photography frequency when surveying its assigned block is kept as consistent as possible, thereby improving the operating efficiency of the drone and improving the survey accuracy of the key survey area within the survey area. By controlling the drone to take aerial photos of the assigned block, the drone can be controlled to obtain aerial images according to the distribution characteristics of the aerial photography points in the corresponding assigned block. In summary, the drone aerial photography method provided by this scheme improves the efficiency and accuracy of drone surveys by determining aerial photography points, dividing blocks according to aerial photography points, and focusing on intensive aerial photography of certain areas.

[0080] Optionally, the method for obtaining the first aerial photography path includes: a drone with a return route planning function determines the return aerial photography path according to the scope of the survey area, and uses the return aerial photography path as the first aerial photography path; and / or obtains a preset aerial photography path, and uses the preset aerial photography path as the first aerial photography path.

[0081] For example, Figure 2 A schematic diagram of a return aerial photography path provided by an embodiment of the present invention. FIG2 is a return aerial photography path 220 automatically generated by a UAV with a return route planning function according to a survey area range 210. At this time, the return aerial photography path 220 can be used as a first aerial photography path. Among them, the UAV aerial photography controller sends the specific range coordinates of the survey area range 210 to the UAV. For example, if the survey area range 210 is a rectangle, the coordinates of the four vertices of the survey area range 210 are sent to the UAV. The UAV can then automatically plan a return aerial photography path 220 within the survey area range 210 according to the coordinates of the survey area range 210.

[0082] In addition, the first aerial photography path may also be a preset aerial photography path, that is, an aerial photography route designed by a designer, so that the drone performs the aerial photography task according to the preset aerial photography path.

[0083] It should be noted that: the first aerial photography path can be a return aerial photography path automatically generated by a drone with a return route planning function according to the scope of the survey area, or it can be a preset aerial photography path, or a part of the survey area uses the return aerial photography path automatically generated by a drone with a return route planning function according to the scope of the survey area, and the remaining area uses the preset aerial photography path. In this regard, this scheme does not impose specific restrictions, and it can be determined according to the actual situation of the scope of the survey area of ​​the specific survey.

[0084] Optionally, the aerial photography overlap rate includes a lateral overlap rate and a forward overlap rate; the method for determining the aerial photography point includes: determining the coordinates of each aerial photography point according to the first aerial photography path, the lateral overlap rate and the forward overlap rate.

[0085] The forward overlap rate refers to the probability that the first image taken by the drone overlaps with the second image taken when the drone takes photos on the first route. Figure 2 ,When the UAV takes aerial photos along the first route 221, the positive overlap rate refers to the overlap rate of the image taken at position ① and the image taken at position ②.

[0086] The side overlap rate refers to the probability that the image taken by the drone in the first flight path overlaps with the image taken by the second flight path next to it. Figure 2 , the probability that the image taken by the UAV at position ① when taking aerial photography along the first route 221 overlaps with the image taken by the UAV at position ③ when taking aerial photography along the second route 222.

[0087] When the first aerial photography path, the lateral overlap rate, and the forward overlap rate are all determined, the coordinates of each aerial photography point can be calculated, so that the distribution map of the aerial photography points can be obtained intuitively.

[0088] Figure 3 A schematic diagram of the distribution of uniform aerial photography points provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the first aerial photography path is composed of a return aerial photography path 220. When the lateral overlap rate and the forward overlap rate of the aerial photography of the UAV in the survey area 210 are consistent, evenly distributed aerial photography points 230 can be obtained. From the characteristics of even distribution of the aerial photography points 230, it can be seen that there is no distinction between the key survey area and the non-key survey area in the entire survey area 210.

[0089] Figure 4 A schematic diagram of the distribution of hybrid aerial photography points provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the first aerial photography path includes a return aerial photography path 221, a return aerial photography path 222, and a return aerial photography path 223. Figure 4From the distribution of the displayed aerial photography points 230, it can be seen that the lateral overlap rate of the drone's aerial photography in area 211 is the same as the lateral overlap rate of the drone's aerial photography in area 213, and the forward overlap rate of the drone's aerial photography in area 211 is different from the forward overlap rate of the drone's aerial photography in area 213. The lateral overlap rate of the drone's aerial photography in area 212 is different from the lateral overlap rate of the drone's aerial photography in areas 213 and 211, and the forward overlap rate of the drone's aerial photography in area 212 is different from the forward overlap rate of the drone's aerial photography in areas 213 and 211. From the characteristics of the distribution of the aerial photography points 230, it can be seen that within the entire survey area range 210, areas 211 and 222 are key survey areas, and area 213 is a non-key survey area.

[0090] Optionally, the drone information also includes the drone communication range and the take-off coordinates of each drone.

[0091] Among them, the communication range of the drone determines whether the aerial images collected by the drone can be normally transmitted to the drone aerial photography controller, and whether the instructions sent by the drone aerial photography controller can be normally transmitted to the drone. It can be seen that the communication range of the drone is one of the important parameters of the drone.

[0092] The take-off coordinates of the drone can be used to determine whether the drone needs to spend invalid flight time, so that the drone's workload can be adjusted in a certain proportion based on the proportion of the drone's invalid flight time to the total flight time.

[0093] For example, Figure 5 A flow chart of a method for dividing a survey area into blocks provided in an embodiment of the present invention is provided. Based on the above embodiment, the method for dividing a survey area into blocks is further described in detail:

[0094] S510. Determine the number of blocks into which the survey area is divided according to the number of drones.

[0095] The number of divided blocks is equal to the number of drones.

[0096] S520, determine whether the communication range of the drone can cover the survey area; if so, execute S530; if not, execute S540.

[0097] S530. Divide the survey area into equal parts according to the number of blocks and the distribution of aerial photography points.

[0098] Among them, the survey area is divided into blocks according to the number of drones and aerial photography points. The number of divided blocks can be equal to the number of drones, so that multiple drones can perform aerial photography tasks at the same time, thereby improving the efficiency of the survey task. In addition, based on the distribution characteristics of aerial photography points, a survey area within the survey area that needs to improve accuracy can be assigned to the same drone for aerial photography operations, so that the drone's aerial photography frequency when surveying its assigned block is kept consistent as much as possible, thereby improving the operating efficiency of the drone and the survey accuracy of the key survey area within the survey area.

[0099] S540: Determine a block division strategy for the survey area based on the take-off coordinates of each UAV.

[0100] Among them, the drone’s take-off point can be used to know whether the drone needs to spend invalid flight time, so that the drone’s workload can be adjusted to a certain extent according to the proportion of invalid flight time to total flight time. For example, the drone’s take-off point is far away from its assigned block, and the block range allocated to it can be appropriately reduced. The drone’s take-off point is close to its assigned block, and the block range allocated to it can be appropriately increased. Each drone is near its assigned block. At this time, the survey area can be evenly divided according to the number of blocks and the distribution of aerial photography points.

[0101] Specifically, the block strategy includes a flight time basic balance strategy and a block basic balance strategy.

[0102] Among them, the basic balance strategy of flight time is to limit the flight time of each drone to be basically the same. The flight time of a drone is equal to the sum of invalid flight time and valid flight time. The basic balance strategy of blocks is to limit the range of each block to be basically the same.

[0103] S550. Divide the survey area according to the block strategy.

[0104] Dividing the survey area into blocks in the above manner can fully take into account the actual situation of the survey area and the drone, and appropriately divide the survey area into blocks, thereby improving the efficiency and accuracy of drone surveys.

[0105] For example, Figure 6 A flow chart of a method for determining a block strategy for a survey area range provided by an embodiment of the present invention is provided. Based on the above embodiment, the method for determining a block strategy for a survey area range is further detailed:

[0106] S610, determine whether the take-off coordinates of each UAV are the same; if so, execute S620; if not, execute S630.

[0107] S620: The block division strategy for the survey area is a basic flight time balance strategy.

[0108] Among them, the same take-off coordinates of each drone mean that some drones are closer to their assigned blocks, while some drones are farther away from their assigned blocks. Therefore, in order to improve the overall efficiency of all drones, the survey area can be divided into blocks based on the principle of larger blocks near and smaller blocks far away, so that the flight time of all drones is basically the same, thereby realizing rapid collaborative operation of multiple drones and improving the efficiency of drone surveys in the survey area.

[0109] S630. The block division strategy for the survey area is a block basic balance strategy.

[0110] Among them, the take-off coordinates of each drone are different, which means that each drone takes off near its assigned block. At this time, the survey area can be divided equally so that all drones can basically complete the aerial photography mission at the same time, thereby realizing rapid collaborative operation of multiple drones and improving the efficiency of drone surveys in the survey area.

[0111] By dividing the survey area into blocks in the above manner, the actual conditions of the survey area and the drone can be fully considered, and the survey area can be appropriately divided into blocks, aiming to allow each drone to take off at the same time and end the aerial photography flight at the same time, thereby realizing rapid collaborative operation of multiple drones and improving the efficiency of drone surveys in the survey area.

[0112] Optionally, based on the above embodiment, the method for dividing the survey area according to the basic block balance strategy includes: evenly dividing the survey area into blocks according to the number of blocks and the distribution of aerial photography points.

[0113] Among them, the survey area is divided into blocks according to the number of drones and aerial photography points. The number of divided blocks can be equal to the number of drones, so that multiple drones can perform aerial photography tasks at the same time, thereby improving the efficiency of the survey task. In addition, based on the distribution characteristics of aerial photography points, a survey area within the survey area that needs to improve accuracy can be assigned to the same drone for aerial photography operations, so that the drone's aerial photography frequency when surveying its assigned block is kept consistent as much as possible, thereby improving the operating efficiency of the drone and the survey accuracy of the key survey area within the survey area.

[0114] For example, Figure 7 A flow chart of a method for dividing the scope of a survey area according to a basic flight time balance strategy provided by an embodiment of the present invention is provided. Based on the above embodiment, the method for dividing the scope of a survey area according to the basic flight time balance strategy is further detailed:

[0115] S710, dividing the survey area into equal parts according to the number of blocks and the distribution of aerial photography points.

[0116] For example, Figure 8 A schematic diagram of equally dividing the scope of a survey area provided by an embodiment of the present invention;

[0117] Figure 8 When the communication range of the drone cannot cover the survey area 210, all aerial photography points in the survey area 210 are evenly distributed, and there are 4 drones, the survey area 210 is divided into blocks according to the number of blocks and the distribution of aerial photography points.

[0118] S720, calculating the flight time of each UAV surveying its assigned area.

[0119] For example, continue to refer to Figure 8 , UAV 1 needs to take aerial photos of block 11, UAV 2 needs to take aerial photos of block 12, UAV 3 needs to take aerial photos of block 13, and UAV 4 needs to take aerial photos of block 14. Among them, UAV 1, UAV 2, UAV 3, and UAV 4 all take off from position 0, and the flight time of each UAV from taking off from position 0 to completing the survey of its assigned block until it returns to position 0 is calculated. Obviously, at this time, the flight time of UAV 1, UAV 2, UAV 3, and UAV 4 increases in turn.

[0120] S730, adjusting the block range allocated to each drone according to the flight time of each drone until the flight time of each drone surveying its allocated block is equal.

[0121] Specifically 8, the block ranges allocated to UAV No. 1, UAV No. 2, UAV No. 3, and UAV No. 4 can be adjusted according to the principle of "near is big and far is small". Fig. 9 For Figure 8 The schematic diagram of the block range corresponding to each drone adjusted based on the Fig. 9 As shown, it is obvious that the block ranges allocated to UAV No. 1, UAV No. 2, UAV No. 3 and UAV No. 4 decrease in sequence.

[0122] By dividing the survey area into blocks in the above manner, each drone can take off at the same time and end the aerial photography flight at the same time, thereby realizing rapid collaborative operation of multiple drones and improving the efficiency of drone surveys in the survey area.

[0123] For example, Fig.10A flowchart of a method for controlling a drone to take aerial photos of a block assigned to it is provided in an embodiment of the present invention. Based on the above embodiment, the method for controlling a drone to take aerial photos of a block assigned to it is further detailed:

[0124] S810: Connect all the aerial photography points in each block in series to form a second aerial photography path.

[0125] Specifically, since the drone takes a long time to turn, in order to save time and improve the drone's aerial photography efficiency, the principle of turning as little as possible is adopted to connect all the aerial photography points in each block in series to form a second aerial photography path. The second aerial photography path is the actual flight path of the drone.

[0126] S820, controlling each drone to collect image information of aerial photography points in the block along the second aerial photography path corresponding to the block.

[0127] At present, the cost of using professional-grade drones for aerial photography in small and medium-sized areas is relatively high. For example, a surveying-grade drone with five lenses is expensive, and the cost-effectiveness of using a surveying-grade drone for small-area surveys is extremely low. Although ordinary civilian consumer-grade drones have certain price advantages, they have problems such as short communication distance and low aerial photography efficiency. Due to the limitations of drone operating distance and flight speed, when aerial photography in a larger area, multiple aerial photography tasks need to be performed, or multiple people need to perform aerial photography tasks at the same time. Therefore, they have obvious disadvantages in surveying and aerial photography in larger areas.

[0128] Therefore, for scenes that require drone aerial photography and investigation, while the current price of surveying-grade drones is still high, the above-mentioned embodiment can be applied to aerial photography tasks performed by ordinary civilian consumer-grade drones based on mobile communications. It can efficiently perform aerial photography operations while ensuring the safe operation of each drone, so as to further reduce the cost of drone aerial photography and investigation and improve operational efficiency.

[0129] Exemplarily, the drone aerial photography system includes multiple drones and a drone aerial photography controller; each drone includes a base station; the drones communicate wirelessly through the base station, and the drone aerial photography controller is set within the drone communication range of at least one drone; the drone communication range can cover at least one block range.

[0130] Specifically, during the drone aerial photography process, each drone needs to communicate with the drone aerial photography controller to ensure the flight safety of the drone and the controllability of the drone operation. When the survey area is divided into blocks according to the number of drones, it should be ensured that all drones have smooth communication, and there is at least one drone within the communication range of the drone aerial photography controller, so that the image data collected by each drone can be quickly transmitted to the drone aerial photography controller.

[0131] Based on the above embodiment, optionally, before each drone collects image information of the aerial photography point, the method further includes:

[0132] If the communication range of the drone can cover the survey area, each drone will establish a wireless communication connection with the drone aerial photography controller.

[0133] For example, Fig.11 A communication schematic diagram of a drone provided in an embodiment of the present invention, as shown in Figure 11, drone No. 1, drone No. 2, drone No. 3, drone No. 4 and drone No. 5 are all within the communication range of the drone aerial photography controller 200, and drone No. 1, drone No. 2, drone No. 3, drone No. 4 and drone No. 5 can directly communicate with the drone aerial photography controller 200, thereby improving the data transmission efficiency between each drone and the drone aerial photography controller 200.

[0134] If the communication range of the drone cannot cover the survey area, the drone will establish a wireless communication connection with the drone aerial photography controller and / or other drones within its communication range.

[0135] Specifically, each drone can be used as a base station device, and each drone can maintain communication with each other to extend the communication distance of the drones, so as to achieve the purpose of performing aerial photography operations at a lower cost and in a larger range. Fig.12 Another UAV communication schematic diagram provided by an embodiment of the present invention, Fig.13 A further UAV communication schematic diagram provided for an embodiment of the present invention. Fig.12 In the figure, the drone aerial photography controller 200 is within the communication range of drones 1 and 2. As the aerial photography mission is executed, drone 2 may be too far away to connect to the drone aerial photography controller 200. Since each drone has a base station function, drone 2 can communicate with the drone aerial photography controller 200 through drone 1. Drone 3 can communicate with the drone aerial photography controller 200 through the base stations on drones 2 and 1. Drone 4 can communicate with the drone aerial photography controller 200 through the base stations on drones 3, 2, and 1. Drone 5 can communicate with the drone aerial photography controller 200 through the base stations on drones 4, 3, 2, and 1. Fig.13 The situation is similar, except that Fig.13Multiple drones form a communication network, and each drone establishes a wireless communication connection with its neighboring drones. Even if the signals of some drones are weak or abnormal, nearby neighboring drones can communicate with the drone aerial photography controller 200 through the base stations of other drones, reducing the risk of drone aerial photography operations and making the signal network more stable during drone aerial photography operations.

[0136] Note: Each drone must follow the following principles during flight: 1) Before multiple drones fly together for aerial photography, ensure that each drone can communicate with the drone aerial photography controller directly or through base station signal enhancement. 2) When the drone signal is interrupted for a short time, the drone can fly according to the established flight route. When the drone cannot communicate with the drone aerial photography controller for more than a certain period of time, the drone must immediately return to the pre-set safe landing point. If the communication connection between the drone and the drone aerial photography controller is restored to normal during the return process, the flight path of the drone can be appropriately adjusted to ensure the communication security of the drone aerial photography process.

[0137] Fig.14 A schematic diagram of the structure of a drone aerial photography controller provided by an embodiment of the present invention, the drone aerial photography controller includes:

[0138] The acquisition module 910 is used to acquire the scope of the survey area, the first aerial photography path, and the drone information; wherein the drone information includes the aerial photography overlap rate and the number of drones;

[0139] An aerial photography point determination module 920 is used to determine an aerial photography point according to the first aerial photography path and the aerial photography overlap rate;

[0140] The block division module 930 is used to divide the survey area into blocks according to the survey area, the number of drones and the aerial photography points; wherein the number of divided blocks is equal to the number of drones;

[0141] The aerial photography module 940 is used to control the drone to take aerial photography of the allocated block.

[0142] In an embodiment of the present invention, the scope of the survey area, the first aerial photography path and the drone information are obtained through the acquisition module 910; wherein the drone information includes the aerial photography overlap rate and the number of drones. Thus, preparations can be made for the subsequent control of the drone to conduct aerial photography surveys. The aerial photography point determination module 920 determines the aerial photography points according to the first aerial photography path and the aerial photography overlap rate, thereby obtaining all the aerial photography points within the survey area, so that the distribution characteristics of the aerial photography points can be intuitively analyzed, and the areas that need to be focused on are determined through the distribution of the aerial photography points. The block module 930 divides the survey area into blocks according to the scope of the survey area, the number of drones and the aerial photography points. The number of divided blocks can be equal to the number of drones, so that multiple drones can perform aerial photography tasks at the same time, thereby improving the efficiency of the survey task. In addition, through the distribution characteristics of aerial photography points, a certain survey area within the survey area that needs to improve accuracy is assigned to the same drone for aerial photography operations, so that the drone's aerial photography frequency when surveying its assigned block is kept as consistent as possible, thereby improving the drone's operating efficiency and improving the survey accuracy of key survey areas within the survey area. Aerial photography module 940 controls the drone to take aerial photos of its assigned blocks, and can control the drone to obtain aerial images according to the distribution characteristics of aerial photography points in its corresponding assigned blocks. In summary, the drone aerial photography method provided by this solution improves the efficiency and accuracy of drone surveys by determining aerial photography points, dividing blocks according to aerial photography points, and focusing on intensive aerial photography of certain areas.

[0143] Optionally, the acquisition module further includes:

[0144] A first aerial photography path acquisition unit is used to determine a return aerial photography path for a UAV with a return route planning function according to the scope of the survey area, and use the return aerial photography path as the first aerial photography path; and / or

[0145] Get a preset aerial photography path, and use the preset aerial photography path as the first aerial photography path.

[0146] Optionally, the aerial photography overlap rate includes a lateral overlap rate and a forward overlap rate;

[0147] Aerial photography point determination module, specifically used for:

[0148] The coordinates of each aerial photography point are determined according to the first aerial photography path, the lateral overlap rate, and the forward overlap rate.

[0149] Optionally, the drone information also includes the drone communication range and the take-off coordinates of each drone;

[0150] The block modules include:

[0151] A block number determination unit is used to determine the number of blocks into which the survey area is divided according to the number of drones;

[0152] A judgment unit, used to judge whether the communication range of the UAV can cover the survey area;

[0153] If the communication range of the UAV can cover the scope of the survey area, the first block division unit is used to divide the scope of the survey area equally according to the number of blocks and the distribution of aerial photography points;

[0154] If the communication range of the UAV cannot cover the scope of the survey area, the block strategy determination unit is used to determine the block strategy of the survey area according to the take-off coordinates of each UAV;

[0155] The second block division unit is used to divide the survey area according to the block division strategy.

[0156] Optionally, the block strategy includes a flight time basic balancing strategy and a block basic balancing strategy;

[0157] The block strategy determination unit is specifically used for:

[0158] Determine whether the take-off coordinates of each drone are the same;

[0159] If so, the block strategy for the survey area is the flight time basic balance strategy;

[0160] If not, the block division strategy for the survey area is the block basic balance strategy.

[0161] Optionally, the second block unit includes:

[0162] The first block sub-unit is used to divide the survey area into blocks according to the number of blocks and the distribution of aerial photography points;

[0163] The second block division unit also includes: dividing the scope of the survey area equally according to the number of blocks and the distribution of the aerial photography points;

[0164] A calculation subunit, used for calculating the flight time of each UAV for surveying its assigned block;

[0165] The second block division subunit is used to adjust the block range allocated to each drone according to the flight time of each drone, until the flight time of each drone surveying its allocated block is equal.

[0166] Optionally, the aerial photography module includes:

[0167] A second route determination unit is used to connect all the aerial photography points in each block in series to form a second aerial photography path;

[0168] The image information acquisition unit is used to control each unmanned aerial vehicle to acquire image information of aerial photography points in the block along the second aerial photography path corresponding to the block.

[0169] Optionally, the drone aerial photography system includes a plurality of drones and a drone aerial photography controller;

[0170] Each drone includes a base station; the drones communicate wirelessly with each other through the base station, and the drone aerial photography controller is arranged within the drone communication range of at least one drone;

[0171] The drone’s communication range can cover at least one block;

[0172] The aerial photography module also includes:

[0173] If the communication range of the drone can cover the survey area, the first communication connection unit is used to establish a wireless communication connection between each drone and the drone aerial photography controller;

[0174] If the communication range of the drone cannot cover the survey area, the second communication connection unit is used to establish a wireless communication connection between the drone and the drone aerial photography controller and / or other drones within its communication range.

[0175] The drone aerial photography controller provided in the embodiment of the present invention can execute the drone aerial photography method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0176] Fig.15 A structural schematic diagram of a drone aerial photography system provided in an embodiment of the present invention, the drone aerial photography system 01 includes at least one drone 100 equipped with a base station and a drone aerial photography controller 200 for executing the drone aerial photography method provided in any of the above embodiments, and therefore has the beneficial effects of the drone aerial photography method provided in an embodiment of the present invention, which will not be repeated here.

[0177] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0178] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A drone aerial photography method, characterized in that: include: Obtaining the scope of the survey area, the first aerial photography path, and drone information; wherein the drone information includes the aerial photography overlap rate and the number of drones; Determining an aerial photography point according to the first aerial photography path and the aerial photography overlap rate; According to the survey area, the number of drones and the aerial photography points, the survey area is divided into blocks; wherein the number of divided blocks is equal to the number of drones; Control the drone to take aerial photos of the assigned block; The drone information also includes the drone communication range and the take-off coordinates of each drone; The method for dividing the survey area into blocks includes: Determine the number of blocks into which the survey area is divided according to the number of drones; Determine whether the communication range of the UAV can cover the survey area; If yes, the survey area is divided equally according to the number of blocks and the distribution of the aerial photography points; If not, determining a block division strategy for the survey area according to the take-off coordinates of each of the drones; The survey area is divided according to the block strategy.

2. The drone aerial photography method according to claim 1, characterized in that: The method for obtaining the first aerial photography path includes: The UAV with a return route planning function determines a return aerial photography path according to the scope of the survey area, and uses the return aerial photography path as the first aerial photography path; and / or A preset aerial photography path is obtained, and the preset aerial photography path is used as the first aerial photography path.

3. The drone aerial photography method according to claim 1, wherein the aerial photography overlap rate includes a lateral overlap rate and a forward overlap rate; Methods for determining aerial photography points include: The coordinates of each of the aerial photography points are determined according to the first aerial photography path, the lateral overlap rate, and the forward overlap rate.

4. The drone aerial photography method according to claim 1, characterized in that: The block strategy includes a flight time basic balancing strategy and a block basic balancing strategy; The method for determining the block division strategy of the survey area scope includes: Determining whether the take-off coordinates of each of the drones are the same; If yes, the block division strategy of the survey area is the flight time basic balance strategy; If not, the block division strategy of the survey area is the block basic balance strategy.

5. The drone aerial photography method according to claim 4, characterized in that: The method for dividing the survey area according to the block basic balance strategy includes: Divide the survey area into blocks according to the number of blocks and the distribution of the aerial photography points; The method for dividing the survey area according to the basic flight time balance strategy includes: Dividing the survey area equally according to the number of blocks and the distribution of the aerial photography points; Calculating the flight time of each of the drones surveying its assigned area; The block range allocated to each drone is adjusted according to the flight time of each drone until the flight time of each drone surveying the allocated block is equal.

6. The drone aerial photography method according to claim 1, characterized in that: The method of controlling the drone to take aerial photos of the allocated block includes: Connect all the aerial photography points in each block in series to form a second aerial photography path; Each of the drones is controlled to collect image information of the aerial photography points in the block along the second aerial photography path corresponding to the block.

7. The drone aerial photography method according to claim 6, characterized in that: The drone aerial photography system includes multiple drones and a drone aerial photography controller; Each of the drones comprises a base station; the drones communicate wirelessly with each other via the base station, and the drone aerial photography controller is arranged within the drone communication range of at least one of the drones; The communication range of the drone can cover at least one of the block ranges; Before each of the drones collects the image information of the aerial photography point, the method further includes: If the communication range of the drone can cover the survey area, each of the drones establishes a wireless communication connection with the drone aerial photography controller; If the communication range of the drone cannot cover the survey area, the drone establishes a wireless communication connection with the drone aerial photography controller and / or other drones within its communication range.

8. A drone aerial photography controller, characterized in that: include: An acquisition module, used to acquire the scope of the survey area, the first aerial photography path and drone information; wherein the drone information includes the aerial photography overlap rate and the number of drones; An aerial photography point determination module, configured to determine an aerial photography point according to the first aerial photography path and the aerial photography overlap rate; A block division module is used to divide the survey area into blocks according to the survey area, the number of drones and the aerial photography points; wherein the number of divided blocks is equal to the number of drones; An aerial photography module, used to control the drone to take aerial photography of the allocated block; The drone information also includes the drone communication range and the take-off coordinates of each drone; The block module includes: A block number determination unit, used to determine the number of blocks into which the survey area is divided according to the number of drones; A determination unit, used to determine whether the communication range of the UAV can cover the survey area; If the communication range of the drone can cover the survey area, a first block division unit is used to divide the survey area into equal parts according to the number of blocks and the distribution of the aerial photography points; If the communication range of the drone cannot cover the survey area, a block strategy determination unit is used to determine the block strategy of the survey area according to the take-off coordinates of each drone; The second block division unit is used to divide the survey area according to the block division strategy.

9. An unmanned aerial photography system, characterized in that: It comprises at least one unmanned aerial vehicle equipped with a base station and a unmanned aerial vehicle controller for executing the unmanned aerial vehicle aerial photography method according to any one of claims 1 to 7.

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