Unmanned aerial vehicle based object height measurement method and apparatus

Abstract

The application discloses a kind of object height measurement method and device based on unmanned aerial vehicle, comprising: when receiving the height measurement instruction for the target to be measured, control unmanned aerial vehicle to navigate into the height measurement region matched with the target to be measured;Based on the height measurement equipment combination of unmanned aerial vehicle, the height measurement data corresponding to the target to be measured is collected, including the boundary point height of the boundary point corresponding to the target to be measured, and the boundary point at least includes the upper boundary point of the target to be measured;According to height measurement data, the object height of the target to be measured is determined.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an object height measurement method and device based on unmanned aerial vehicles. BACKGROUND

[0002] In actual life, the height of a long-distance object or an ultra-high object is usually measured by infrared laser grating counter technology, radar imaging technology, etc., such as the height measurement of a sailing ship. The infrared laser grating counter technology measures the height of an object by counter between two infrared laser grating height meters, and the radar imaging technology measures the height of an object by a radar imaging height meter. However, it is found in practice that the counter width between the two infrared laser grating height meters is required to be less than 500 m in the infrared laser grating counter technology, and the measurement distance of the radar imaging height meter is generally also less than 500 m, both of which cannot detect objects at a farther distance, and the infrared laser grating height meter and the radar imaging height meter need to be installed at a fixed position, which further limits the range of object height measurement, such as the requirement that the object to be measured is located on the counter line of the two infrared laser grating height meters in the infrared laser grating counter technology, resulting in the inability to flexibly measure the height of the object. In addition, the above two technologies are extremely susceptible to interference during height measurement, making it difficult to accurately measure the height of the object. It can be seen that it is particularly important to improve the accuracy of object height measurement while expanding the range of object height measurement to improve the flexibility of object height measurement. SUMMARY

[0003] The technical problem to be solved by the present application is to provide an object height measurement method and device based on unmanned aerial vehicles, which can improve the accuracy of object height measurement while expanding the range of object height measurement to improve the flexibility of object height measurement.

[0004] To solve the above technical problem, the present application discloses an object height measurement method based on unmanned aerial vehicles, which comprises:

[0005] When receiving a height measurement instruction for a target to be measured, the unmanned aerial vehicle is controlled to sail into a height measurement region matched with the target to be measured;

[0006] Based on the height measurement device combination of the unmanned aerial vehicle, height measurement data corresponding to the target to be measured is collected, the height measurement data comprising a boundary point height corresponding to a boundary point of the target to be measured, the boundary point at least comprising an upper boundary point of the target to be measured;

[0007] According to the height measurement data, the object height of the target to be measured is determined.

[0008] As an optional implementation, in the first aspect of the present application, the height measurement device combination comprises a flight height monitoring device and an electromagnetic radiation device;

[0009] The height measurement data corresponding to the target to be measured is collected based on the height measurement device combination of the UAV, comprising:

[0010] The target to be measured is scanned based on the electromagnetic radiation device of the UAV to detect the boundary point of the target to be measured;

[0011] When the boundary point is detected, the current flight height of the UAV monitored by the flight height monitoring device of the UAV is determined as the boundary point height corresponding to the boundary point.

[0012] As an optional implementation, in the first aspect of the present application, the target to be measured is scanned based on the electromagnetic radiation device of the UAV to detect the boundary point of the target to be measured, comprising:

[0013] The electromagnetic radiation device of the UAV emits a measurement electromagnetic wave along the horizontal direction to the measured surface of the target to be measured;

[0014] Detect whether the feedback electromagnetic wave reflected by the measured surface is received;

[0015] When it is detected that the feedback electromagnetic wave is received, the UAV is controlled to move a unit movement distance value determined in advance in a preset direction, and the operation of emitting a measurement electromagnetic wave along the horizontal direction to the measured surface of the target to be measured by the electromagnetic radiation device of the UAV and the operation of detecting whether the feedback electromagnetic wave reflected by the measured surface is received are re-executed;

[0016] When it is detected that the feedback electromagnetic wave is not received, it is determined that the boundary point of the target to be measured along the preset direction is detected, the boundary point is a point on the measured surface at the same horizontal height as the UAV when the feedback electromagnetic wave is last received, and the preset direction at least includes an upward vertical direction. The boundary point of the target to be measured along the upward vertical direction is the upper boundary point.

[0017] As an optional implementation, in the first aspect of the present application, before the electromagnetic radiation device of the UAV emits a measurement electromagnetic wave along the horizontal direction to the measured surface of the target to be measured, the method further comprises:

[0018] The current electromagnetic radiation direction vector of the electromagnetic radiation device of the UAV is determined;

[0019] determining a deviation angle between the electromagnetic radiation direction vector and a target radiation direction vector, the target radiation direction vector being a vector along a horizontal direction and perpendicular to a to-be-measured surface of the to-be-measured target;

[0020] generating a real-time attitude adjustment parameter matched with the UAV based on the deviation angle;

[0021] adjusting a real-time flight attitude of the UAV based on the real-time attitude adjustment parameter, so that the electromagnetic radiation device meets a preset height measurement condition, the preset height measurement condition including that the electromagnetic radiation device can emit a measurement electromagnetic wave along a horizontal direction and perpendicular to the to-be-measured surface to the to-be-measured surface.

[0022] As an optional implementation, in the first aspect of the present application, when receiving a height measurement instruction for a to-be-measured target, before the control UAV navigates into a height measurement region matched with the to-be-measured target, the method further includes:

[0023] controlling the UAV to navigate to a target mapping point corresponding to the to-be-measured target based on a navigation parameter corresponding to the height measurement instruction;

[0024] identifying real-time position information of the to-be-measured target based on an image acquisition device of the UAV;

[0025] determining a height measurement region matched with the to-be-measured target according to the real-time position information.

[0026] As an optional implementation, in the first aspect of the present application, the identification of the real-time position information of the to-be-measured target based on the image acquisition device of the UAV includes:

[0027] acquiring a visual field scene image of the UAV at the target mapping point based on the image acquisition device of the UAV;

[0028] judging whether the to-be-measured target exists in a current visual field of the UAV based on the visual field scene image;

[0029] when the judgment result is no, adjusting a real-time flight attitude of the UAV based on a preset attitude adjustment parameter, and re-executing the operation of acquiring the visual field scene image of the UAV at the target mapping point based on the image acquisition device of the UAV and the operation of judging whether the to-be-measured target exists in the current visual field of the UAV based on the visual field scene image;

[0030] when the judgment result is yes, determining real-time position information of the to-be-measured target according to the visual field scene image.

[0031] As an optional implementation, in the first aspect of the present application, before the combination of the height measurement devices based on the UAV is used to collect the height measurement data of the target object, the method further comprises:

[0032] detecting whether the target object is in a moving state:

[0033] when it is detected that the target object is in the moving state, determining the moving speed of the target object;

[0034] controlling the UAV to navigate based on the moving speed, so that the UAV moves synchronously with the target object.

[0035] As an optional implementation, in the first aspect of the present application, the determination of the object height of the target object according to the height measurement data comprises:

[0036] when the boundary points only include the upper boundary point and the flight height monitoring device is used to monitor the height of the UAV from the ground surface, the boundary point height corresponding to the upper boundary point is determined as the object height of the target object;

[0037] when the boundary points only include the upper boundary point and the flight height monitoring device is used to monitor the flight altitude of the UAV, the ground surface altitude corresponding to the current location of the target object is determined, and the difference between the boundary point height corresponding to the upper boundary point and the ground surface altitude is calculated as the object height of the target object;

[0038] when the boundary points include the upper boundary point and the lower boundary point of the target object, the difference between the boundary point height corresponding to the upper boundary point and the boundary point height corresponding to the lower boundary point is calculated as the object height of the target object.

[0039] The second aspect of the present application discloses a UAV-based object height measurement device, which comprises:

[0040] a control module configured to control the UAV to navigate into a height measurement region matched with the target object when a height measurement instruction for the target object is received;

[0041] a collection module configured to collect height measurement data corresponding to the target object based on a combination of height measurement devices of the UAV, the height measurement data comprising boundary point heights corresponding to boundary points of the target object, the boundary points at least including an upper boundary point of the target object;

[0042] a determination module configured to determine an object height of the target object according to the height measurement data.

[0043] As an optional implementation, in the second aspect of the present application, the height measurement device combination comprises a flight height monitoring device and an electromagnetic radiation device.

[0044] The specific manner in which the collection module collects the height measurement data corresponding to the target to be measured based on the height measurement device combination of the UAV comprises:

[0045] The target to be measured is scanned based on the electromagnetic radiation device of the UAV to detect the boundary point of the target to be measured.

[0046] When the boundary point is detected, the current flight height of the UAV monitored by the flight height monitoring device of the UAV is determined as the boundary point height corresponding to the boundary point.

[0047] As an optional implementation, in the second aspect of the present application, the specific manner in which the collection module collects the height measurement data corresponding to the target to be measured based on the height measurement device combination of the UAV comprises:

[0048] The target to be measured is scanned based on the electromagnetic radiation device of the UAV to detect the boundary point of the target to be measured.

[0049] It is detected whether the feedback electromagnetic wave reflected by the target surface is received.

[0050] When it is detected that the feedback electromagnetic wave is received, the UAV is controlled to move a unit movement distance value determined in advance in a preset direction, and the operation of emitting the measurement electromagnetic wave in the horizontal direction to the target surface to be measured based on the electromagnetic radiation device of the UAV and the operation of detecting whether the feedback electromagnetic wave reflected by the target surface is received are re-executed.

[0051] When it is detected that the feedback electromagnetic wave is not received, it is determined that the boundary point of the target to be measured in the preset direction is detected, the boundary point is a point on the target surface at the same horizontal height as the UAV when the feedback electromagnetic wave is last received, and the preset direction at least includes an upward vertical direction, and the boundary point of the target to be measured in the upward vertical direction is the upper boundary point.

[0052] As an optional implementation, in the second aspect of the present application, the collecting module is further configured to determine a current electromagnetic radiation direction vector of the electromagnetic radiation device of the UAV before the electromagnetic radiation device of the UAV emits the measurement electromagnetic wave along the horizontal direction to the to-be-measured surface of the to-be-measured target; determine a deviation angle between the electromagnetic radiation direction vector and a target radiation direction vector, the target radiation direction vector being a vector along the horizontal direction and perpendicular to the to-be-measured surface of the to-be-measured target; generate a real-time attitude adjustment parameter matched with the UAV based on the deviation angle; and adjust a real-time flight attitude of the UAV based on the real-time attitude adjustment parameter, so that the electromagnetic radiation device meets a preset height measurement condition, the preset height measurement condition including that the electromagnetic radiation device can emit the measurement electromagnetic wave along the horizontal direction and perpendicular to the to-be-measured surface.

[0053] As an optional implementation, in the second aspect of the present application, the control module is further configured to, when receiving a height measurement instruction for a to-be-measured target, control the UAV to navigate to a target surveying point corresponding to the to-be-measured target based on a navigation parameter corresponding to the height measurement instruction before controlling the UAV to navigate to a height measurement region matched with the to-be-measured target.

[0054] The apparatus further includes:

[0055] A target identification module configured to identify real-time position information of the to-be-measured target based on an image collecting device of the UAV.

[0056] The determining module is further configured to determine a height measurement region matched with the to-be-measured target according to the real-time position information.

[0057] As an optional implementation, in the second aspect of the present application, the specific manner in which the target identification module identifies the real-time position information of the to-be-measured target based on the image collecting device of the UAV includes:

[0058] Collecting a visual field scene image of the UAV at the target surveying point based on the image collecting device of the UAV.

[0059] Judging whether the to-be-measured target exists in a current visual field of the UAV based on the visual field scene image.

[0060] When the judgment result is no, adjusting a real-time flight attitude of the UAV based on a preset attitude adjustment parameter, and re-executing the operation of collecting the visual field scene image of the UAV at the target surveying point based on the image collecting device of the UAV and the operation of judging whether the to-be-measured target exists in the current visual field of the UAV based on the visual field scene image.

[0061] When the determination result is yes, real-time position information of the target object is determined according to the field-of-view scene image.

[0062] As an optional implementation, in the second aspect, the device further comprises:

[0063] The detection module is configured to detect whether the target object is in a moving state before the acquisition module acquires the height measurement data corresponding to the target object based on the combination of the height measurement devices of the UAV:

[0064] The determination module is further configured to determine a moving speed of the target object when the detection module detects that the target object is in the moving state.

[0065] The control module is further configured to control the UAV to navigate based on the moving speed, so that the UAV moves synchronously with the target object.

[0066] As an optional implementation, in the second aspect, the determination module determines the object height of the target object according to the height measurement data in the following specific manner:

[0067] When the boundary points only include the upper boundary point and the flight height monitoring device is used to monitor the height of the UAV from the ground surface, the boundary point height corresponding to the upper boundary point is determined as the object height of the target object.

[0068] When the boundary points only include the upper boundary point and the flight height monitoring device is used to monitor the flight altitude of the UAV, the ground surface altitude corresponding to the current position of the target object is determined, and the difference between the boundary point height corresponding to the upper boundary point and the ground surface altitude is calculated as the object height of the target object.

[0069] When the boundary points include the upper boundary point and the lower boundary point of the target object, the difference between the boundary point height corresponding to the upper boundary point and the boundary point height corresponding to the lower boundary point is calculated as the object height of the target object.

[0070] A third aspect of the present application discloses another object height measurement device based on a UAV, which comprises:

[0071] A memory storing executable program codes;

[0072] A processor coupled with the memory;

[0073] The processor invokes the executable program code stored in the memory to execute the unmanned aerial vehicle-based object height measurement method disclosed in the first aspect of the present application.

[0074] The fourth aspect of the present application discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the unmanned aerial vehicle-based object height measurement method disclosed in the first aspect of the present application.

[0075] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0076] In the embodiments of the present application, when the height measurement instruction for the target to be measured is received, the unmanned aerial vehicle is controlled to navigate into the height measurement region matched with the target to be measured; the height measurement data corresponding to the target to be measured are collected based on the height measurement device combination of the unmanned aerial vehicle, the height measurement data including the boundary point height corresponding to the boundary point of the target to be measured, and the boundary point at least including the upper boundary point of the target to be measured; and the object height of the target to be measured is determined according to the height measurement data. It can be seen that, by implementing the present application, the object height can be measured when the object height of the target to be measured needs to be measured, the unmanned aerial vehicle is navigated into the corresponding height measurement region to measure the object height, so that the object height measurement in any distance range is realized, in addition, since the unmanned aerial vehicle has the characteristics of flexible flight, it is not necessary to be installed at a fixed position during measurement, which not only can improve the flexibility of the object height measurement, but also can be beneficial to avoiding the interference information in the object height measurement process and improving the accuracy of the object height measurement. BRIEF DESCRIPTION OF DRAWINGS

[0077] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0078] Figure 1 is a flowchart of an unmanned aerial vehicle-based object height measurement method disclosed by the embodiments of the present application;

[0079] Figure 2 is a flowchart of another unmanned aerial vehicle-based object height measurement method disclosed by the embodiments of the present application;

[0080] Figure 3 is a structural diagram of an unmanned aerial vehicle-based object height measurement device disclosed by the embodiments of the present application;

[0081] Figure 4 is a structural diagram of another unmanned aerial vehicle-based object height measurement device disclosed by the embodiments of the present application;

[0082] Figure 5 is a structural schematic view of still another unmanned aerial vehicle-based object height measurement device disclosed by the embodiments of the present application. DETAILED DESCRIPTION

[0083] For those skilled in the technical field, the technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0084] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, rather than to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product, or end including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or end.

[0085] In this document, the term "embodiment" means that the specific features, structures, or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0086] The present application discloses an unmanned aerial vehicle-based object height measurement method and device, which can control the unmanned aerial vehicle to navigate to the corresponding height measurement area to measure the object height when the object height of the target to be measured needs to be measured, thereby realizing object height measurement in any distance range. In addition, due to the flexible flight characteristics of the unmanned aerial vehicle, it does not need to be installed at a fixed position during measurement, which not only improves the flexibility of object height measurement, but also helps to avoid interference information during object height measurement, and improves the accuracy of object height measurement. The following will be described in detail.

[0087] Embodiment one

[0088] Please refer to Figure 1 , Figure 1 is a flowchart of an unmanned aerial vehicle-based object height measurement method disclosed by the embodiments of the present application. Among them, Figure 1The described unmanned aerial vehicle-based object height measurement method is used for controlling an unmanned aerial vehicle to measure the object height of a target to be measured. Specifically, the unmanned aerial vehicle-based object height measurement method can be applied to a height measurement system, which can be directly integrated into an unmanned aerial vehicle as a self-control system of the unmanned aerial vehicle, or integrated into a local server or a cloud server that controls the height measurement process of the unmanned aerial vehicle as a background control system of the unmanned aerial vehicle. The embodiments of the present application are not limited. Figure 1 As shown in the figure, the unmanned aerial vehicle-based object height measurement method can include the following operations:

[0089] 101. When receiving a height measurement instruction for a target to be measured, control the unmanned aerial vehicle to sail into a height measurement area matched with the target to be measured.

[0090] In the embodiments of the present application, optionally, the height measurement instruction at least includes the positioning information of the target to be measured, and further optionally, the height measurement instruction can also include the target attribute of the target to be measured, the target attribute can include the object type (such as the ship type) of the target to be measured, the identification information (such as the ship ID) of the target to be measured, etc., and if the target to be measured is a movable target, the height measurement instruction can also include the movement information (such as the heading route of the ship, the sailing speed of the ship, the heading direction of the ship) of the target to be measured, etc.

[0091] In the embodiments of the present application, optionally, the height measurement area can be a space area between the first horizontal plane where the highest point of the target to be measured is located and the second horizontal plane where the lowest point of the target to be measured is located, and the distance between the height measurement area and the target to be measured is less than a predetermined distance threshold (such as 10 meters).

[0092] 102. Based on the combination of the height measurement equipment of the unmanned aerial vehicle, the height measurement data corresponding to the target to be measured is collected.

[0093] In the embodiments of the present application, optionally, the height measurement data can include the boundary point height corresponding to the boundary point of the target to be measured, wherein the boundary point at least includes the upper boundary point of the target to be measured, and further optionally, the boundary point can also include the lower boundary point of the target to be measured.

[0094] In the embodiments of the present application, optionally, the height measurement equipment combination can include a flight height monitoring device and an electromagnetic radiation device. Further optionally, the flight height monitoring device can include one or more of a barometric pressure sensor, a radio altimeter, a GPS altimeter, a laser altimeter, etc., and the embodiments of the present application are not limited, and preferably, a barometric pressure sensor is used as the flight height monitoring device. Further optionally, the electromagnetic radiation device can include one or more of an infrared sensor, a laser sensor, a microwave sensor, a photoelectric sensor, etc., and the embodiments of the present application are not limited.

[0095] As an optional implementation, the combination of the unmanned aerial vehicle-based height measuring device, and the collection of the height measurement data corresponding to the target to be measured can comprise:

[0096] The unmanned aerial vehicle-based electromagnetic radiation device scans the target to be measured to detect the boundary point of the target to be measured.

[0097] When the boundary point is detected, the current flight height of the unmanned aerial vehicle monitored by the flight height monitoring device of the unmanned aerial vehicle is determined as the boundary point height corresponding to the boundary point.

[0098] It can be seen that by collecting the current flight height of the unmanned aerial vehicle when the boundary point of the target to be measured is detected by using the electromagnetic radiation device, the object height of the target to be measured is inversely deduced according to the current flight height of the unmanned aerial vehicle.

[0099] In this optional implementation, optionally, the unmanned aerial vehicle-based electromagnetic radiation device scans the target to be measured to detect the boundary point of the target to be measured can comprise:

[0100] The unmanned aerial vehicle-based electromagnetic radiation device emits a measurement electromagnetic wave in a horizontal direction to the measured surface of the target to be measured.

[0101] Detect whether the feedback electromagnetic wave reflected by the measured surface is received.

[0102] When it is detected that the feedback electromagnetic wave is received, the unmanned aerial vehicle is controlled to move a unit movement distance value determined in advance in a preset direction, and the above-mentioned operation of the unmanned aerial vehicle-based electromagnetic radiation device emitting a measurement electromagnetic wave in a horizontal direction to the measured surface of the target to be measured and the above-mentioned operation of detecting whether the feedback electromagnetic wave reflected by the measured surface is received are re-executed.

[0103] When it is detected that the feedback electromagnetic wave is not received, it is determined that the boundary point of the target to be measured in the preset direction is detected, the boundary point is the point on the measured surface at the same horizontal height as the unmanned aerial vehicle when the feedback electromagnetic wave is last received, and the preset direction at least includes an upward vertical direction. The boundary point of the target to be measured in the upward vertical direction is an upper boundary point.

[0104] Optionally, the preset direction can also include a downward vertical direction, and the boundary point of the target to be measured in the downward vertical direction is a lower boundary point. Specifically, the unmanned aerial vehicle can be controlled to move one or more unit movement distance values step by step in one of the preset directions (such as the downward vertical direction) until the boundary point height of the corresponding boundary point (such as the boundary point height of the lower boundary point) is collected, and then the unmanned aerial vehicle is controlled to move one or more unit movement distance values step by step in the other preset direction (such as the upward vertical direction) until the boundary point height of the corresponding boundary point (such as the boundary point height of the upper boundary point) is collected.

[0105] It can be seen that the optional embodiment can also detect whether the current height of the unmanned aerial vehicle corresponds to the boundary point of the target to be measured by outputting the measuring electromagnetic wave, and if not, the unmanned aerial vehicle is controlled to move in the vertical direction until the boundary point of the target to be measured is detected, so as to improve the accuracy of the boundary point detection of the target to be measured.

[0106] 103. determining the object height of the target to be measured according to the height measurement data.

[0107] As an optional embodiment, the method for determining the object height of the target to be measured according to the height measurement data can comprise:

[0108] When the boundary points only include the upper boundary point and the flight height monitoring device is used to monitor the height of the unmanned aerial vehicle from the ground surface, the boundary point height corresponding to the upper boundary point is determined as the object height of the target to be measured;

[0109] When the boundary points only include the upper boundary point and the flight height monitoring device is used to monitor the flight altitude of the unmanned aerial vehicle, the ground surface altitude corresponding to the current position of the target to be measured is determined, and the difference between the boundary point height corresponding to the upper boundary point and the ground surface altitude is calculated as the object height of the target to be measured.

[0110] When the boundary points include the upper boundary point and the lower boundary point of the target to be measured, the difference between the boundary point height corresponding to the upper boundary point and the boundary point height corresponding to the lower boundary point is calculated as the object height of the target to be measured.

[0111] It can be seen that the optional embodiment can determine the height of the upper boundary point from the ground surface as the object height of the target to be measured, realize the height detection of the non-suspended object such as a building, and also determine the difference between the boundary point heights corresponding to the upper boundary point and the lower boundary point as the object height of the target to be measured, realize the height detection of the suspended object such as a bridge, thereby facilitating the height detection requirements in various situations.

[0112] It can be seen that when the object height of the target to be measured needs to be measured, the unmanned aerial vehicle is controlled to navigate into the corresponding height measurement area to measure the object height, thereby realizing the object height measurement in any distance range. In addition, since the unmanned aerial vehicle has the characteristics of flexible flight, it does not need to be installed at a fixed position during measurement, which not only improves the flexibility of the object height measurement, but also helps to avoid interference information during the object height measurement, thereby improving the accuracy of the object height measurement.

[0113] In an optional embodiment, before the electromagnetic radiation device based on the unmanned aerial vehicle emits the measuring electromagnetic wave along the horizontal direction to the measured surface of the target to be measured, the method can further comprise:

[0114] determining a current electromagnetic radiation direction vector of the electromagnetic radiation device of the UAV;

[0115] determining a deviation angle between the electromagnetic radiation direction vector and a target radiation direction vector, the target radiation direction vector being a vector along a horizontal direction and perpendicular to a measurement surface of the target object;

[0116] generating a real-time attitude adjustment parameter of the UAV based on the deviation angle;

[0117] adjusting a real-time flight attitude of the UAV based on the real-time attitude adjustment parameter, so that the electromagnetic radiation device meets a preset height measurement condition, and optionally, the preset height measurement condition can include that the electromagnetic radiation device can emit a measurement electromagnetic wave along a horizontal direction and perpendicular to the measurement surface of the target object.

[0118] In this optional embodiment, the real-time attitude adjustment parameter can include a first real-time adjustment parameter corresponding to a pitch angle of the UAV and / or a second real-time adjustment parameter corresponding to a yaw angle of the UAV, the pitch angle and the yaw angle being used to represent a rotation angle of the UAV along a vertical direction and a horizontal direction, respectively.

[0119] It can be seen that by implementing this optional embodiment, the real-time flight attitude of the UAV can be adjusted, so that the electromagnetic radiation device can output a measurement electromagnetic wave along a horizontal direction and perpendicular to the measurement surface of the target object, thereby reducing the situation that the boundary point of the target object cannot be accurately measured due to the deviation of the measurement electromagnetic wave.

[0120] In another optional embodiment, before the height measurement data corresponding to the target object is acquired based on the combination of the height measurement devices of the UAV, the method can further include:

[0121] detecting whether the target object is in a moving state:

[0122] when it is detected that the target object is in a moving state, determining a moving speed of the target object;

[0123] controlling the UAV to navigate based on the moving speed, so that the UAV moves synchronously with the target object.

[0124] It can be seen that by implementing this optional embodiment, the UAV can be controlled to move synchronously with the target object when the target object is moving, thereby reducing the influence of the movement of the target object on the height measurement of the boundary point, and further improving the accuracy of the height measurement of the boundary point.

[0125] In yet another optional embodiment, when the boundary point includes an upper boundary point and a lower boundary point of the target object, the method can further include:

[0126] According to the speed distribution of the target along the vertical direction in the collection time period between the first collection time and the second collection time, it is detected whether the target moves along the vertical direction in the collection time period, the first collection time is the time when the boundary point height corresponding to the upper boundary point is collected, and the second collection time is the time when the boundary point height corresponding to the lower boundary point is collected;

[0127] When the detection result is no, the operation of calculating the difference between the boundary point height corresponding to the upper boundary point and the boundary point height corresponding to the lower boundary point as the object height of the target is triggered;

[0128] When the detection result is yes, according to the speed distribution, the target moving distance value of the target along the vertical direction in the collection time period is calculated, and the difference between the boundary point height corresponding to the upper boundary point and the boundary point height corresponding to the lower boundary point is calculated as the UAV moving distance value of the UAV along the vertical direction in the collection time period;

[0129] It is judged whether the target moving direction of the target along the vertical direction in the collection time period matches the boundary point corresponding to the boundary point collection sequence;

[0130] When the judgment result is yes, the difference between the UAV moving distance value and the target moving distance value is calculated as the object height of the target;

[0131] When the judgment result is no, the sum of the UAV moving distance value and the target moving distance value is calculated as the object height of the target.

[0132] For example, when the boundary point collection sequence is to collect the lower boundary point first and then collect the upper boundary point, and the target moving direction is from bottom to top, the target moving direction matches the boundary point collection sequence, otherwise, if the target moving direction is from top to bottom, the target moving direction does not match the boundary point collection sequence.

[0133] It can be seen that the optional embodiment can also calculate the object height of the target based on the movement of the target along the vertical direction when measuring the object height of the target, so as to reduce the inaccuracy of the object height detection of the target due to the movement of the target along the vertical direction.

[0134] Embodiment two

[0135] Please refer to Figure 2 , Figure 2 is a flowchart of another object height measurement method based on a UAV disclosed by the embodiment of the application. Wherein, Figure 2The described unmanned aerial vehicle-based object height measurement method is used for controlling an unmanned aerial vehicle to measure the object height of a target to be measured. Specifically, the unmanned aerial vehicle-based object height measurement method can be applied to a height measurement system, which can be directly integrated into an unmanned aerial vehicle as a self-control system of the unmanned aerial vehicle, or integrated into a local server or a cloud server that controls the height measurement process of the unmanned aerial vehicle as a background control system of the unmanned aerial vehicle. The embodiments of the present application are not limited. Figure 2 The unmanned aerial vehicle-based object height measurement method can include the following operations.

[0136] 201. When receiving a height measurement instruction for a target to be measured, the unmanned aerial vehicle is controlled to fly to a target mapping point corresponding to the target to be measured based on the flight parameters corresponding to the height measurement instruction.

[0137] In the embodiments of the present application, optionally, the flight parameters can include flight route information, wherein the flight route information can include flight point configuration information of the height measurement instruction, wherein the flight point configuration information includes coordinate information of one or more flight points arranged in order of path, and wherein at least the target mapping point corresponding to the target to be measured is included in all flight points. Optionally, the flight parameters of the target to be measured can be determined according to the positioning information of the target to be measured in the height measurement instruction, and further optionally, the coordinate information of the target mapping point matches the positioning information of the target to be measured.

[0138] As an optional implementation, based on the flight parameters corresponding to the height measurement instruction, the unmanned aerial vehicle is controlled to fly to the target mapping point corresponding to the target to be measured, which can include:

[0139] Based on the flight parameters corresponding to the height measurement instruction, the unmanned aerial vehicle is controlled to fly to an initial flight point in all flight points;

[0140] It is determined whether the real-time coordinate information of the unmanned aerial vehicle matches the real-time coordinate information of the target mapping point;

[0141] When the determination result is no, based on the flight parameters corresponding to the height measurement instruction, the unmanned aerial vehicle is controlled to fly to the next flight point of the current flight point, and the operation of determining whether the real-time coordinate information of the unmanned aerial vehicle matches the real-time coordinate information of the target mapping point is re-executed;

[0142] When the determination result is yes, it is determined that the unmanned aerial vehicle has flown to the target mapping point corresponding to the target to be measured.

[0143] It can be seen that implementing the optional implementation can configure corresponding flight point configuration information for the unmanned aerial vehicle, thereby facilitating to improve the accuracy and reliability of the unmanned aerial vehicle flying to the vicinity of the target to be measured.

[0144] 202、The unmanned aerial vehicle-based image acquisition device identifies real-time position information of the target to be measured.

[0145] As an optional implementation, the unmanned aerial vehicle-based image acquisition device identifying real-time position information of the target to be measured can include:

[0146] The unmanned aerial vehicle-based image acquisition device acquires a visual scene image of the unmanned aerial vehicle at the target surveying point.

[0147] Based on the visual scene image, it is determined whether the target to be measured exists in the current visual field of the unmanned aerial vehicle.

[0148] When the determination result is no, based on preset posture adjustment parameters, the real-time flight posture of the unmanned aerial vehicle is adjusted, and the above-mentioned operation of the unmanned aerial vehicle-based image acquisition device acquiring a visual scene image of the unmanned aerial vehicle at the target surveying point and the above-mentioned operation of determining whether the target to be measured exists in the current visual field of the unmanned aerial vehicle based on the visual scene image are re-executed.

[0149] When the determination result is yes, the real-time position information of the target to be measured is determined according to the visual scene image.

[0150] In this optional implementation, optionally, the preset posture adjustment parameters can include first preset adjustment parameters corresponding to the pitch angle of the unmanned aerial vehicle and / or second preset adjustment parameters corresponding to the azimuth angle of the unmanned aerial vehicle. Further optionally, the first preset adjustment parameters can include a preset unit pitch adjustment angle, and the second preset adjustment parameters can include a preset unit azimuth adjustment angle. Still further optionally, when the preset posture adjustment parameters include the first preset adjustment parameters and the second preset adjustment parameters, the preset posture adjustment parameters can further include a preset posture adjustment sequence, and the preset posture adjustment sequence is used to indicate the adjustment sequence of the pitch angle and the azimuth angle. For example, the preset posture adjustment sequence can be: azimuth angle-pitch angle-azimuth angle-pitch angle, or azimuth angle-azimuth angle-pitch angle-pitch angle, etc. When the real-time flight posture of the unmanned aerial vehicle is adjusted based on the preset posture adjustment sequence, if it is the turn to adjust the azimuth angle, the unmanned aerial vehicle is controlled to rotate only by a preset unit azimuth adjustment angle each time, and if it is the turn to adjust the pitch angle, the unmanned aerial vehicle is controlled to rotate only by a preset unit pitch adjustment angle.

[0151] In the embodiment of the application, optionally, the image acquisition device can call a deep learning intelligent image recognition algorithm to identify the target to be measured in the visual scene image by the self-control system of the unmanned aerial vehicle, or the unmanned aerial vehicle can upload the visual scene image to the background control system, and the background control system can call a deep learning intelligent image recognition algorithm to identify the target to be measured in the visual scene image, and the embodiment of the application is not limited in this regard.

[0152] It can be seen that the optional embodiment can make the image acquisition device acquire the image of the target to be measured by adjusting the real-time flight attitude of the unmanned aerial vehicle when the image acquisition device acquires the image of the scene in the field of view without the image of the target to be measured, thereby improving the reliability of determining the real-time position information of the target to be measured.

[0153] 203. Determine the height measurement area matched with the target to be measured according to the real-time position information.

[0154] 204. Control the unmanned aerial vehicle to navigate into the height measurement area matched with the target to be measured.

[0155] 205. Acquire the height measurement data corresponding to the target to be measured based on the height measurement device combination of the unmanned aerial vehicle.

[0156] 206. Determine the object height of the target to be measured according to the height measurement data.

[0157] In the embodiment of the application, if the real-time position information of the target to be measured cannot be recognized, or the height measurement data corresponding to the target to be measured has been acquired, the unmanned aerial vehicle can be controlled to navigate to the target mapping point, and then the unmanned aerial vehicle can be controlled to return to the starting point before the navigation of the unmanned aerial vehicle based on the navigation parameters.

[0158] In the embodiment of the application, for other descriptions of steps 204-206, please refer to the detailed description of steps 101-103 in Embodiment 1, and the embodiment of the application will not be described again.

[0159] It can be seen that when the object height of the target to be measured needs to be measured, the position of the target to be measured can be locked by the image acquisition device after the unmanned aerial vehicle is controlled to navigate to the vicinity of the target to be measured, thereby reducing the situation that the unmanned aerial vehicle cannot measure the height of the target boundary point due to the movement of the target to be measured or inaccurate positioning information, and then the unmanned aerial vehicle is controlled to navigate into the corresponding height measurement area to measure the object height, thereby realizing the object height measurement in any distance range. In addition, since the unmanned aerial vehicle has the characteristics of flexible flight, it does not need to be installed at a fixed position during measurement, which not only can improve the flexibility of object height measurement, but also can be beneficial to avoiding interference information during object height measurement, thereby improving the accuracy of object height measurement.

[0160] In an optional embodiment, the method can further include:

[0161] When the height measurement instruction for the target to be measured is received, an execution thread is established according to the height measurement instruction, and the execution thread is used to listen to the navigation state of the unmanned aerial vehicle and the height measurement state.

[0162] Based on the execution thread, the corresponding flight parameter of the height measurement instruction is sent to the pre-selected unmanned aerial vehicle, so that the unmanned aerial vehicle configures the corresponding waypoint task based on the flight parameter, and triggers the operation of controlling the unmanned aerial vehicle to fly to the target surveying point corresponding to the target to be measured based on the flight parameter corresponding to the height measurement instruction.

[0163] It can be seen that the optional embodiment can configure the corresponding waypoint task for the unmanned aerial vehicle, improve the accuracy and reliability of the unmanned aerial vehicle flight, and also establish a special execution sequence to monitor the flight status and height measurement status of the unmanned aerial vehicle, and further improve the accuracy and reliability of the height measurement of the unmanned aerial vehicle.

[0164] In another optional embodiment, the method can further include:

[0165] In the process of controlling the unmanned aerial vehicle to fly to the corresponding waypoint, it is detected whether there is an obstacle in the real-time path between the current position of the unmanned aerial vehicle and the corresponding waypoint;

[0166] When the detection result is yes, based on the obstacle position information of the obstacle, the real-time path between the current position of the unmanned aerial vehicle and the corresponding waypoint is corrected in real time to obtain a corrected real-time path;

[0167] Based on the corrected real-time path, the unmanned aerial vehicle is controlled to fly to the corresponding waypoint.

[0168] It can be seen that the optional embodiment can control the unmanned aerial vehicle to change the flight path in time when encountering an obstacle, thereby improving the safety of the unmanned aerial vehicle flight.

[0169] Embodiment three

[0170] Please refer to Figure 3 , Figure 3 is a flowchart of an object height measurement device based on an unmanned aerial vehicle disclosed by the embodiment of the application. Wherein, Figure 3 The object height measurement device based on the unmanned aerial vehicle described herein is used to control the unmanned aerial vehicle to measure the object height of the target to be measured. Specifically, the object height measurement device based on the unmanned aerial vehicle can be applied to a height measurement system, which can be directly integrated into the unmanned aerial vehicle as a self-control system of the unmanned aerial vehicle, or can be integrated into a local server or a cloud server that controls the height measurement process of the unmanned aerial vehicle as a background control system of the unmanned aerial vehicle. The embodiment of the application is not limited. As shown in Figure 3 The object height measurement device based on the unmanned aerial vehicle can include:

[0171] The control module 301 is configured to control the unmanned aerial vehicle to fly into the height measurement region matched with the target to be measured when receiving the height measurement instruction for the target to be measured.

[0172] The acquisition module 302 is used to acquire altitude measurement data corresponding to the target under test based on the combination of UAV altitude measurement equipment. The altitude measurement data includes the height of the boundary point corresponding to the boundary point of the target under test, and the boundary point includes at least the upper boundary point of the target under test.

[0173] The determination module 303 is used to determine the height of the target object based on the height measurement data.

[0174] It is evident that implementation Figure 3 The described device controls a drone to navigate to the corresponding height measurement area when it is necessary to measure the height of a target object, thereby achieving object height measurement within any distance range. In addition, due to the drone's flexible flight characteristics, it does not need to be installed in a fixed position during measurement, which not only improves the flexibility of object height measurement, but also helps to avoid interference information during the object height measurement process, thus improving the accuracy of object height measurement.

[0175] In an optional embodiment, such as Figure 3 The altitude measurement equipment assembly includes flight altitude monitoring equipment and electromagnetic radiation equipment;

[0176] The acquisition module 302, based on the UAV's altitude measurement equipment combination, acquires altitude measurement data corresponding to the target under test in the following specific ways:

[0177] The electromagnetic radiation equipment based on the drone scans the target to detect the boundary points of the target;

[0178] When a boundary point is detected, the current flight altitude of the drone, as monitored by the drone's flight altitude monitoring equipment, is determined as the boundary point altitude corresponding to the boundary point.

[0179] It is evident that implementation Figure 3 The described device acquires the current flight altitude of a drone when the boundary point of the target is detected using an electromagnetic radiation device, so as to infer the height of the target object from the current flight altitude of the drone.

[0180] In another alternative embodiment, such as Figure 3 The specific method by which the acquisition module 302 scans the target under test based on the electromagnetic radiation equipment of the UAV to detect the boundary points of the target under test may include:

[0181] The electromagnetic radiation device based on the drone emits measurement electromagnetic waves in the horizontal direction towards the surface of the target to be measured.

[0182] Detect whether feedback electromagnetic waves reflected from the surface under test are received;

[0183] When it is detected that the feedback electromagnetic wave is received, the unmanned aerial vehicle is controlled to move a predetermined unit movement distance value in a preset direction, and the above-mentioned operation of the unmanned aerial vehicle-based electromagnetic radiation device emitting a measurement electromagnetic wave along a horizontal direction to a to-be-measured surface of a to-be-measured target and the above-mentioned operation of detecting whether the feedback electromagnetic wave reflected by the to-be-measured surface is received are re-executed;

[0184] When it is detected that the feedback electromagnetic wave is not received, it is determined that a boundary point of the to-be-measured target in a preset direction is detected, the boundary point can be a point on the to-be-measured surface at the same horizontal height as the unmanned aerial vehicle when the feedback electromagnetic wave is last received, and the preset direction at least includes an upward vertical direction, and the boundary point of the to-be-measured target in the upward vertical direction is an upper boundary point.

[0185] It can be seen that, by implementing the above-mentioned method, Figure 3 the described device can also detect whether the current height of the unmanned aerial vehicle corresponds to a boundary point of the to-be-measured target by outputting the measurement electromagnetic wave, and if not, control the unmanned aerial vehicle to move in the vertical direction until the boundary point of the to-be-measured target is detected, thereby improving the accuracy of the detection of the boundary point of the to-be-measured target.

[0186] In still another optional embodiment, as Figure 3 described, the acquisition module 302 is further configured to, before the unmanned aerial vehicle-based electromagnetic radiation device emits a measurement electromagnetic wave along a horizontal direction to a to-be-measured surface of a to-be-measured target, determine a current electromagnetic radiation direction vector of the electromagnetic radiation device of the unmanned aerial vehicle; determine a deviation angle between the electromagnetic radiation direction vector and a target radiation direction vector, the target radiation direction vector being a vector along the horizontal direction and perpendicular to the to-be-measured surface of the to-be-measured target; generate a real-time attitude adjustment parameter of the unmanned aerial vehicle based on the deviation angle; and adjust a real-time flight attitude of the unmanned aerial vehicle based on the real-time attitude adjustment parameter, so that the electromagnetic radiation device satisfies a preset height measurement condition, and optionally, the preset height measurement condition can include that the electromagnetic radiation device can emit a measurement electromagnetic wave along the horizontal direction and perpendicular to the to-be-measured surface to the to-be-measured surface.

[0187] It can be seen that, by implementing the above-mentioned method, Figure 4 the described device can adjust the real-time flight attitude of the unmanned aerial vehicle, so that the electromagnetic radiation device can output a measurement electromagnetic wave along the horizontal direction and perpendicular to the to-be-measured surface of the to-be-measured target, thereby reducing the occurrence of a situation that the boundary point of the to-be-measured target cannot be accurately measured due to the deviation of the measurement electromagnetic wave.

[0188] In still another optional embodiment, as Figure 4 described, the control module 301 is further configured to, when receiving a height measurement instruction for a to-be-measured target, before controlling the unmanned aerial vehicle to navigate to a height measurement region of the to-be-measured target that matches the height measurement instruction, control the unmanned aerial vehicle to navigate to a target mapping point of the to-be-measured target corresponding to a navigation parameter of the height measurement instruction.

[0189] The apparatus can further include:

[0190] The target identification module 304 is configured to identify real-time position information of the target to be measured based on the image acquisition device of the UAV.

[0191] The determination module 303 is further configured to determine a height measurement area matched with the target to be measured according to the real-time position information.

[0192] It can be seen that, in the embodiments described above, Figure 4 The apparatus described above can lock the position of the target to be measured through the image acquisition device after controlling the UAV to sail to the vicinity of the target to be measured, thereby reducing the situation that the UAV cannot measure the height of the boundary point to be measured due to the movement of the target to be measured or inaccurate positioning information.

[0193] In yet another optional embodiment, as Figure 4 The specific manner in which the target identification module 304 identifies the real-time position information of the target to be measured based on the image acquisition device of the UAV can include:

[0194] Based on the image acquisition device of the UAV, a visual field scene image of the UAV at a target mapping point is acquired.

[0195] Based on the visual field scene image, it is determined whether the target to be measured exists in the current visual field of the UAV.

[0196] When the determination result is no, the real-time flight attitude of the UAV is adjusted based on preset attitude adjustment parameters, and the operation of acquiring the visual field scene image of the UAV at the target mapping point based on the image acquisition device of the UAV and the operation of determining whether the target to be measured exists in the current visual field of the UAV based on the visual field scene image are re-executed.

[0197] When the determination result is yes, real-time position information of the target to be measured is determined according to the visual field scene image.

[0198] It can be seen that, in the embodiments described above, Figure 4 The apparatus described above, when the visual field scene image acquired by the image acquisition device does not include the image of the target to be measured, adjusts the real-time flight attitude of the UAV to enable the image of the target to be measured to be acquired, thereby improving the reliability of determining the real-time position information of the target to be measured.

[0199] In yet another optional embodiment, as Figure 4 The apparatus can further include:

[0200] The detection module 305 is configured to detect whether the target to be measured is in a moving state before the acquisition module 302 acquires the height measurement data corresponding to the target to be measured based on the combination of the height measurement devices of the UAV.

[0201] The determining module 303 is further configured to determine a moving speed of the target object when the detecting module 305 detects that the target object is in a moving state.

[0202] The controlling module 301 is further configured to control the UAV to navigate based on the moving speed, so as to make the UAV move synchronously with the target object.

[0203] It can be seen that the apparatus described in the embodiments Figure 4 The apparatus described in the embodiments can also control the UAV to move synchronously with the target object when the target object is moving, thereby reducing the influence of the movement of the target object on the height measurement of the target boundary point, and further improving the accuracy of the height measurement of the target boundary point.

[0204] In another optional embodiment, as Figure 4 The specific manner in which the determining module 303 determines the object height of the target object according to the height measurement data can include:

[0205] When the boundary points only include the upper boundary point and the flight height monitoring device is used to monitor the height of the UAV from the ground surface, the boundary point height corresponding to the upper boundary point is determined as the object height of the target object.

[0206] When the boundary points only include the upper boundary point and the flight height monitoring device is used to monitor the flight altitude of the UAV, the ground surface altitude corresponding to the current position of the target object is determined, and the difference between the boundary point height corresponding to the upper boundary point and the ground surface altitude is calculated as the object height of the target object.

[0207] When the boundary points include the upper boundary point and the lower boundary point of the target object, the difference between the boundary point height corresponding to the upper boundary point and the boundary point height corresponding to the lower boundary point is calculated as the object height of the target object.

[0208] It can be seen that the apparatus described in the embodiments Figure 5 The apparatus described in the embodiments can determine the height of the upper boundary point from the ground surface as the object height of the target object, thereby achieving height detection of a non-suspended object, such as a building, and can also determine the difference between the boundary point heights corresponding to the upper boundary point and the lower boundary point as the object height of the target object, thereby achieving height detection of a suspended object, such as a bridge, thereby facilitating the height detection requirements in various situations.

[0209] Embodiment Four

[0210] Please refer to Figure 5 , Figure 5 is another structure diagram of an apparatus for measuring the height of an object based on a UAV according to an embodiment of the present application. As ​ indicated, the apparatus for measuring the height of an object based on a UAV can include:

[0211] a memory 401 storing executable program code;

[0212] a processor 402 coupled with the memory 401;

[0213] The processor 402 invokes the executable program code stored in the memory 401 to perform the steps in the method for measuring the height of an object based on a UAV according to the first embodiment or the second embodiment.

[0214] Embodiment five

[0215] The embodiments of the present application disclose a computer storage medium storing computer instructions, which, when invoked, are used to perform the steps in the method for measuring the height of an object based on a UAV according to the first embodiment or the second embodiment.

[0216] Embodiment six

[0217] The embodiments of the present application disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the method for measuring the height of an object based on a UAV according to the first embodiment or the second embodiment.

[0218] The apparatus embodiments described above are only schematic, wherein the modules shown as separate components can or can not be physically separate, and the components shown as modules can or can not be physical modules, i.e., can be located in one place or distributed over multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0219] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and the necessary general hardware platform through the specific description of the above embodiments, and of course, the various embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0220] Finally, it should be noted that: the object height measurement method and device based on unmanned aerial vehicle disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for measuring the height of an object based on a drone, characterized in that, The method includes: When a height measurement command is received for a target to be measured, the drone is controlled to navigate to the height measurement area that matches the target. Based on the drone's altitude measurement equipment combination, altitude measurement data corresponding to the target to be measured is collected. The altitude measurement data includes the boundary point height corresponding to the boundary point of the target to be measured, and the boundary point includes at least the upper boundary point of the target to be measured. Based on the height measurement data, determine the object height of the target to be measured; Furthermore, the altitude measurement equipment assembly includes flight altitude monitoring equipment and electromagnetic radiation equipment; The altitude measurement device combination based on the UAV collects altitude measurement data corresponding to the target under test, including: The target under test is scanned using the electromagnetic radiation device of the UAV to detect the boundary points of the target under test. When the boundary point is detected, the current flight altitude of the UAV monitored by the UAV's flight altitude monitoring device is determined as the boundary point altitude corresponding to the boundary point; And, the electromagnetic radiation device based on the UAV scans the target to detect the boundary points of the target, including: Based on the electromagnetic radiation device of the UAV, a measurement electromagnetic wave in the horizontal direction is emitted towards the surface of the target to be measured. Detect whether feedback electromagnetic waves reflected from the surface under test are received; When the feedback electromagnetic wave is detected, the drone is controlled to move a predetermined unit movement distance along a preset direction, and the operation of the electromagnetic radiation device based on the drone to emit a measurement electromagnetic wave in the horizontal direction to the test surface of the target and the operation of detecting whether the feedback electromagnetic wave reflected by the test surface is received are re-executed. When it is detected that the feedback electromagnetic wave is not received, it is determined that the boundary point of the target under test along the preset direction has been detected. The boundary point is a point on the surface under test that is at the same horizontal height as the UAV when the feedback electromagnetic wave was most recently received. The preset direction includes at least the upward vertical direction, and the boundary point of the target under test along the upward vertical direction is the upper boundary point.

2. The method for measuring object height based on a UAV according to claim 1, characterized in that, Before the electromagnetic radiation device based on the UAV emits a horizontally oriented measurement electromagnetic wave toward the surface of the target under test, the method further includes: Determine the current electromagnetic radiation direction vector of the UAV's electromagnetic radiation device; Determine the deviation angle between the electromagnetic radiation direction vector and the target radiation direction vector, wherein the target radiation direction vector is a vector along the horizontal direction and perpendicular to the test surface of the target; Based on the deviation angle, real-time attitude adjustment parameters matching the UAV are generated; Based on the real-time attitude adjustment parameters, the real-time flight attitude of the UAV is adjusted so that the electromagnetic radiation device meets the preset altitude measurement conditions. The preset altitude measurement conditions include that the electromagnetic radiation device can emit measurement electromagnetic waves that are horizontal and perpendicular to the surface to be measured.

3. The UAV-based altitude measurement method according to claim 1 or 2, characterized in that, When a height measurement command for a target is received, before the controlled UAV navigates to the height measurement area matching the target, the method further includes: Based on the navigation parameters corresponding to the altitude measurement command, the UAV is controlled to navigate to the target mapping point corresponding to the target to be measured; Based on the image acquisition equipment of the UAV, the real-time location information of the target under test is identified; Based on the real-time location information, the height measurement area matching the target to be measured is determined.

4. The UAV-based altitude measurement method according to claim 3, characterized in that, The image acquisition device based on the UAV identifies the real-time location information of the target under test, including: Based on the image acquisition device of the UAV, the UAV acquires a field-of-view scene image of the UAV at the target mapping point; Based on the field-of-view scene image, determine whether the target to be tested exists in the current field of view of the UAV; When the judgment result is negative, the real-time flight attitude of the UAV is adjusted based on the preset attitude adjustment parameters, and the operation of acquiring the UAV's field-of-view scene image on the target mapping point based on the image acquisition device of the UAV and the operation of judging whether the target to be measured exists in the current field of view of the UAV based on the field-of-view scene image are re-executed. When the judgment result is yes, the real-time location information of the target under test is determined based on the field-of-view scene image.

5. The method for measuring altitude based on an unmanned aerial vehicle (UAV) according to any one of claims 1, 2, and 4, characterized in that, Before collecting altitude measurement data corresponding to the target based on the drone's altitude measurement device combination, the method further includes: Detect whether the target under test is in a moving state: When the target under test is detected to be in the moving state, the moving speed of the target under test is determined; The drone is controlled to navigate based on the stated speed so that it moves synchronously with the target under test.

6. The altitude measurement method based on an unmanned aerial vehicle (UAV) according to any one of claims 1, 2, and 4, characterized in that, Determining the object height of the target based on the height measurement data includes: When the boundary point only includes the upper boundary point and the flight altitude monitoring device is used to monitor the altitude of the UAV above the ground, the height of the boundary point corresponding to the upper boundary point is determined as the object height of the target to be measured; When the boundary point only includes the upper boundary point and the flight altitude monitoring device is used to monitor the flight altitude of the UAV, the ground altitude corresponding to the current location of the target to be measured is determined, and the difference between the boundary point height corresponding to the upper boundary point and the ground altitude is calculated as the object height of the target to be measured. When the boundary point includes the upper boundary point and the lower boundary point of the target to be measured, the difference between the height of the boundary point corresponding to the upper boundary point and the height of the boundary point corresponding to the lower boundary point is calculated as the object height of the target to be measured.

7. A device for measuring the height of an object based on a drone, characterized in that, The device includes: The control module is used to control the UAV to navigate to the altitude measurement area that matches the target when it receives an altitude measurement command for the target. The data acquisition module is used to acquire altitude measurement data corresponding to the target under test based on the altitude measurement equipment combination of the UAV. The altitude measurement data includes the boundary point height corresponding to the boundary point of the target under test, and the boundary point includes at least the upper boundary point of the target under test. The determination module is used to determine the object height of the target to be measured based on the height measurement data; Furthermore, the altitude measurement equipment assembly includes flight altitude monitoring equipment and electromagnetic radiation equipment; The acquisition module, based on the drone's altitude measurement equipment combination, acquires altitude measurement data corresponding to the target under test in the following specific ways: The target under test is scanned using the electromagnetic radiation device of the UAV to detect the boundary points of the target under test. When the boundary point is detected, the current flight altitude of the UAV monitored by the UAV's flight altitude monitoring device is determined as the boundary point altitude corresponding to the boundary point; Furthermore, the specific method by which the acquisition module scans the target under test based on the electromagnetic radiation device of the UAV to detect the boundary points of the target under test includes: Based on the electromagnetic radiation device of the UAV, a measurement electromagnetic wave in the horizontal direction is emitted towards the surface of the target to be measured. Detect whether feedback electromagnetic waves reflected from the surface under test are received; When the feedback electromagnetic wave is detected, the drone is controlled to move a predetermined unit movement distance along a preset direction, and the operation of the electromagnetic radiation device based on the drone to emit a measurement electromagnetic wave in the horizontal direction to the test surface of the target and the operation of detecting whether the feedback electromagnetic wave reflected by the test surface is received are re-executed. When it is detected that the feedback electromagnetic wave is not received, it is determined that the boundary point of the target under test along the preset direction has been detected. The boundary point is a point on the surface under test that is at the same horizontal height as the UAV when the feedback electromagnetic wave was most recently received. The preset direction includes at least the upward vertical direction, and the boundary point of the target under test along the upward vertical direction is the upper boundary point.

8. A device for measuring the height of an object based on a drone, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the object height measurement method based on the UAV as described in any one of claims 1-6.

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