A wide-area scanning method and device based on airborne photoelectric equipment

Abstract

The application discloses a wide-area scanning method and device based on airborne photoelectric equipment, which comprises the following steps: calculating a first image motion parameter according to flight data and an initial scanning inclination, and sending the first image motion parameter to a swing mirror assembly; when at least four initial images are received, splicing all the initial images according to the number of optical equipment to obtain a target image; performing identification analysis on the target image to determine a pixel coordinate; and when it is detected that the pixel coordinate is not in a preset range, calculating a target scanning inclination based on the pixel coordinate. The application enlarges the scanning range by increasing the number of photoelectric equipment in the optical assembly, and sends the calculated first image motion parameter to the swing mirror assembly, so that the swing mirror assembly changes the imaging beam direction of the first optical assembly and the second optical assembly, thereby improving the quality of the initial image, realizing wide-area scanning of the airborne photoelectric equipment on the ground, and effectively discovering and identifying ground target individuals.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photoelectric reconnaissance and surveillance, in particular to a wide-area scanning method and device based on airborne photoelectric equipment. BACKGROUND

[0002] In the process of performing reconnaissance tasks, it is necessary to conduct rapid wide-area reconnaissance in the designated dangerous area day and night, capture hidden ground targets with high threat in real time, and perform rapid intelligent detection, identification, analysis and positioning, and then download the target position information in real time. Therefore, it is indispensable to realize large-scale scanning imaging on the ground by airborne photoelectric equipment and ensure a wide scanning area without dead angles.

[0003] However, the prior art scheme usually uses a single visible light camera or a single mid-wave cooled infrared thermal imager module for scanning imaging, which limits the scanning range on the ground and thus cannot achieve effective discovery and identification of targets. Moreover, in the process of scanning imaging, the problems of image motion in the flight direction (i.e. forward image motion) and image motion perpendicular to the flight direction (i.e. lateral image motion) cannot be solved, which leads to poor image quality of the imaging. SUMMARY

[0004] To solve the above-mentioned problems of limited scanning range on the ground and poor image quality caused by forward image motion and lateral image motion, the embodiments of the present application provide a wide-area scanning method and device based on airborne photoelectric equipment, and the technical scheme is as follows:

[0005] In a first aspect, the embodiments of the present application provide a wide-area scanning method based on airborne photoelectric equipment. The method is applied to a columnar structure connected to a flight device. The columnar structure is provided with a first optical assembly, a second optical assembly and a swing mirror assembly. The first optical assembly is located on the side surface of the columnar structure, the second optical assembly is located on the bottom surface of the columnar structure, and the swing mirror assembly is located between the lens of the first optical assembly and the second optical assembly and the imaging target surface. The method comprises the following steps:

[0006] According to the flight data corresponding to the flight device and the initial scanning inclination angle of the first optical assembly, a first image motion parameter is calculated and sent to the swing mirror assembly, so that the swing mirror assembly changes the imaging beam direction between the lens of the first optical assembly and the second optical assembly according to the first image motion parameter.

[0007] When receiving at least three initial images sent by the first optical assembly and at least one initial image sent by the second optical assembly, all the initial images are spliced according to the number of the optical equipment corresponding to each initial image to obtain a target image. The optical equipment is the equipment for collecting the initial image. The first optical assembly includes at least three optical equipment, and the second optical assembly includes at least one optical equipment.

[0008] performing recognition analysis on the target image to determine pixel coordinates of the target individual in the target image;

[0009] When it is detected that the pixel coordinates are not in the preset range, a target scanning inclination of the first optical assembly is calculated based on the pixel coordinates, and the target scanning inclination is sent to the first optical assembly so that the first optical assembly adjusts the lens angle according to the target scanning inclination.

[0010] In an optional implementation of the first aspect, the flight data includes a flight height, a flight speed, and a flight radius.

[0011] The first image motion parameter is calculated according to the flight data corresponding to the flight device and the initial scanning inclination of the first optical assembly, including:

[0012] The forward image motion angular velocity is calculated based on the flight height, the flight speed, and the initial scanning inclination of the first optical assembly.

[0013] The heading angular velocity is calculated based on the flight speed and the flight radius.

[0014] The lateral image motion angular velocity is calculated based on the heading angular velocity and a preset rotation angular velocity, and the forward image motion angular velocity and the lateral image motion angular velocity are taken as the first image motion parameter.

[0015] In another optional implementation of the first aspect, the target image is obtained by stitching all the initial images according to the numbering of the optical device corresponding to each initial image, including:

[0016] The numbering of the optical device corresponding to each initial image is obtained, and a sequence code corresponding to the numbering of the optical device is determined according to a preset database; the preset database includes the numbering of at least four optical devices and the sequence code corresponding to the numbering of the optical device.

[0017] The stitching sequence is determined based on all the sequence codes, and the target image is obtained by stitching all the initial images according to the stitching sequence.

[0018] In another optional implementation of the first aspect, the target image is obtained by stitching all the initial images according to the stitching sequence, including:

[0019] The stitching width corresponding to any two adjacent initial images is calculated based on the scanning width corresponding to each initial image, the stitching sequence, and a preset overlap rate.

[0020] The target image is obtained by stitching all the initial images according to the stitching sequence and all the stitching widths.

[0021] In another optional solution of the first aspect, performing recognition analysis on the target image to determine the pixel coordinates of the target individual in the target image includes:

[0022] Performing recognition and analysis processing on the target image to determine first pixel coordinates of at least two pixel points of the target individual in the target image;

[0023] A second pixel coordinate is calculated based on all the first pixel coordinates, and the second pixel coordinate is used as the pixel coordinate of the target individual in the target image.

[0024] In another optional solution of the first aspect, after performing recognition and analysis processing on the target image to determine the pixel coordinates of the target individual in the target image, the method further includes:

[0025] When the pixel coordinates are detected to be within a preset range, the area ratio of the target individual is calculated based on the number of the first pixel coordinates and the number of pixels of the target image;

[0026] The target height is determined based on the area ratio of the target individual and the flight altitude.

[0027] In another optional solution of the first aspect, after sending the target scanning tilt angle to the first optical component so that the first optical component adjusts the lens angle according to the target scanning tilt angle, the method further includes:

[0028] Calculate the second image motion parameter based on the target scanning inclination angle and flight data;

[0029] The second image shift parameter is sent to the swing mirror assembly, so that the swing mirror assembly changes the direction of the imaging light beam between the lenses of the first optical assembly and the second optical assembly and the imaging target surface according to the second image shift parameter.

[0030] In a second aspect, an embodiment of the present application provides a wide-area scanning device based on an airborne optoelectronic device. The device is applied to a cylindrical structure connected to a flight device. The cylindrical structure is provided with a first optical component, a second optical component, and a swing mirror assembly. The first optical component is located on a side of the cylindrical structure, the second optical component is located on the bottom of the cylindrical structure, and the swing mirror assembly is located between the lenses of the first and second optical components and the imaging target surface. The device includes:

[0031] a first processing module, configured to calculate a first image shift parameter based on flight data corresponding to the flight device and an initial scanning inclination angle of the first optical component, and to transmit the first image shift parameter to the swing mirror component, so that the swing mirror component changes the direction of an imaging beam between the lenses of the first and second optical components and an imaging target surface according to the first image shift parameter;

[0032] The second processing module is configured to, when receiving at least three initial images sent by the first optical assembly and at least one initial image sent by the second optical assembly, perform stitching processing on all the initial images according to the number of the optical device corresponding to each initial image to obtain a target image, wherein the optical device is a device for collecting the initial image, the first optical assembly includes at least three optical devices, and the second optical assembly includes at least one optical device.

[0033] The third processing module is configured to perform identification and analysis processing on the target image to determine a pixel coordinate of the target individual in the target image.

[0034] The fourth processing module is configured to, when detecting that the pixel coordinate is not in a preset range, calculate a target scanning inclination angle of the first optical assembly based on the pixel coordinate, and send the target scanning inclination angle to the first optical assembly, so that the first optical assembly adjusts a lens angle according to the target scanning inclination angle.

[0035] In a third aspect, an embodiment of the present application further provides a wide-area scanning device based on an airborne photoelectric device, including a processor and a memory.

[0036] The processor is connected with the memory.

[0037] The memory is configured to store executable program codes.

[0038] The processor runs a program corresponding to the executable program codes by reading the executable program codes stored in the memory, so as to implement the wide-area scanning method based on the airborne photoelectric device provided in the first aspect of the present application or any one of the implementation manners of the first aspect.

[0039] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program, and the computer program includes program instructions. When the program instructions are executed by a processor, the wide-area scanning method based on the airborne photoelectric device provided in the first aspect of the present application or any one of the implementation manners of the first aspect can be implemented.

[0040] The technical scheme provided by some embodiments of the present application has at least the following beneficial effects:

[0041] In the wide-area scanning process based on the airborne photoelectric device, the scanning range is expanded by increasing the number of photoelectric devices on the flight device, and the first image motion parameter is calculated by the flight data corresponding to the flight device and the initial scanning angle of the first optical assembly, and the first image motion parameter is sent to the swing mirror assembly, so that the swing mirror assembly changes the imaging beam direction between the lens of the first optical assembly and the imaging target surface of the second optical assembly, thereby improving the quality of the initial image, reducing the misjudgment and missed detection caused by image defects, and better showing the subtle features and structures of objects on the ground, realizing the wide-area scanning of the airborne photoelectric device on the ground and the effective discovery and identification of individual ground targets. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments 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 also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0043] Figure 1 A whole flow chart of a wide-area scanning method based on an airborne photoelectric device is provided for the embodiments of the present application.

[0044] Figure 2 A structural schematic diagram of a columnar structure connected with a flight device is provided for the embodiments of the present application.

[0045] Figure 3 A regional schematic diagram of the airborne photoelectric device scanning on the ground is provided for the embodiments of the present application.

[0046] Figure 4 A structural schematic diagram of a wide-area scanning device based on an airborne photoelectric device is provided for the embodiments of the present application.

[0047] Figure 5 A structural schematic diagram of another wide-area scanning device based on an airborne photoelectric device is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application.

[0049] In the following description, the terms "first", "second", etc. are used only for the purpose of description, and should not be interpreted as indicating or implying relative importance. The following description provides a plurality of embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, C, and another embodiment includes features B, D, the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, even though the embodiments can not be explicitly described in the following content.

[0050] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made in the function and arrangement of elements described without departing from the scope of the application. Various examples can omit, substitute, or add various procedures or components as appropriate. For instance, the methods described can be performed in an order different than described, and various steps can be added, omitted, or combined. Also, features described with respect to some examples can be combined in other examples.

[0051] See Figure 1 , Figure 1 A flowchart of a wide-area scanning method based on an airborne photoelectric device is shown.

[0052] Step 101: Calculate a first image motion parameter according to flight data corresponding to the flight device and an initial scanning inclination of the first optical assembly, and send the first image motion parameter to the swing mirror assembly to change the direction of the imaging light beam between the lens and the imaging target surface of the first optical assembly and the second optical assembly according to the first image motion parameter.

[0053] In the embodiments of the present application, the wide-area scanning method based on airborne photoelectric equipment is applied to a cylindrical structure connected with a flight device, which can be but is not limited to being suspended below the flight device and at least including a control module such as a field programmable gate array (FPGA) and a microcontroller unit (MCU). The cylindrical structure is provided with a first optical assembly, a second optical assembly, and a mirror assembly. The first optical assembly is located on the side of the cylindrical structure and at least includes three photoelectric equipment (such as an infrared thermal imager). The second optical assembly is located on the bottom of the cylindrical structure and at least includes one photoelectric equipment. In addition, there are at least four mirror assemblies between the lenses of the photoelectric equipment and the imaging target surface. The cylindrical structure has four windows on the shell for placing the lenses of the photoelectric equipment. The flight device can be but is not limited to a drone, a helicopter, and a special-purpose aircraft. The first optical assembly is mainly used for lateral scanning of different areas through different scanning angles. The second optical assembly is mainly used for vertical scanning of the ground with a scanning angle of zero. The mirror assembly refers to a mechanical device used in a specific optical instrument or laser system. Its core function is to achieve a specific function (such as offsetting the image shift generated in the imaging process) by quickly or accurately changing the direction of the light beam. It mainly includes one or more rotatable mirror pieces (usually plane mirrors or curved mirrors). These mirrors are installed on a precisely designed rotating shaft and can quickly deflect along one or two axes (such as the horizontal and vertical directions) according to the control signal. For example, a direct current torque motor provides a corresponding torque according to the control signal, and the mirror assembly rotates along the flight direction or perpendicular to the flight direction according to the torque provided by the direct current torque motor. In the wide-area scanning process based on airborne photoelectric equipment, the number of photoelectric equipment on the flight device is increased to expand the scanning range. The flight data corresponding to the flight device and the initial scanning angle of the first optical assembly are used to calculate the first image shift parameter, which is sent to the mirror assembly to change the direction of the imaging light beam between the lenses of the first optical assembly and the second optical assembly and the imaging target surface of the first optical assembly and the second optical assembly. This improves the quality of the initial image, reduces the misjudgment and missed detection caused by image defects, and better displays the subtle features and structures of objects on the ground, achieving wide-area scanning of airborne photoelectric equipment on the ground and effective discovery and identification of individual ground targets.

[0054] Specifically, in the wide-area scanning process based on the airborne photoelectric device, the first image motion parameter can be calculated according to the flight data corresponding to the flight device and the initial scanning inclination angle of the first optical assembly. The flight data can be obtained in the following two ways, but is not limited to the following two ways: one is to read the pre-set flight parameters stored on the flight device as the flight data; the second is to detect the motion state data of the flight device in real time through various sensors and take the data as the flight data, such as measuring the angular velocity of the flight device through a gyroscope, measuring the flight height of the flight device through a barometric altimeter or a radio altimeter, etc. It can be understood that the initial scanning inclination angle of the first optical assembly can be pre-set by the terminal or manually, measured by a built-in electronic inclination sensor (such as a two-axis or three-axis accelerometer, a gyroscope or a magnetometer), etc.

[0055] It should be noted that the method for calculating the first image motion parameter according to the flight data and the initial scanning inclination angle can be, but is not limited to, calculating the forward image motion angular velocity ω1 and the lateral image motion angular velocity ω2 respectively, and then taking ω1 and ω2 as the first image motion parameter. The calculation method can be: since the component of the flight speed V1 in the observation direction of the photoelectric device is proportional to the sine value of the angle θ between the flight direction and the lens direction of the photoelectric device, the forward image motion angular velocity ω1 can be approximately equal to V1sinθ; since the ratio of the lateral speed to the height determines the angular velocity change of the image in the lateral direction, the lateral image motion angular velocity ω2 = V2 / h, where V2 is the flight speed perpendicular to the optical axis direction of the photoelectric device, and h is the height of the photoelectric device to the ground.

[0056] Further, after calculating the first image motion parameter, the first image motion parameter can be sent to a direct current torque motor for controlling the motion of the swing mirror assembly, so that the motor provides a torque that enables the swing mirror assembly to move according to the first image motion parameter (such as rotating according to the angular velocity in the first image motion parameter), thereby changing the direction of the imaging beam between the lens of the first optical assembly and the imaging target surface and the lens of the second optical assembly, so that the imaging positions of the first optical assembly and the second optical assembly are offset, which offsets the imaging offset caused by the motion of the flight platform, and a clearer and higher quality image is obtained.

[0057] As an option of the embodiment of the present application, the flight data includes the flight height, the flight speed and the flight radius;

[0058] According to the flight data corresponding to the flight device and the initial scanning inclination angle of the first optical assembly, the first image motion parameter is calculated, comprising:

[0059] Based on the flight height, the flight speed and the initial scanning inclination angle of the first optical assembly, the forward image motion angular velocity is calculated;

[0060] Based on the flight speed and the flight radius, a heading angular velocity is calculated;

[0061] Based on the heading angular velocity and a preset rotation angular velocity, a lateral image motion angular velocity is calculated, and the forward image motion angular velocity and the lateral image motion angular velocity are taken as the first image motion parameters.

[0062] Specifically, the flight data corresponding to the flight device at least includes a flight height, a flight speed and a flight radius, wherein the flight height is a vertical distance from the flight device to the ground, the flight speed is a linear speed when the flight device moves, and the flight radius is a distance from the flight device to a turning center when the flight device turns, also known as a turning radius.

[0063] In the process of calculating the first image motion parameters according to the flight data and the initial scanning inclination, the forward image motion angular velocity can be calculated according to the flight height, the flight speed and the initial scanning inclination, and the calculation formula is as follows:

[0064]

[0065] Wherein, ω1 is the forward image motion angular velocity, the unit is radian per second (rad / s); V is the flight speed, the unit is meter per second (m / s); H is the flight height, the unit is meter (m); and α is the initial scanning inclination, the unit is radian (rad).

[0066] Then, the heading angular velocity can be calculated according to the flight speed and the flight radius, and the calculation formula is as follows:

[0067]

[0068] Wherein, φ is the heading angular velocity, the unit is radian per second (rad / s); and R is the flight radius, the unit is meter (m).

[0069] Then, the lateral image motion angular velocity can be calculated according to the heading angular velocity and a preset rotation angular velocity, and the calculation formula is as follows:

[0070]

[0071] Wherein, ω2 is the lateral image motion angular velocity, the unit is radian per second (rad / s); and β is the preset rotation angular velocity, the unit is radian per second (rad / s).

[0072] It should be noted that the preset rotation angular velocity refers to the angular velocity of the flight device in the roll axis direction (at this time, the flight device rolls left and right in the horizontal plane), wherein the roll axis is perpendicular to the longitudinal center line of the flight device (i.e. the front and rear direction of the fuselage), and along the width direction of the flight device (i.e. between the left and right wing tips).

[0073] After the forward image motion angular velocity and the lateral image motion angular velocity are calculated, the two angular velocities can be taken as the first image motion parameters.

[0074] Step 102, when receiving at least three frames of initial images sent by the first optical assembly and at least one frame of initial image sent by the second optical assembly, stitching all the initial images according to the number of the optical device corresponding to each initial image to obtain a target image.

[0075] Specifically, after the first image motion parameters are calculated and sent to the swing mirror assembly, the ground is scanned and initial images are collected by the first optical assembly and the second optical assembly, each initial image is collected by one photoelectric device, each photoelectric device has a different number, wherein the optical device is a device for collecting initial images, which can but not limited to be a photoelectric camera and an infrared thermal imager, etc., the first optical assembly includes at least three optical devices, and the second optical assembly includes at least one optical device.

[0076] Here, refer to Figure 2 , Figure 2 A structural diagram of a column structure for connecting with a flight device is shown.

[0077] As Figure 2 shown, four infrared thermal imagers are arranged on the column structure, which are infrared thermal imager A, infrared thermal imager B, infrared thermal imager C located on the side of the column structure, and infrared thermal imager D located on the bottom of the column structure, wherein the infrared thermal imager D is the second optical assembly, the infrared thermal imager A, the infrared thermal imager B and the infrared thermal imager C constitute the first optical assembly, and the positional relationship of the three can but not limited to be: the height of the infrared thermal imager A in the column structure is the largest, the height of the infrared thermal imager C in the column structure is the smallest, the height of the infrared thermal imager B in the column structure is smaller than that of the infrared thermal imager A and larger than that of the infrared thermal imager C, and the distance of the infrared thermal imager A, the infrared thermal imager B and the infrared thermal imager C from the axis of the column structure is the same.

[0078] It can be understood that the four arrows in the figure respectively represent the initial scanning inclination angles of the infrared thermal imager A, the infrared thermal imager B, the infrared thermal imager C and the infrared thermal imager D, and the initial scanning inclination angle is 0° in the direction perpendicular to the ground, wherein the initial scanning inclination angle of the infrared thermal imager A is greater than that of the infrared thermal imager B, the initial scanning inclination angle of the infrared thermal imager B is greater than that of the infrared thermal imager C, and the initial scanning inclination angle of the infrared thermal imager D is 0°.

[0079] It should be noted that the cylindrical structure keeps uniform self-rotation in the clockwise direction (i.e. the arrow direction of the top surface of the cylindrical structure in the figure) while being connected with the flight equipment and being driven to fly by the flight equipment, thereby driving the four infrared thermal imagers to perform circular scanning, and forming three annular scanning areas through the infrared thermal imager A, the infrared thermal imager B, and the infrared thermal imager C, and forming a rectangular scanning area through the infrared thermal imager D.

[0080] Here, refer to Figure 3 , Figure 3 A schematic diagram of the scanning area of the airborne photoelectric equipment according to an embodiment of the present application is shown.

[0081] As shown in Figure 3 , the infrared thermal imager A, the infrared thermal imager B, and the infrared thermal imager C form three annular scanning areas with different radii due to different initial scanning angles. The larger the initial scanning angle of the photoelectric equipment, the larger the radius of the annular scanning area formed by the photoelectric equipment. There is no gap between the three annular areas that is not scanned. In addition, the infrared thermal imager D forms a rectangular scanning area that can cover the blank circular area due to the initial scanning angle of 0°, where the blank circular area refers to the circular area in the center of the circular area composed of the three annular scanning areas that is not scanned.

[0082] Further, when receiving at least three frames of initial images (i.e. annular scanning area imaging) sent by the first optical assembly and at least one frame of initial image (i.e. rectangular scanning area imaging) sent by the second optical assembly, all initial images can be sorted according to the number of the optical equipment corresponding to each initial image to determine the splicing order, and then all initial images are spliced to obtain the target image. The target image includes image information in the entire range covered by the four infrared thermal imagers. The splicing process can be but is not limited to realized by MATLAB, Adobe Photoshop, Autopano Giga, Hugin, etc. or realized by SIFT (Scale-Invariant Feature Transform), CPA (Consistent Partial Alignment), RANSAC (Random Sample Consensus) algorithm.

[0083] As another option of the embodiment of the present application, according to the number of the optical equipment corresponding to each initial image, all initial images are spliced to obtain the target image, including:

[0084] obtain the serial code corresponding to the number of the optical device according to a preset database, wherein the preset database comprises the number of at least four optical devices and the serial code corresponding to the number of the optical device;

[0085] determine the splicing sequence based on all the serial codes, and splice all the initial images according to the splicing sequence to obtain the target image.

[0086] Specifically, in the process of splicing all the initial images according to the number of the optical device corresponding to each initial image, the number of the optical device corresponding to each initial image can be obtained first, wherein the obtaining manner can be but is not limited to that the number of the photoelectric device corresponding to the initial image is sent together when the first optical assembly and the second optical assembly send the initial image. For example, after the first optical assembly sends the initial image A, the device number X corresponding to the initial image A is sent immediately, then the initial image B and the corresponding device number Y are sent, and then the initial image C and the corresponding device number Z are sent, that is, the sending sequence is A, X, B, Y, C, Z.

[0087] Then, the serial code corresponding to the number of the optical device can be found in the preset database, wherein the preset database comprises the number of at least four optical devices and the serial code corresponding to the number of the optical device. For example, when the number of the optical device is A, B, C and D respectively, the corresponding serial code is 1, 2, 3 and 4 respectively, that is, the alphabetical order in the preset database is consistent with the order of the serial code.

[0088] After the serial code is determined, the splicing sequence can be determined according to the numerical size relationship of the serial code, for example, the order of arranging the numerical value of the serial code from small to large is taken as the splicing sequence. For example, if the serial codes of the initial image A, the initial image B and the initial image C are 1, 2 and 3 respectively, the splicing sequence is that the initial image A is spliced with the initial image B, and then the initial image B is spliced with the initial image C.

[0089] Then, all the initial images can be spliced according to the determined splicing sequence, so as to obtain the complete target image, wherein the splicing manner can refer to the above-mentioned other embodiments.

[0090] As another optional embodiment of the present application, splicing all the initial images according to the splicing sequence to obtain the target image comprises:

[0091] based on the scanning width corresponding to each initial image, the splicing sequence and the preset overlap rate, calculating at least three splicing widths corresponding to any two adjacent initial images;

[0092] The initial images are stitched according to the stitching sequence and all the stitching widths to obtain the target image.

[0093] Specifically, after the stitching sequence is determined, at least three stitching widths can be calculated according to the scanning width corresponding to each initial image, the stitching sequence and the preset overlap rate in the process of stitching all the initial images according to the stitching sequence to obtain the target image. The stitching width refers to the width that needs to be overlapped when any two adjacent initial images are stitched, and thus the number of stitching widths is one less than the number of initial images.

[0094] It can be understood that the stitching width can be but is not limited to calculated by the scanning width of the image in the back of the stitching sequence and the preset overlap rate in the two initial images that need to be stitched. For example, when the initial image A needs to be stitched with the adjacent initial image B, since the initial image B is in the back of the initial image A in the stitching sequence, the scanning width (such as 10 meters) of the initial image B can be multiplied by the preset overlap rate (such as 5%) to obtain the corresponding stitching width (such as 10*5%=0.5 (meters)).

[0095] Then, after all the stitching widths are calculated, all the initial images can be stitched according to the stitching sequence and all the stitching widths to obtain the target image. The stitching manner can refer to the above-mentioned other embodiments. For example, when the initial image A, the initial image B and the initial image C are in the order of the initial image A and the initial image B first, and then the initial image B and the initial image C, the initial image A and the initial image B can be overlapped according to the first stitching width and then stitched, and then the initial image B and the initial image C can be overlapped according to the second stitching width and then stitched. The first stitching width is calculated according to the scanning width of the initial image B and the preset overlap rate, and the second stitching width is calculated according to the scanning width of the initial image C and the preset overlap rate.

[0096] Step 103, performing recognition and analysis processing on the target image to determine the pixel coordinates of the target individual in the target image.

[0097] Specifically, after the target image is obtained, the target image can be subjected to recognition and analysis processing to determine the position information (such as the pixel points contained by the target individual) of the target individual in the target image. The recognition and analysis processing can be but is not limited to implemented by CNNs, R-CNN, YOLO, SSD and other recognition algorithms.

[0098] Next, a coordinate system can be established in the target image as a unit of pixel points (for example, the pixel point at the vertex of the lower left corner of the image is used as the coordinate origin, and the two edges of the image connected to the point are used as coordinate axes to establish the coordinate system), and the pixel coordinates of the target individual in the target image are calculated based on the identified position information. The calculation method can be, but is not limited to, calculating the average value of the coordinates of all the pixel points contained in the target individual, and using it as the pixel coordinates of the target individual in the target image. For example, when the target individual contains 10 pixel points in the target image, the coordinates of these 10 pixel points in the established coordinate system are (x1, y1), (x2, y2), (x3, y3), (x4, y4), (x5, y5), (x6, y6), (x7, y7), (x8, y8), (x9, y9), (x10, y11), (x12, y12), (x13, y14), (x15, y15), (x16, y16), (x17, y18), (x19, y19), (x20, y21), (x22, y22), (x23, y24), (x25, y25), (x26, y26), (x27, y28), (x29, y30), (x31, y31), (x32, y32), (x33, y33), (x34, y35), (x36, y37), (x37, y38), (x39, y40), (x41, y41), (x42, y43), (x44 10 ,y 10 ), the pixel coordinates of the target individual in the target image are (x0, y0), where x0=(x1+x2+x3+x4+x5+x6+x7+x8+x9+x 10 ) / 10, y0=(y1+y2+y3+y4+y5+y6+y7+y8+y9+y 10 ) / 10.

[0099] As another option of the embodiment of the present application, performing recognition analysis on the target image to determine the pixel coordinates of the target individual in the target image includes:

[0100] Performing recognition and analysis processing on the target image to determine first pixel coordinates of at least two pixel points of the target individual in the target image;

[0101] A second pixel coordinate is calculated based on all the first pixel coordinates, and the second pixel coordinate is used as the pixel coordinate of the target individual in the target image.

[0102] Specifically, in the process of identifying, analyzing and processing the target image to determine the pixel coordinates of the target individual in the target image, the first pixel coordinates of at least two pixel points contained in the target individual in the target image (that is, the coordinates of all pixel points contained in the target individual) can be determined based on the identification results (that is, the position information of the above-mentioned target individual in the target image) and the established coordinate system.

[0103] Then, the second pixel coordinate can be calculated according to all the first pixel coordinates, which can be but not limited to taking the median of all the first pixel coordinates as the second pixel coordinate. For example, if the first pixel coordinates are (x1, y1), (x2, y2), (x3, y3), (x4, y4), (x5, y5), and when x1 < x2 < x3 < x4 < x5 or x1 > x2 > x3 > x4 > x5, (x3, y3) can be taken as the second pixel coordinate, and then the second pixel coordinate can be taken as the pixel coordinate of the target individual in the target image.

[0104] As another alternative of the embodiments of the present application, after the target image is subjected to the recognition analysis processing and the pixel coordinate of the target individual in the target image is determined, the method further comprises:

[0105] When it is detected that the pixel coordinate is in the preset range, the area ratio of the target individual is calculated based on the number of the first pixel coordinates and the number of pixels of the target image.

[0106] The target height is determined according to the area ratio of the target individual and the flight height.

[0107] Specifically, after the target image is subjected to the recognition analysis processing and the pixel coordinate of the target individual in the target image is determined, the pixel coordinate can be detected, and when it is detected that the pixel coordinate is in the preset range, it indicates that the target individual is in a proper region (such as a non-edge region, a central region, etc.) in the target image. The area ratio of the target individual can be calculated according to the number of the first pixel coordinates determined in the previous step and the number of pixels of the target image, which can be but not limited to dividing the number of the first pixel coordinates by the number of pixels of the target image, and taking the calculation result as the area ratio of the target individual. For example, when the pixel coordinate of the target individual in the target image is (5, 8), the preset range is the range included by the rectangle formed by the coordinates (3, 3) and (10, 10), the pixel coordinate is in the preset range, if the number of the first pixel coordinates corresponding to the pixel coordinate is 20, and the number of pixels of the target image is 100, then the area ratio of the target individual is 20 / 100 = 20%.

[0108] Then, the target height can be determined according to the calculated area ratio of the target individual and the flight height in the flight data, which can be but not limited to: when the area ratio is between 0% and 30% (0% is not included but 30% is included), taking two-thirds of the flight height as the target height; when the area ratio is between 30% and 70% (30% is not included but 70% is included), taking the flight height as the target height; when the area ratio is between 70% and 100% (70% is not included but 100% is included), taking twice the flight height as the target height.

[0109] After the target height is determined, the flight height can be adjusted according to the target height, so that the target individual is in the appropriate region in the target image.

[0110] In step 104, when it is detected that the pixel coordinates are not in the preset range, target scanning inclination of the first optical assembly is calculated based on the pixel coordinates, and the target scanning inclination is sent to the first optical assembly, so that the first optical assembly adjusts the lens angle according to the target scanning inclination.

[0111] Specifically, after the target image is identified and analyzed to determine the pixel coordinates of the target individual in the target image, the pixel coordinates can be detected, and when it is detected that the pixel coordinates are not in the preset range, it indicates that the target individual is not in the appropriate region in the target image, but in an inappropriate region such as an edge region. At this time, the target scanning inclination of the first optical assembly can be calculated according to the pixel coordinates (for example, when the pixel coordinates indicate that the target individual is in a position close to the edge in the target image, the scanning inclination can be appropriately increased), and the calculation method can be but is not limited to PnP (Perspective-n-Point), SLAM (Simultaneous Localization and Mapping) algorithm, or monocular vision method, stereo vision method, etc.

[0112] Then, the calculated target scanning inclination can be sent to the first optical assembly, so that the first optical assembly adjusts the lens angle according to the target scanning inclination, so that the target individual is in the appropriate region in the target image, and the situation that the target image only contains part of the image of the target individual is avoided.

[0113] As another optional embodiment of the present application, after the target scanning inclination is sent to the first optical assembly, so that the first optical assembly adjusts the lens angle according to the target scanning inclination, it further includes:

[0114] Based on the target scanning inclination and the flight data, a second image motion parameter is calculated;

[0115] The second image motion parameter is sent to the mirror assembly, so that the mirror assembly changes the direction of the imaging beam between the lens and the imaging target surface of the first optical assembly and the second optical assembly according to the second image motion parameter.

[0116] Specifically, after the target scanning inclination is sent to the first optical assembly to adjust the lens angle according to the target scanning inclination by the first optical assembly, the imaging shift condition also changes accordingly due to the change of the scanning inclination, so the image shift parameter needs to be recalculated to ensure the quality of imaging, that is, the second image shift parameter can be calculated according to the target scanning inclination and the flight data, and the calculation method can refer to the calculation method of the first image shift parameter.

[0117] Then, the calculated second image shift parameter can be sent to the swing mirror assembly, and the imaging beam direction between the lens and the imaging target surface of the first optical assembly and the second optical assembly is changed according to the second image shift parameter by the swing mirror assembly, so as to obtain a high-quality initial image.

[0118] Please refer to Figure 4 , Figure 4 A structure schematic diagram of a wide-area scanning device based on an airborne photoelectric device is shown.

[0119] As Figure 4 shown, the wide-area scanning device based on the airborne photoelectric device can at least include a first processing module 401, a second processing module 402, a third processing module 403, and a fourth processing module 404, wherein:

[0120] The first processing module 401 is configured to calculate a first image shift parameter according to flight data corresponding to a flight device and an initial scanning inclination of a first optical assembly, and send the first image shift parameter to a swing mirror assembly to change the imaging beam direction between the lens and the imaging target surface of the first optical assembly and a second optical assembly according to the first image shift parameter by the swing mirror assembly.

[0121] The second processing module 402 is configured to, when receiving at least three initial images sent by the first optical assembly and at least one initial image sent by the second optical assembly, perform splicing processing on all the initial images to obtain a target image according to the number of the optical device corresponding to each initial image, wherein the optical device is a device for collecting the initial image, the first optical assembly includes at least three optical devices, and the second optical assembly includes at least one optical device.

[0122] The third processing module 403 is configured to perform identification and analysis processing on the target image to determine the pixel coordinates of the target individual in the target image.

[0123] The fourth processing module 404 is configured to, when detecting that the pixel coordinates are not in a preset range, calculate a target scanning inclination of the first optical assembly based on the pixel coordinates, and send the target scanning inclination to the first optical assembly to adjust the lens angle according to the target scanning inclination by the first optical assembly.

[0124] In some possible embodiments, the flight data comprises a flight height, a flight speed, and a flight radius.

[0125] The first image motion parameter is calculated according to the flight data corresponding to the flight device and the initial scanning inclination of the first optical assembly, and comprises:

[0126] The first processing module 401 is specifically configured to:

[0127] The forward image motion angular velocity is calculated based on the flight height, the flight speed, and the initial scanning inclination of the first optical assembly.

[0128] The heading angular velocity is calculated based on the flight speed and the flight radius.

[0129] The lateral image motion angular velocity is calculated based on the heading angular velocity and a preset rotation angular velocity, and the forward image motion angular velocity and the lateral image motion angular velocity are taken as the first image motion parameter.

[0130] In some possible embodiments, the target image is obtained by stitching all the initial images according to the number of the optical device corresponding to each initial image, and comprises:

[0131] The second processing module 402 is specifically configured to:

[0132] The number of the optical device corresponding to each initial image is acquired, and the sequence code corresponding to the number of the optical device is determined according to a preset database; wherein the preset database comprises the number of at least four optical devices and the sequence code corresponding to the number of the optical device.

[0133] The stitching sequence is determined based on all the sequence codes, and the target image is obtained by stitching all the initial images according to the stitching sequence.

[0134] In some possible embodiments, the target image is obtained by stitching all the initial images according to the stitching sequence, and comprises:

[0135] The second processing module 402 is specifically configured to:

[0136] The stitching width corresponding to at least two adjacent initial images is calculated based on the scanning width corresponding to each initial image, the stitching sequence, and a preset overlap rate.

[0137] The target image is obtained by stitching all the initial images according to the stitching sequence and all the stitching widths.

[0138] In some possible embodiments, the target image is subjected to recognition and analysis processing, and the pixel coordinates of the target individual in the target image are determined, and comprises:

[0139] The third processing module 403 is specifically configured to:

[0140] Performing recognition and analysis processing on the target image to determine first pixel coordinates of at least two pixel points of the target individual in the target image;

[0141] A second pixel coordinate is calculated based on all the first pixel coordinates, and the second pixel coordinate is used as the pixel coordinate of the target individual in the target image.

[0142] In some possible embodiments, after performing recognition and analysis on the target image to determine the pixel coordinates of the target individual in the target image, the method further includes:

[0143] The third processing module 403 is specifically configured to:

[0144] When the pixel coordinates are detected to be within a preset range, the area ratio of the target individual is calculated based on the number of the first pixel coordinates and the number of pixels of the target image;

[0145] The target height is determined based on the area ratio of the target individual and the flight altitude.

[0146] In some possible embodiments, after sending the target scanning tilt angle to the first optical component so that the first optical component adjusts the lens angle according to the target scanning tilt angle, the method further includes:

[0147] The fourth processing module 404 is specifically configured to:

[0148] Calculate the second image motion parameter based on the target scanning inclination angle and flight data;

[0149] The second image shift parameter is sent to the swing mirror assembly, so that the swing mirror assembly changes the direction of the imaging light beam between the lenses of the first optical assembly and the second optical assembly and the imaging target surface according to the second image shift parameter.

[0150] See also Figure 5 , Figure 5 A schematic structural diagram of another wide-area scanning device based on airborne optoelectronic equipment provided in an embodiment of the present application is shown.

[0151] like Figure 5 As shown, the wide-area scanning device 500 based on an airborne optoelectronic device may include at least one processor 501 , at least one network interface 504 , a user interface 503 , a memory 505 and at least one communication bus 502 .

[0152] The communication bus 502 may be used to implement connection and communication among the above components.

[0153] The user interface 503 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0154] The network interface 504 can include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0155] The processor 501 can include one or more processing cores. The processor 501 connects various parts in the airborne photoelectric device-based wide-area scanning device 500 through various interfaces and lines, and performs various functions and processes data of the airborne photoelectric device-based wide-area scanning device 500 by running or executing instructions, programs, code sets or instruction sets stored in the memory 505, and calling data stored in the memory 505. Alternatively, the processor 501 can be implemented in at least one of a hardware form of a DSP, an FPGA, and a PLA. The processor 501 can be integrated with one or a combination of a CPU, a GPU, and a modem. The CPU is mainly used to process an operating system, a user interface, and an application program, etc.; the GPU is used to render and draw the content to be displayed on the display screen; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 501, but can be implemented by a separate chip.

[0156] The memory 505 can include a RAM and a ROM. Alternatively, the memory 505 includes a non-transitory computer readable medium. The memory 505 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 505 can include a program storage area and a data storage area. The program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; and the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 505 can alternatively be at least one storage device located away from the aforementioned processor 501. As shown in the figure, the memory 505 as a computer storage medium can include an operating system, a network communication module, a user interface module, and an airborne photoelectric device-based wide-area scanning application program. Figure 5 The processor 501 can be used to call the airborne photoelectric device-based wide-area scanning application program stored in the memory 505, and specifically perform the following operations:

[0157] Specifically, the processor 501 can be used to call the airborne photoelectric device-based wide-area scanning application program stored in the memory 505, and specifically perform the following operations:

[0158] According to the flight data corresponding to the flight device and the initial scanning inclination of the first optical assembly, the first image motion parameter is calculated and sent to the swing mirror assembly, so that the swing mirror assembly changes the direction of the imaging light beam between the lens of the first optical assembly and the imaging target surface according to the first image motion parameter.

[0159] When receiving at least three frames of initial images sent by the first optical assembly and at least one frame of initial images sent by the second optical assembly, the initial images are stitched to obtain a target image according to the number of the optical device corresponding to each initial image; wherein the optical device is a device for collecting initial images, the first optical assembly includes at least three optical devices, and the second optical assembly includes at least one optical device;

[0160] The target image is subjected to identification analysis to determine the pixel coordinates of the target individual in the target image.

[0161] When it is detected that the pixel coordinates are not in the preset range, a target scanning inclination angle of the first optical assembly is calculated based on the pixel coordinates, and the target scanning inclination angle is sent to the first optical assembly to adjust the lens angle according to the target scanning inclination angle.

[0162] The application also provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of the above method. The computer readable storage medium can include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, micro-drives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0163] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the application is not limited by the action sequence described, because according to the application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the application.

[0164] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0165] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the division of the apparatus embodiments described above is merely illustrative, and the division of units can be different, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some intervening general purpose or special purpose hardware devices, or can be in electrical or other forms.

[0166] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0167] In addition, the functional units in each embodiment of the present application can be integrated into a processing unit, or each unit can be physically present alone, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0168] If the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0169] Those of ordinary skill in the art can understand that all or part of the steps of the various methods in the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable storage medium, which can include a flash disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc.

[0170] The above merely show example embodiments of the present disclosure, and cannot limit the scope of the present disclosure. That is, equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Those skilled in the art will readily conceive of other implementations of the present disclosure upon considering the specification and practicing the disclosure herein. The present application is intended to cover any variations, uses, or adaptive changes of the present disclosure following the general principles of the present disclosure and including common knowledge or conventional technical means in the art not described in the present disclosure. The specification and examples are merely considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A wide-area scanning method based on airborne optoelectronic equipment, characterized in that: The method is applied to a cylindrical structure connected to a flight device, wherein a first optical component, a second optical component, and a swing mirror component are provided on the cylindrical structure, wherein the first optical component is located on a side surface of the cylindrical structure, the second optical component is located on a bottom surface of the cylindrical structure, and the swing mirror component is located between lenses of the first optical component and the second optical component and an imaging target surface. The method comprises: calculating a first image shift parameter based on flight data corresponding to the flight device and an initial scanning inclination angle of the first optical component, and sending the first image shift parameter to the swing mirror component so that the swing mirror component changes the direction of an imaging beam between lenses of the first and second optical components and the imaging target surface according to the first image shift parameter; Upon receiving at least three frames of initial images sent by the first optical assembly and at least one frame of initial image sent by the second optical assembly, stitching all the initial images according to the number of the optical device corresponding to each of the initial images to obtain a target image; wherein the optical device is a device that captures the initial images, the first optical assembly includes at least three of the optical devices, and the second optical assembly includes at least one of the optical devices; Performing recognition and analysis processing on the target image to determine the pixel coordinates of the target individual in the target image; When it is detected that the pixel coordinates are not within a preset range, a target scanning inclination angle of the first optical component is calculated based on the pixel coordinates, and the target scanning inclination angle is sent to the first optical component, so that the first optical component adjusts the lens angle according to the target scanning inclination angle.

2. The method according to claim 1, characterized in that The flight data includes flight altitude, flight speed and flight radius; The calculating the first image motion parameter according to the flight data corresponding to the flight device and the initial scanning inclination angle of the first optical component includes: Calculating a forward image shift angular velocity based on the flight height, the flight speed, and an initial scanning inclination angle of the first optical component; Calculating a heading angular velocity based on the flight speed and the flight radius; Based on the heading angular velocity and the preset rotation angular velocity, a lateral image motion angular velocity is calculated, and the forward image motion angular velocity and the lateral image motion angular velocity are used as first image motion parameters.

3. The method according to claim 1, characterized in that The step of performing stitching processing on all the initial images according to the number of the optical device corresponding to each of the initial images to obtain a target image includes: Obtaining the serial number of the optical device corresponding to each of the initial images, and determining a sequence code corresponding to the serial number of the optical device according to a preset database; wherein the preset database includes the serial numbers of at least four of the optical devices and the sequence codes corresponding to the serial numbers of the optical devices; A splicing sequence is determined based on all the sequence codes, and all the initial images are spliced ​​according to the splicing sequence to obtain a target image.

4. The method according to claim 3, characterized in that The step of performing stitching processing on all the initial images according to the stitching order to obtain a target image includes: Calculating at least three stitching widths corresponding to any two adjacent initial images based on the scan width corresponding to each initial image, the stitching order, and a preset overlap rate; Based on the stitching order and all the stitching widths, all the initial images are stitched together to obtain a target image.

5. The method according to claim 2, characterized in that The identifying and analyzing the target image to determine the pixel coordinates of the target individual in the target image includes: Performing recognition and analysis processing on the target image to determine first pixel coordinates of at least two pixel points of the target individual in the target image; A second pixel coordinate is calculated based on all the first pixel coordinates, and the second pixel coordinate is used as the pixel coordinate of the target individual in the target image.

6. The method according to claim 5, characterized in that After performing recognition and analysis on the target image to determine the pixel coordinates of the target individual in the target image, the method further includes: When it is detected that the pixel coordinates are within a preset range, calculating the area ratio of the target individual based on the number of the first pixel coordinates and the number of pixels of the target image; The target height is determined according to the area ratio of the target individual and the flight height.

7. The method according to claim 1, characterized in that After sending the target scanning inclination angle to the first optical component so that the first optical component adjusts the lens angle according to the target scanning inclination angle, the method further includes: Calculating a second image motion parameter based on the target scanning inclination angle and the flight data; The second image shift parameter is sent to the swing mirror assembly, so that the swing mirror assembly changes the direction of the imaging light beam between the lenses of the first optical assembly and the second optical assembly and the imaging target surface according to the second image shift parameter.

8. A wide-area scanning device based on an airborne optoelectronic device, characterized in that: The device is applied to a cylindrical structure connected to a flight device, wherein a first optical component, a second optical component, and a swing mirror component are provided on the cylindrical structure, wherein the first optical component is located on a side surface of the cylindrical structure, the second optical component is located on a bottom surface of the cylindrical structure, and the swing mirror component is located between the lenses of the first and second optical components and an imaging target surface. The device comprises: a first processing module, configured to calculate a first image shift parameter based on flight data corresponding to the flight device and an initial scanning inclination angle of the first optical component, and to send the first image shift parameter to the swing mirror component, so that the swing mirror component changes the direction of an imaging beam between the lenses of the first and second optical components and the imaging target surface according to the first image shift parameter; a second processing module, configured to, upon receiving at least three frames of initial images sent by the first optical assembly and at least one frame of initial image sent by the second optical assembly, stitch all the initial images together according to the number of the optical device corresponding to each of the initial images to obtain a target image; wherein the optical device is a device that captures the initial images, the first optical assembly includes at least three of the optical devices, and the second optical assembly includes at least one of the optical devices; A third processing module is used to perform recognition and analysis on the target image to determine the pixel coordinates of the target individual in the target image; a fourth processing module, configured to calculate a target scanning inclination angle of the first optical component based on the pixel coordinates when detecting that the pixel coordinates are not within a preset range, and to send the target scanning inclination angle to the first optical component so that the first optical component adjusts the lens angle according to the target scanning inclination angle.

9. A wide-area scanning device based on an airborne optoelectronic device, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 7.

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