Low-altitude patrol target object marking method and device, electronic equipment and storage medium

Abstract

The invention provides a low-altitude patrol target object marking method and device, electronic equipment and a storage medium. The method comprises the steps that map target coordinates of a target object in a geographic map are acquired; range parameters are obtained, and according to the map target coordinates and the range parameters, a target area range on the geographic map is obtained through calculation; acquiring position information and attitude information of the unmanned aerial vehicle; performing mapping calculation on the map target coordinate and the target area range according to the position information and the attitude information of the unmanned aerial vehicle to obtain a screen target coordinate and a screen coordinate range; and shooting based on the screen target coordinate and the screen coordinate range, and displaying a video image. The screen coordinate range is determined by using the acquired range parameter, and shooting is performed based on the screen coordinate range, so that the target object can be presented in the video image, the video image live broadcast by the unmanned aerial vehicle can mark the target object according to the user demand and display, and the live broadcast value of the unmanned aerial vehicle is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing shot by unmanned aerial vehicles, and in particular to a method, device, electronic equipment and storage medium for marking a low-altitude patrol target object. Background Art

[0002] With the rapid development of drone technology, drones have been widely used in many fields such as aerial photography, monitoring, mapping, search and rescue, and agriculture. In these applications, high-definition video transmission and display is one of the key technologies to improve user experience. However, at present, drone aerial images can only play video image data in real time, and cannot superimpose object location data information, which makes the value of drone live broadcast image data low. Summary of the invention

[0003] Based on this, it is necessary to provide a low-altitude patrol target object marking method, device, electronic device and storage medium to address the above technical problems.

[0004] A low-altitude patrol target object marking method, comprising: Get the map target coordinates of the target object in the geographic map; Acquire range parameters, and calculate the range of the target area on the geographic map according to the map target coordinates and the range parameters, wherein the map target coordinates are within the target area; Get the location and attitude information of the drone; According to the position information and attitude information of the UAV, mapping calculation is performed on the map target coordinates and the target area range to obtain the screen target coordinates and the screen coordinate range; Shooting is performed based on the screen target coordinates and the screen coordinate range, and a video image is displayed.

[0005] In one of the embodiments, the attitude information includes: height above the ground, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle and lens parameters; The step of mapping and calculating the map target coordinates and the target area range according to the position information and attitude information of the drone to obtain the screen target coordinates and the screen coordinate range comprises: According to the position information and attitude information of the UAV, coordinate mapping calculation is performed on the map target coordinates to obtain the screen target coordinates; Based on the screen target coordinates, the target area range is mapped and calculated according to the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters to obtain the screen coordinate range.

[0006] In one embodiment, the step of performing coordinate mapping calculation on the map target coordinates according to the position information of the drone to obtain the screen target coordinates includes: Get the pre-built image coordinate system; Establishing a coordinate mapping relationship between the geographic map and the image coordinate system; According to the position information and attitude information of the drone and the coordinate mapping relationship, the coordinates of the target object corresponding to the map target coordinates in the image coordinate system are calculated to obtain the screen target coordinates; The step of mapping and calculating the target area range based on the screen target coordinates according to the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters to obtain the screen coordinate range comprises: Based on the screen target coordinates, according to the coordinate mapping relationship, the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters, the coordinate range of the target area range in the image coordinate system is calculated to obtain the screen coordinate range.

[0007] In one embodiment, the step of obtaining the range parameter includes: Get user instructions; Parsing the user instruction to obtain a reference distance and a reference direction of a target reference point on the geographic map relative to the map target coordinates; Based on the reference distance and the reference direction, calculate the reference coordinates of the target reference point on the geographic map; Based on the reference coordinates, a range parameter is calculated.

[0008] In one embodiment, the step of shooting and displaying a video image based on the screen target coordinates and the screen coordinate range includes: Shooting based on the screen target coordinates and the screen coordinate range to obtain an original video image; Processing the original video image using a motion compensation anti-shake algorithm to obtain an anti-shake image; Compare a plurality of consecutive preset frames of the original video image with a plurality of preset frames of the anti-shake image one by one to obtain a plurality of image loss factors; Each frame of the anti-shake image is compensated by using each of the image loss factors, and during the compensation process, each of the anti-shake images is repositioned based on the screen target coordinates and the screen coordinate range to obtain the video image, and the video image is displayed.

[0009] In one embodiment, after the step of comparing the continuous preset number of frames of the original video image with the preset number of frames of the anti-shake image one by one to obtain the multiple image loss factors, the step further includes: Detecting whether a ratio of the image loss factor to the corresponding original video image is greater than a preset ratio; When the ratio of the image loss factors of a continuous preset number of frames to the corresponding multiple frames of the original video images is greater than a preset ratio, the image coordinate system is reconstructed, and the coordinate mapping relationship between the geographic map and the image coordinate system is re-established.

[0010] In one embodiment, after the step of shooting based on the screen target coordinates and the screen coordinate range and displaying the video image, the step further includes: Shooting based on the screen target coordinates and the screen coordinate range to obtain a video image; A target mark is added to the video image according to the screen target coordinates, the video image including the target mark is displayed, and a geographical map with the target object marked is displayed.

[0011] A low-altitude patrol target object marking device, comprising: A map target coordinate acquisition module is used to acquire the map target coordinates of the target object in the geographic map; A target area range calculation module, used to obtain range parameters, and calculate the target area range on the geographic map according to the map target coordinates and the range parameters, wherein the map target coordinates are within the target area range; UAV parameter acquisition module, used to obtain the location information and attitude information of the UAV; A screen coordinate acquisition module, used to map and calculate the map target coordinates and the target area range according to the position information and attitude information of the drone, so as to obtain the screen target coordinates and the screen coordinate range; The video image display module is used to shoot and display the video image based on the screen target coordinates and the screen coordinate range.

[0012] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the following steps when executing the computer program: Get the map target coordinates of the target object in the geographic map; Acquire range parameters, and calculate the range of the target area on the geographic map according to the map target coordinates and the range parameters, wherein the map target coordinates are within the target area; Get the location and attitude information of the drone; According to the position information and attitude information of the UAV, mapping calculation is performed on the map target coordinates and the target area range to obtain the screen target coordinates and the screen coordinate range; Shooting is performed based on the screen target coordinates and the screen coordinate range, and a video image is displayed.

[0013] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps: Get the map target coordinates of the target object in the geographic map; Acquire range parameters, and calculate the range of the target area on the geographic map according to the map target coordinates and the range parameters, wherein the map target coordinates are within the target area; Get the location and attitude information of the drone; According to the position information and attitude information of the UAV, mapping calculation is performed on the map target coordinates and the target area range to obtain the screen target coordinates and the screen coordinate range; Shooting is performed based on the screen target coordinates and the screen coordinate range, and a video image is displayed.

[0014] The above-mentioned low-altitude patrol target object marking method, device, electronic device and storage medium use the acquired range parameters to determine the screen coordinate range, and shoot based on the screen coordinate range, so that the target object can be presented in the video image, so that the video image (live broadcast screen) of the drone live broadcast can mark the target object according to user needs and display it, effectively improving the live broadcast value of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of a process for marking a target object for low-altitude inspection in one embodiment; Figure 2 is a diagram of the internal structure of an electronic device in one embodiment; Figure 3 A schematic diagram of a flow chart of a method for marking a target object for low-altitude inspection in another embodiment; Figure 4 A schematic diagram of an interface for selecting points of interest in an embodiment; Figure 5 FIG. 4 is a schematic diagram of a video image display interface containing a target object in an embodiment. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0017] Embodiment 1 In this embodiment, please combine Figure 1 and Figure 3 , provides a low-altitude patrol target object marking method, which includes: Step 110, obtaining the map target coordinates of the target object in the geographic map; Step 120, obtaining range parameters, and calculating the range of the target area on the geographic map according to the map target coordinates and the range parameters, wherein the map target coordinates are within the target area; Step 130, obtaining the position information and attitude information of the drone; Step 140, mapping and calculating the map target coordinates and the target area range according to the position information and attitude information of the drone to obtain the screen target coordinates and the screen coordinate range; Step 150: Shooting based on the screen target coordinates and the screen coordinate range, and displaying the video image.

[0018] In this embodiment, the target object can be a building or an area, such as a scenic spot, a park square, or a point of a drone patrol mission, such as a drop point. In this embodiment, the target object is determined by obtaining the user's target selection instruction, thereby obtaining the coordinates of the target object in the geographic map, that is, the map target coordinates. In some embodiments, such as Figure 4 As shown, the target selection instruction can be selected in the interface for selecting points of interest. In other embodiments, it can be selected on a geographic map. For example, the user can determine a point as a target object by clicking on the geographic map.

[0019] The range parameter is a parameter of the target area range established around the target object. The range parameter is selected by the user and is used to define the target area range. The target area range is an area on a geographical map, and the target object is located in the area. In this embodiment, the purpose of calculating the target area range is to include the target object therein so as to facilitate displaying the target object on the screen.

[0020] In this embodiment, the position information of the drone includes longitude information and latitude information, and the attitude information includes flight altitude, shooting pitch angle, yaw angle of the fuselage, etc. The direction and angle of shooting of the drone's gimbal camera can be calculated through the attitude information, and then the coordinates of the target object on the screen can be calculated using the attitude information.

[0021] In this embodiment, the screen target coordinates are the position of the target object on the screen, that is, the position of the target object in the video image, and the screen coordinate range is the display range of the screen, that is, the range of the video image. Specifically, the drone is used as a coordinate reference point, and an image coordinate system is pre-established. The position information and attitude information of the drone can be used to calculate the coordinates of the target object on the screen, and the range of the video image centered on the target object can be calculated, that is, the screen coordinate range. Therefore, the shooting range of the drone gimbal camera can be determined based on the screen coordinate range.

[0022] In this embodiment, after determining the screen target coordinates and the screen coordinate range, the shooting target and the shooting range are determined. Therefore, shooting is performed based on the screen target coordinates and the screen coordinate range to obtain a video image, and the video image is displayed, so that the target object can be clearly displayed in the video image.

[0023] like Figure 5 As shown, Figure 5 The picture on the middle left is a geographical map. In the map, the target object is "XX Agricultural Comprehensive Service Center" (the text of the target object in the map is unclear, please refer to the instructions). The target area established with this target object is the area surrounded by the upper left, lower left, upper right and lower right in the map. The target object is located within the target area. Figure 5 The picture on the middle right is a video image taken by a drone in real time. The target object in the video image is the "XX Agricultural Comprehensive Service Center". The screen coordinate range of the video image is the upper left, lower left, upper right, and lower right in the video image, which corresponds to the upper left, lower left, upper right, and lower right in the geographic map.

[0024] In the above embodiment, the screen coordinate range is determined by utilizing the acquired range parameters, and shooting is performed based on the screen coordinate range, so that the target object can be presented in the video image. As a result, the video image (live broadcast screen) broadcasted by the drone can be marked and displayed according to user needs, thereby effectively improving the live broadcast value of the drone.

[0025] In one embodiment, the attitude information includes: height above the ground, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle and lens parameters; The step of mapping and calculating the map target coordinates and the target area range according to the position information and attitude information of the drone to obtain the screen target coordinates and the screen coordinate range comprises: According to the position information of the drone, coordinate mapping calculation is performed on the map target coordinates to obtain the screen target coordinates; Based on the screen target coordinates, the target area range is mapped and calculated according to the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters to obtain the screen coordinate range.

[0026] In this embodiment, the position information of the drone is first used to map the coordinates of the target object on the geographic map to the screen target coordinates. After the screen target coordinates are determined, the drone's altitude above the ground, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle and lens parameters are adjusted. The purpose is to make the target object within the video image so that the drone's gimbal camera can aim at the target object to shoot. Subsequently, the target area range is mapped onto the screen to obtain the screen coordinate range.

[0027] In this embodiment, the height above the ground is the height of the drone relative to the ground. At different heights, the distance and range of the drone's pan-tilt camera are different. The pan-tilt pitch angle is the inclination of the pan-tilt camera's shooting direction compared to the horizontal direction. At different pan-tilt pitch angles, the shape and area of ​​the plane shot are different. The fuselage yaw angle and the pan-tilt yaw angle can calculate the shooting direction of the drone's pan-tilt camera. Therefore, according to the height above the ground and the pan-tilt pitch angle, the coordinates of the target area range on the screen can be calculated using trigonometric functions, and the corresponding relationship between the screen coordinate system and the map coordinate system can be calculated using the fuselage yaw angle and the pan-tilt yaw angle. The lens parameters include focal length, magnification and lens type. The lens parameters and the height above the ground and the pan-tilt pitch angle can determine the shooting range of the video image. Therefore, in combination with the height above the ground, the pan-tilt pitch angle, the pan-tilt yaw angle, the fuselage yaw angle and the lens parameters, the target area range under the map coordinates can be mapped to the screen coordinate system to obtain the screen coordinate range on the screen coordinate system.

[0028] In one embodiment, the step of performing coordinate mapping calculation on the map target coordinates according to the position information of the drone to obtain the screen target coordinates includes: Get the pre-built image coordinate system; Establishing a coordinate mapping relationship between the geographic map and the image coordinate system; According to the position information and attitude information of the drone and the coordinate mapping relationship, the coordinates of the target object corresponding to the map target coordinates in the image coordinate system are calculated to obtain the screen target coordinates; The step of mapping and calculating the target area range based on the screen target coordinates according to the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters to obtain the screen coordinate range comprises: Based on the screen target coordinates, according to the coordinate mapping relationship, the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters, the coordinate range of the target area range in the image coordinate system is calculated to obtain the screen coordinate range.

[0029] In this embodiment, the image coordinate system can also be called the screen coordinate system. First, the image coordinate system is constructed. The coordinates of the image coordinate system can be within the screen range or outside the screen range. The image coordinate system is a virtual coordinate system. After the image coordinate system is established, a coordinate mapping relationship between the coordinate system of the geographic map and the image coordinate system is established so that the position on the geographic map can correspond to the coordinates on the image coordinate system. In this way, the position of the drone in the image coordinate system can be calculated based on the position information of the drone on the geographic map and the coordinate mapping relationship, and the position of the drone in the image coordinate system is used as the origin of the image coordinate system. Subsequently, the coordinates of the target object in the image coordinate system are calculated based on the coordinate mapping relationship and the map target coordinates of the target object on the geographic map. With the position of the drone in the image coordinate system as a reference, the actual position of the target object in the image coordinate system can be located to obtain the screen target coordinates. Thus, the position of the target object on the screen can be accurately located.

[0030] In this embodiment, after determining the position of the target object in the image coordinate system, the gimbal pitch angle and the fuselage yaw angle of the drone are adjusted so that the target object is within the screen, and the coordinates of the coordinate range of the video image are calculated using the coordinate mapping relationship and the coordinates of the target area range on the geographic map. Combined with the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters, the coordinates of the coordinate range of the video image can be accurately calculated and then corrected, thereby accurately mapping the target area range under the map coordinates to the screen coordinate system to obtain the screen coordinate range on the screen coordinate system.

[0031] In one embodiment, the step of obtaining the range parameter includes: Get user instructions; Parsing the user instruction to obtain a reference distance and a reference direction of a target reference point on the geographic map relative to the map target coordinates; Based on the reference distance and the reference direction, calculate the reference coordinates of the target reference point on the geographic map; Based on the reference coordinates, a range parameter is calculated.

[0032] In this embodiment, the user instruction can be input by keyboard, mouse, or by touch input of the finger on the screen. For example, the user can input the instruction by sliding the finger on the screen. In this embodiment, the target reference point is a point determined by the user. The target reference point is one of the points in the target area range. The position of the target reference point on the geographic map can be used to calculate the distance of the target reference point on the geographic map relative to the map target coordinates of the target object and the direction relative to the target object, that is, the reference distance and the reference direction. Based on the reference distance and the reference direction, the coordinates of the target reference point on the geographic map can be calculated using the map target coordinates. It is worth mentioning that since the target reference point is one of the points on the edge of the target area range, the range parameter can be calculated according to the coordinates of the target reference point. The range corresponding to the range parameter is the range formed around the map target coordinates, and one of the points on the edge of the range is the target reference point. For example, the target area range is a circle formed with the map target coordinates as the center of the circle. The target reference point is located on the circle. The distance between the target reference point and the center of the circle is the radius, that is, the distance between the target reference point and the target object.

[0033] In one embodiment, the step of shooting and displaying a video image based on the screen target coordinates and the screen coordinate range includes: Shooting based on the screen target coordinates and the screen coordinate range to obtain an original video image; Processing the original video image using a motion compensation anti-shake algorithm to obtain an anti-shake image; Compare a plurality of consecutive preset frames of the original video image with a plurality of preset frames of the anti-shake image one by one to obtain a plurality of image loss factors; Each anti-shake image and each image loss factor are positioned based on the screen target coordinates and the screen coordinate range, each frame of the anti-shake image is compensated using each image loss factor to obtain the video image, and the video image is displayed.

[0034] It is worth mentioning that when the image is processed by the anti-shake algorithm, it will cause image distortion and loss. In this embodiment, the original video image is processed by the motion compensation anti-shake algorithm, the purpose of which is to reduce the jitter of the video image during playback. In addition to optical anti-shake, the drone adds a motion compensation anti-shake algorithm to improve the stability of the video image, which also brings new problems, resulting in image loss, which may cause picture distortion, blurring, and increased noise. Therefore, it is necessary to compensate for the anti-shake image. First, the original video image of each frame is compared with the anti-shake image of each frame one by one to obtain the difference between the two, that is, the image loss factor. The anti-shake image is compensated by the image loss factor to repair the image. In addition, the screen target coordinates and the screen coordinate range are used to reposition the image in the compensation process, which can avoid the coordinate offset of the repaired and compensated image, so that the target object is always at the position corresponding to the screen target coordinates in the video image. In this embodiment, anti-shake processing is performed first and then compensation is performed, with the aim of improving the stability of the video image. During compensation, the anti-shake and image loss factors are positioned using pre-positioned screen target coordinates and screen coordinate ranges, which can compensate for the lost portion of the image, avoid misalignment and deviation, and maintain the image size and resolution of the video image.

[0035] In one embodiment, after the step of comparing the continuous preset number of frames of the original video image with the preset number of frames of the anti-shake image one by one to obtain the multiple image loss factors, the step further includes: Detecting whether a ratio of the image loss factor to the corresponding original video image is greater than a preset ratio; When the ratio of the image loss factors of a continuous preset number of frames to the corresponding multiple frames of the original video images is greater than a preset ratio, the image coordinate system is reconstructed, and the coordinate mapping relationship between the geographic map and the image coordinate system is re-established.

[0036] In this embodiment, the image loss factor reflects the loss of the original video image after the anti-shake processing. The ratio of the image loss factor to the original video image is the ratio of the image loss. When the ratio of the image loss after the anti-shake processing is greater than the preset ratio, it indicates that the shaking is more severe. The motion compensation anti-shake algorithm performs a large proportion of anti-shake processing on the image, resulting in a large image loss. Therefore, in order to avoid the image coordinate system from being affected by the shaking, when the image loss ratio of multiple consecutive frames is greater than the preset ratio, it indicates continuous shaking. Therefore, in order to avoid errors, the image coordinate system will only be recalibrated when the image loss of multiple frames is greater than the preset ratio. However, if the image loss of individual frames is greater than the preset ratio or the image loss ratio of discontinuous multiple frames is greater than the preset ratio, it will not lead to the recalibration of the image coordinates. The purpose of this is to avoid unstable video output caused by frequent reconstruction of the image coordinate system.

[0037] In this embodiment, when the ratio of multiple image loss factors of a continuous preset number of frames to the corresponding multiple frames of the original video images is greater than a preset ratio, the image coordinate system is reconstructed, and the coordinate mapping relationship between the geographic map and the image coordinate system is re-established, and the screen target coordinates and the screen coordinate range are recalculated, so that the display of the target object in the video image and the display range of the picture are more accurate.

[0038] In one embodiment, after the step of shooting based on the screen target coordinates and the screen coordinate range and displaying the video image, the step further includes: Shooting based on the screen target coordinates and the screen coordinate range to obtain a video image; A target mark is added to the video image according to the screen target coordinates, the video image including the target mark is displayed, and a geographical map with the target object marked is displayed.

[0039] In this embodiment, the target mark is a position mark of the target object on the video image, and the target mark can be text, graphics or symbols, such as Figure 5 As shown, Figure 5 The right picture in the video is a real-time video image, in which a text mark and a graphic mark of "XXX Agricultural Comprehensive Service Center" are added for the target object. By displaying the target object with the target mark on the video image, the display of the target object is clearer. In addition, marking the target object on the geographic map enables the user to quickly match the target object in the video image with the target object on the geographic map.

[0040] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0041] Embodiment 2 In this embodiment, a low-altitude patrol target object marking device is provided, comprising: A map target coordinate acquisition module is used to acquire the map target coordinates of the target object in the geographic map; A target area range calculation module, used to obtain range parameters, and calculate the target area range on the geographic map according to the map target coordinates and the range parameters, wherein the map target coordinates are within the target area range; UAV parameter acquisition module, used to obtain the location information and attitude information of the UAV; A screen coordinate acquisition module, used to map and calculate the map target coordinates and the target area range according to the position information and attitude information of the drone, so as to obtain the screen target coordinates and the screen coordinate range; The video image display module is used to shoot and display the video image based on the screen target coordinates and the screen coordinate range.

[0042] For the specific definition of the low-altitude patrol target object marking device, please refer to the definition of the low-altitude patrol target object marking method above, which will not be repeated here. Each unit in the above-mentioned low-altitude patrol target object marking device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned units can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned units.

[0043] Embodiment 3 In this embodiment, an electronic device is provided. Its internal structure diagram can be shown as follows: Figure 2 As shown. The electronic device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program, and the non-volatile storage medium is deployed with a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with other electronic devices that have deployed application software. When the computer program is executed by the processor, a method for marking a low-altitude patrol target object is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0044] Those skilled in the art will understand that Figure 2The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0045] In one embodiment, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the low-altitude patrol target object marking method in any of the above embodiments when executing the computer program.

[0046] Embodiment 4 In this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the low-altitude patrol target object marking method in any of the above embodiments are implemented.

[0047] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0048] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for marking a target object during low-altitude inspection, characterized in that: include: Get the map target coordinates of the target object in the geographic map; Acquire range parameters, and calculate the range of the target area on the geographic map according to the map target coordinates and the range parameters, wherein the map target coordinates are within the target area; Get the location and attitude information of the drone; According to the position information and attitude information of the UAV, mapping calculation is performed on the map target coordinates and the target area range to obtain the screen target coordinates and the screen coordinate range; Shooting is performed based on the screen target coordinates and the screen coordinate range, and a video image is displayed.

2. The method according to claim 1, characterized in that The attitude information includes: height above the ground, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle and lens parameters; The step of mapping and calculating the map target coordinates and the target area range according to the position information and attitude information of the drone to obtain the screen target coordinates and the screen coordinate range comprises: According to the position information and attitude information of the UAV, coordinate mapping calculation is performed on the map target coordinates to obtain the screen target coordinates; Based on the screen target coordinates, the target area range is mapped and calculated according to the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters to obtain the screen coordinate range.

3. The method according to claim 2, characterized in that The step of performing coordinate mapping calculation on the map target coordinates according to the position information of the drone to obtain the screen target coordinates includes: Get the pre-built image coordinate system; Establishing a coordinate mapping relationship between the geographic map and the image coordinate system; According to the position information and attitude information of the drone and the coordinate mapping relationship, the coordinates of the target object corresponding to the map target coordinates in the image coordinate system are calculated to obtain the screen target coordinates; The step of mapping and calculating the target area range based on the screen target coordinates according to the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters to obtain the screen coordinate range comprises: Based on the screen target coordinates, according to the coordinate mapping relationship, the height above the ground, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle and the lens parameters, the coordinate range of the target area range in the image coordinate system is calculated to obtain the screen coordinate range.

4. The method according to claim 1, characterized in that The step of obtaining the range parameter comprises: Get user instructions; Parsing the user instruction to obtain a reference distance and a reference direction of a target reference point on the geographic map relative to the map target coordinates; Based on the reference distance and the reference direction, calculate the reference coordinates of the target reference point on the geographic map; Based on the reference coordinates, a range parameter is calculated.

5. The method according to claim 1, characterized in that The step of shooting based on the screen target coordinates and the screen coordinate range and displaying the video image comprises: Shooting based on the screen target coordinates and the screen coordinate range to obtain an original video image; Processing the original video image using a motion compensation anti-shake algorithm to obtain an anti-shake image; Compare a plurality of consecutive preset frames of the original video image with a plurality of preset frames of the anti-shake image one by one to obtain a plurality of image loss factors; Each frame of the anti-shake image is compensated by using each of the image loss factors, and during the compensation process, each of the anti-shake images is repositioned based on the screen target coordinates and the screen coordinate range to obtain the video image, and the video image is displayed.

6. The method according to claim 5, characterized in that After the step of comparing the continuous preset number of frames of the original video image with the preset number of frames of the anti-shake image one by one to obtain a plurality of image loss factors, the step further includes: Detecting whether a ratio of the image loss factor to the corresponding original video image is greater than a preset ratio; When the ratio of the image loss factors of a continuous preset number of frames to the corresponding multiple frames of the original video images is greater than a preset ratio, the image coordinate system is reconstructed, and the coordinate mapping relationship between the geographic map and the image coordinate system is re-established.

7. The method according to any one of claims 1 to 6, characterized in that After the step of shooting based on the screen target coordinates and the screen coordinate range and displaying the video image, the following steps are further included: Shooting based on the screen target coordinates and the screen coordinate range to obtain a video image; A target mark is added to the video image according to the screen target coordinates, the video image including the target mark is displayed, and a geographical map with the target object marked is displayed.

8. A low-altitude patrol target object marking device, characterized in that: include: A map target coordinate acquisition module is used to acquire the map target coordinates of the target object in the geographic map; A target area range calculation module, used to obtain range parameters, and calculate the target area range on the geographic map according to the map target coordinates and the range parameters, wherein the map target coordinates are within the target area range; UAV parameter acquisition module, used to obtain the location information and attitude information of the UAV; A screen coordinate acquisition module, used to map and calculate the map target coordinates and the target area range according to the position information and attitude information of the drone, so as to obtain the screen target coordinates and the screen coordinate range; The video image display module is used to shoot and display the video image based on the screen target coordinates and the screen coordinate range.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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