Low-altitude patrol target object marking methods, devices, electronic equipment and storage media

Abstract

This invention provides a method, apparatus, electronic device, and storage medium for marking target objects during low-altitude aerial surveillance. The method includes: acquiring the map target coordinates of the target object on a geographic map; acquiring range parameters; calculating the target area range on the geographic map based on the map target coordinates and range parameters; acquiring the position and attitude information of a drone; mapping the map target coordinates and target area range based on the drone's position and attitude information to obtain screen target coordinates and screen coordinate range; and capturing and displaying video images based on the screen target coordinates and screen coordinate range. By utilizing the acquired range parameters to determine the screen coordinate range and capturing images based on that range, the target object can be presented in the video image. This allows the drone livestream video images to be marked and displayed according to user needs, effectively improving the livestream value of the drone.

Description

Technical Field

[0001] This invention relates to the field of image processing technology for unmanned aerial vehicles (UAVs), and in particular to a method, apparatus, electronic device, and storage medium for marking target objects during low-altitude patrols. Background Art

[0002] With the rapid development of drone technology, drones have been widely used in various fields such as aerial photography, surveillance, surveying, search and rescue, and agriculture. In these applications, high-definition video transmission and display are key technologies for enhancing user experience. However, currently, drone aerial footage can only play video data in real time and cannot overlay object position data, thus reducing the value of live drone footage. Summary of the Invention

[0003] Therefore, it is necessary to provide a method, apparatus, electronic device, and storage medium for marking target objects during low-altitude patrols, addressing the aforementioned technical problems.

[0004] A method for marking target objects during low-altitude patrols includes:

[0005] Obtain the map coordinates of the target object in the geographic map;

[0006] Obtain the range parameter, and calculate the target area range on the geographic map based on the map target coordinates and the range parameter, wherein the map target coordinates are within the target area range;

[0007] Acquire the drone's position and attitude information;

[0008] Based on the location and attitude information of the UAV, the map target coordinates and the target area range are mapped and calculated to obtain the screen target coordinates and the screen coordinate range;

[0009] The video image is captured and displayed based on the screen target coordinates and screen coordinate range.

[0010] In one embodiment, the attitude information includes: altitude above the ground, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle, and lens parameters;

[0011] The step of mapping the map target coordinates and the target area range based on the drone's position and attitude information to obtain the screen target coordinates and screen coordinate range includes:

[0012] Based on the location and attitude information of the UAV, coordinate mapping calculation is performed on the map target coordinates to obtain the screen target coordinates;

[0013] Based on the screen target coordinates, the target area is mapped and calculated according to the ground altitude, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle, and lens parameters to obtain the screen coordinate range.

[0014] In one embodiment, the step of performing coordinate mapping calculations on the map target coordinates based on the drone's location information to obtain the screen target coordinates includes:

[0015] Obtain the pre-built image coordinate system;

[0016] Establish the coordinate mapping relationship between the geographic map and the image coordinate system;

[0017] Based on the location information, attitude information, and coordinate mapping relationship of the UAV, 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;

[0018] The step of mapping and calculating the target area range based on the screen target coordinates, according to the ground altitude, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle, and the lens parameters, to obtain the screen coordinate range includes:

[0019] Based on the screen target coordinates, and according to the coordinate mapping relationship, the ground altitude, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle, and the lens parameters, the coordinate range of the target area in the image coordinate system is calculated to obtain the screen coordinate range.

[0020] In one embodiment, the step of obtaining the range parameter includes:

[0021] Obtain user instructions;

[0022] Parse the user command to obtain the reference distance and reference direction of the target reference point relative to the map target coordinates on the geographic map;

[0023] Based on the reference distance and the reference direction, the reference coordinates of the target reference point on the geographic map are calculated;

[0024] Based on the reference coordinates, the range parameters are calculated.

[0025] In one embodiment, the step of capturing and displaying video images based on the screen target coordinates and the screen coordinate range includes:

[0026] Based on the screen target coordinates and screen coordinate range, the original video image is obtained by taking a picture;

[0027] The original video image is processed using a motion compensation stabilization algorithm to obtain a stabilized image;

[0028] The original video images of a series of preset frames are compared one by one with the anti-shake images of a series of preset frames to obtain multiple image loss factors.

[0029] The image loss factors are used to compensate for each frame of the stabilized image. During the compensation process, the stabilized image is repositioned based on the screen target coordinates and the screen coordinate range to obtain the video image, which is then displayed.

[0030] In one embodiment, after the step of comparing the original video images of a predetermined number of consecutive frames with the stabilized images of a predetermined number of frames one by one to obtain multiple image loss factors, the method further includes:

[0031] Detect whether the ratio of the image loss factor to the corresponding original video image is greater than a preset ratio;

[0032] If the ratio of multiple image loss factors for a consecutive preset number of frames to the corresponding multiple frames of the original video image 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.

[0033] In one embodiment, after the step of capturing and displaying video images based on the screen target coordinates and the screen coordinate range, the method further includes:

[0034] Based on the screen target coordinates and screen coordinate range, a video image is obtained by capturing the image.

[0035] A target marker is added to the video image based on the screen target coordinates, the video image containing the target marker is displayed, and a geographic map marked with the target object is displayed.

[0036] A low-altitude target object marking device, comprising:

[0037] The map target coordinate acquisition module is used to obtain the map target coordinates of a target object in a geographic map;

[0038] The target area range calculation module is used to obtain range parameters and calculate the target area range on the geographic map based on the map target coordinates and the range parameters, wherein the map target coordinates are within the target area range;

[0039] The UAV parameter acquisition module is used to acquire the UAV's position and attitude information;

[0040] The screen coordinate acquisition module is used to perform mapping calculations on the map target coordinates and the target area range based on the position information and attitude information of the UAV, so as to obtain the screen target coordinates and the screen coordinate range.

[0041] The video image display module is used to capture and display video images based on the screen target coordinates and screen coordinate range.

[0042] An electronic device includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to perform the following steps:

[0043] Obtain the map coordinates of the target object in the geographic map;

[0044] Obtain the range parameter, and calculate the target area range on the geographic map based on the map target coordinates and the range parameter, wherein the map target coordinates are within the target area range;

[0045] Acquire the drone's position and attitude information;

[0046] Based on the location and attitude information of the UAV, the map target coordinates and the target area range are mapped and calculated to obtain the screen target coordinates and the screen coordinate range;

[0047] The video image is captured and displayed based on the screen target coordinates and screen coordinate range.

[0048] A computer-readable storage medium having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0049] Obtain the map coordinates of the target object in the geographic map;

[0050] Obtain the range parameter, and calculate the target area range on the geographic map based on the map target coordinates and the range parameter, wherein the map target coordinates are within the target area range;

[0051] Acquire the drone's position and attitude information;

[0052] Based on the location and attitude information of the UAV, the map target coordinates and the target area range are mapped and calculated to obtain the screen target coordinates and the screen coordinate range;

[0053] The video image is captured and displayed based on the screen target coordinates and screen coordinate range.

[0054] The aforementioned low-altitude patrol target object marking method, device, electronic equipment, and storage medium utilize the acquired range parameters to determine the screen coordinate range and perform shooting based on the screen coordinate range, thereby enabling the target object to be presented in the video image. This allows the video image (live broadcast) of the drone to be marked and displayed according to the user's needs, effectively improving the live broadcast value of the drone. Attached Figure Description

[0055] Figure 1 This is a flowchart illustrating a low-altitude target object marking method in one embodiment;

[0056] Figure 2 This is a diagram of the internal structure of an electronic device in one embodiment;

[0057] Figure 3 This is a flowchart illustrating a low-altitude target object marking method in another embodiment;

[0058] Figure 4 This is a schematic diagram of the interface for selecting a point of interest in one embodiment;

[0059] Figure 5 This is a schematic diagram of a video image display interface containing a target object in one embodiment. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] Example 1

[0062] In this embodiment, please refer to Figure 1 and Figure 3 A method for marking target objects during low-altitude patrols is provided, which includes:

[0063] Step 110: Obtain the map coordinates of the target object in the geographic map;

[0064] Step 120: Obtain the range parameter. Based on the map target coordinates and the range parameter, calculate the target area range on the geographic map, wherein the map target coordinates are within the target area range.

[0065] Step 130: Obtain the drone's position and attitude information;

[0066] Step 140: Based on the position and attitude information of the UAV, perform mapping calculations on the map target coordinates and the target area range to obtain the screen target coordinates and the screen coordinate range;

[0067] Step 150: Capture the image based on the screen target coordinates and screen coordinate range, and display the video image.

[0068] In this embodiment, the target object can be a building or an area, such as a scenic spot, park, or square, or it can be a point of the drone's patrol mission, such as a deployment point. In this embodiment, the target object is determined by obtaining the user's target selection instruction, thereby obtaining the target object's coordinates on the geographic map, i.e., 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 select a target object by clicking on a point on the geographic map.

[0069] The range parameter is a parameter for 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 a region on a geographic map, and the target object is located within this region. In this embodiment, the purpose of calculating the target area range is to include the target object within it so that the target object can be displayed on the screen.

[0070] In this embodiment, the location information of the UAV includes longitude and latitude information, and the attitude information includes flight altitude, pitch angle of shooting, yaw angle of the fuselage, etc. The direction and angle of shooting by the UAV'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.

[0071] In this embodiment, the screen target coordinates refer to the position of the target object on the screen, i.e., the position of the target object in the video image, and the screen coordinate range refers to the display area of ​​the screen, i.e., the range of the video image. Specifically, using the drone as a coordinate reference point, an image coordinate system is pre-established. Using the drone's position and attitude information, the coordinates of the target object on the screen can be calculated, and the range of the video image centered on the target object can also be calculated, i.e., the screen coordinate range. Therefore, the shooting range of the drone's gimbal camera can be determined based on this screen coordinate range.

[0072] In this embodiment, after determining the screen target coordinates and the screen coordinate range, the target and shooting range are determined. Therefore, shooting based on the screen target coordinates and the screen coordinate range, obtaining video images, and displaying video images can clearly show the target object in the video images.

[0073] like Figure 5 As shown, Figure 5The left side of the screen is a geographical map. The target object on the map is "XX Agricultural Comprehensive Service Center" (the text of the target object in the map is not very clear, please refer to the description in the instruction manual). The target area established by the target object is the area surrounded by the upper left, lower left, upper right and lower right corners of the map. The target object is located within the target area. Figure 5 The image on the right is a real-time video image taken by a drone. The target object in the video image is "XX Agricultural Comprehensive Service Center". The screen coordinates of the video image are the upper left, lower left, upper right, and lower right of the video image, which correspond to the upper left, lower left, upper right, and lower right of the geographic map.

[0074] In the above embodiments, the obtained range parameters are used to determine the screen coordinate range, and the shooting is performed based on the screen coordinate range, so that the target object can be presented in the video image. This allows the video image (live screen) of the drone live broadcast to be marked and displayed according to the user's needs, effectively improving the live broadcast value of the drone.

[0075] In one embodiment, the attitude information includes: altitude above ground, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle, and lens parameters;

[0076] The step of mapping the map target coordinates and the target area range based on the drone's position and attitude information to obtain the screen target coordinates and screen coordinate range includes:

[0077] Based on the location information of the drone, coordinate mapping calculation is performed on the map target coordinates to obtain the screen target coordinates;

[0078] Based on the screen target coordinates, the target area is mapped and calculated according to the ground altitude, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle, and lens parameters to obtain the screen coordinate range.

[0079] In this embodiment, the location information of the UAV is first used to map the coordinates of the target object on the geographic map to the screen target coordinates. After determining the screen target coordinates, the UAV's ground altitude, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle and lens parameters are adjusted to ensure that the target object is within the video image so that the UAV's gimbal camera can shoot at the target object. Then, the target area is mapped onto the screen to obtain the screen coordinate range.

[0080] In this embodiment, the altitude above the ground refers to the height of the drone relative to the ground. Different altitudes result in different shooting distances and ranges for the drone's gimbal camera. The gimbal pitch angle is the angle of the gimbal camera's shooting direction relative to the horizontal direction. Different gimbal pitch angles result in different shapes and areas of the captured plane. The fuselage yaw angle and gimbal yaw angle can be used to calculate the shooting direction of the drone's gimbal camera. Therefore, based on the altitude above the ground and the gimbal pitch angle, trigonometric functions can be used to calculate the coordinates of the target area on the screen. The fuselage yaw angle and gimbal yaw angle can be used to calculate the correspondence between the screen coordinate system and the map coordinate system. The lens parameters include focal length, magnification, and lens type. Using the lens parameters, altitude above the ground, and gimbal pitch angle, the shooting range of the video image can be determined. Therefore, by combining the altitude above the ground, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle, and lens parameters, the target area under map coordinates can be mapped to the screen coordinate system, resulting in the screen coordinate range.

[0081] In one embodiment, the step of performing coordinate mapping calculations on the map target coordinates based on the drone's location information to obtain the screen target coordinates includes:

[0082] Obtain the pre-built image coordinate system;

[0083] Establish the coordinate mapping relationship between the geographic map and the image coordinate system;

[0084] Based on the location information, attitude information, and coordinate mapping relationship of the UAV, 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;

[0085] The step of mapping and calculating the target area range based on the screen target coordinates, according to the ground altitude, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle, and the lens parameters, to obtain the screen coordinate range includes:

[0086] Based on the screen target coordinates, and according to the coordinate mapping relationship, the ground altitude, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle, and the lens parameters, the coordinate range of the target area in the image coordinate system is calculated to obtain the screen coordinate range.

[0087] In this embodiment, the image coordinate system can also be called the screen coordinate system. First, an image coordinate system is constructed. The coordinates of this image coordinate system can be within or outside the screen area; this image coordinate system is a virtual coordinate system. After establishing the image coordinate system, a coordinate mapping relationship is established between the geographic map coordinate system and the image coordinate system, so that the position on the geographic map corresponds to the coordinates on the image coordinate system. Thus, based on the UAV's position information on the geographic map and the coordinate mapping relationship, the UAV's position in the image coordinate system can be calculated, and the UAV's position in the image coordinate system is used as the origin of the image coordinate system. Subsequently, based on the coordinate mapping relationship and the target object's map target coordinates on the geographic map, the target object's coordinates in the image coordinate system are calculated. Using the UAV's position in the image coordinate system as a reference, the actual position of the target object in the image coordinate system can be located, obtaining the screen target coordinates. This allows for precise location of the target object on the screen.

[0088] In this embodiment, after determining the position of the target object in the image coordinate system, the gimbal pitch angle and fuselage yaw angle of the UAV are adjusted so that the target object is within the screen. By using the coordinate mapping relationship and the coordinates of the target area on the geographic map, the coordinate range of the video image is calculated. By combining the ground altitude, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle and lens parameters, the coordinate range of the video image can be accurately calculated and corrected. This accurately maps the target area under the map coordinates to the screen coordinate system, thus obtaining the screen coordinate range in the screen coordinate system.

[0089] In one embodiment, the step of obtaining the range parameter includes:

[0090] Obtain user instructions;

[0091] Parse the user command to obtain the reference distance and reference direction of the target reference point relative to the map target coordinates on the geographic map;

[0092] Based on the reference distance and the reference direction, the reference coordinates of the target reference point on the geographic map are calculated;

[0093] Based on the reference coordinates, the range parameters are calculated.

[0094] In this embodiment, user commands can be input using a keyboard, mouse, or touch input using a finger on the screen. For example, a user can input commands by sliding their finger on the screen. In this embodiment, the target reference point is a point determined by the user and is one of the points within the target area. Using the position of the target reference point on the geographic map, the distance and direction of the target reference point relative to the map target coordinates of the target object can be calculated, i.e., the reference distance and reference direction. Based on the reference distance and 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, the range parameter can be calculated based on the coordinates of the target reference point. The range parameter corresponds to the range formed around the map target coordinates, and one of the points on the edge of this range is the target reference point. For example, if the target area is a circle centered on the map target coordinates, and 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, which is the distance between the target reference point and the target object.

[0095] In one embodiment, the step of capturing and displaying video images based on the screen target coordinates and the screen coordinate range includes:

[0096] Based on the screen target coordinates and screen coordinate range, the original video image is obtained by taking a picture;

[0097] The original video image is processed using a motion compensation stabilization algorithm to obtain a stabilized image;

[0098] The original video images of a series of preset frames are compared one by one with the anti-shake images of a series of preset frames to obtain multiple image loss factors.

[0099] Based on the screen target coordinates and screen coordinate range, each of the stabilized images and each of the image loss factors are located, and each frame of the stabilized image is compensated using the image loss factors to obtain the video image, which is then displayed.

[0100] It is worth mentioning that when using image stabilization algorithms to process images, it can lead to image distortion and loss. In this embodiment, a motion compensation stabilization algorithm is used to process the original video image in order to reduce the shaking of the video image during playback. In addition to optical image stabilization, the addition of a motion compensation stabilization algorithm can improve the stability of the video image. However, this also brings new problems, leading to image loss, which may result in image distortion, blurring, and increased noise. Therefore, it is necessary to compensate for the image after stabilization. First, the original video image frame by frame is compared with the stabilized image frame by frame to obtain the difference between the two, i.e., the image loss factor. Using the image loss factor to compensate for the stabilized image can repair the image. Furthermore, the image is repositioned during the compensation process using the screen target coordinates and the screen coordinate range, which can avoid the coordinate offset of the repaired and compensated image, so that the target object is always in the position corresponding to the screen target coordinates in the video image. In this embodiment, image stabilization is performed first, followed by compensation, in order to improve the stability of the video image. During compensation, the image stabilization and image loss factors are located by using the pre-positioned screen target coordinates and screen coordinate range. This allows compensation to be made for the lost parts of the image, avoiding misalignment and deviation, and maintaining the image size and resolution of the video image.

[0101] In one embodiment, after the step of comparing multiple consecutive frames of the original video images with multiple frames of the stabilized images to obtain multiple image loss factors, the method further includes:

[0102] Detect whether the ratio of the image loss factor to the corresponding original video image is greater than a preset ratio;

[0103] If the ratio of multiple image loss factors for a consecutive preset number of frames to the corresponding multiple frames of the original video image 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.

[0104] In this embodiment, the image loss factor reflects the content lost after the original video image undergoes image stabilization. The ratio of the image loss factor to the original video image represents the proportion of image loss. When the proportion of image loss after stabilization exceeds a preset ratio, it indicates severe shaking. The motion compensation stabilization algorithm performs a large proportion of image stabilization, resulting in significant image loss. Therefore, to avoid the image coordinate system being affected by shaking, when the proportion of image loss exceeds the preset ratio for multiple consecutive frames, it indicates continuous shaking. Thus, to avoid errors, the image coordinate system is only recalibrated when the proportion of image loss exceeds the preset ratio for multiple frames. However, if the proportion of image loss exceeds the preset ratio for a single frame or for multiple discontinuous frames, it will not lead to recalibration of the image coordinate system. This is to avoid unstable video output caused by frequent reconstruction of the image coordinate system.

[0105] In this embodiment, when the ratio of multiple image loss factors for a consecutive preset number of frames to the corresponding multiple frames of the original video image is greater than a preset ratio, the image coordinate system is reconstructed, the coordinate mapping relationship between the geographic map and the image coordinate system is re-established, and the screen target coordinates and screen coordinate range are recalculated, thereby making the display of the target object in the video image and the display range of the screen more accurate.

[0106] In one embodiment, after the step of capturing and displaying video images based on the screen target coordinates and the screen coordinate range, the method further includes:

[0107] Based on the screen target coordinates and screen coordinate range, a video image is obtained by capturing the image.

[0108] A target marker is added to the video image based on the screen target coordinates, the video image containing the target marker is displayed, and a geographic map marked with the target object is displayed.

[0109] In this embodiment, the target marker is a location marker of the target object on the video image. This target marker can be text, a graphic, or a symbol, such as... Figure 5 As shown, Figure 5 The right side of the screen displays real-time video images, with text and graphic markers added to the target object, "XXX Agricultural Comprehensive Service Center." Displaying the target object with these markers on the video image makes it clearer. Furthermore, marking the target object on a geographic map allows users to quickly match the target object in the video image with the target object on the geographic map.

[0110] It should be understood that, although Figure 1The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed 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 some of the sub-steps or stages of other steps.

[0111] Example 2

[0112] In this embodiment, a low-altitude patrol target object marking device is provided, comprising:

[0113] The map target coordinate acquisition module is used to obtain the map target coordinates of a target object in a geographic map;

[0114] The target area range calculation module is used to obtain range parameters and calculate the target area range on the geographic map based on the map target coordinates and the range parameters, wherein the map target coordinates are within the target area range;

[0115] The UAV parameter acquisition module is used to acquire the UAV's position and attitude information;

[0116] The screen coordinate acquisition module is used to perform mapping calculations on the map target coordinates and the target area range based on the position information and attitude information of the UAV, so as to obtain the screen target coordinates and the screen coordinate range.

[0117] The video image display module is used to capture and display video images based on the screen target coordinates and screen coordinate range.

[0118] Specific limitations regarding the low-altitude target marking device can be found in the limitations of the low-altitude target marking method described above, and will not be repeated here. Each unit in the aforementioned low-altitude target marking device can be implemented entirely or partially through software, hardware, or a combination thereof. These units can be embedded in or independent of the processor in the electronic device, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each unit.

[0119] Example 3

[0120] In this embodiment, an electronic device is provided. Its internal structure diagram can be shown as follows: Figure 2As shown, the electronic device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs, and a database is deployed on the non-volatile storage medium. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with other electronic devices that have deployed application software. When the computer program is executed by the processor, it implements a method for marking low-altitude target objects. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0121] Those skilled in the art will understand that Figure 2 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which 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 different component arrangements.

[0122] In one embodiment, an electronic device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps in the low-altitude patrol target object marking method of any of the above embodiments.

[0123] Example 4

[0124] 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, it implements the steps in the low-altitude patrol target object marking method in any of the above embodiments.

[0125] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can 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 a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0126] The technical features of the above embodiments can 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.

[0127] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for marking target objects during low-altitude patrols, characterized in that, include: Obtain the map coordinates of the target object in the geographic map; Obtain the range parameter, and calculate the target area range on the geographic map based on the map target coordinates and the range parameter, wherein the map target coordinates are within the target area range; Acquire the drone's position and attitude information; Based on the location and attitude information of the UAV, the map target coordinates and the target area range are mapped and calculated to obtain the screen target coordinates and the screen coordinate range; The video image is captured and displayed based on the screen target coordinates and screen coordinate range. The step of capturing and displaying video images based on the screen target coordinates and the screen coordinate range includes: Based on the screen target coordinates and screen coordinate range, the original video image is obtained by taking a picture; The original video image is processed using a motion compensation stabilization algorithm to obtain a stabilized image; The original video images of a series of preset frames are compared one by one with the anti-shake images of a series of preset frames to obtain multiple image loss factors. The image loss factors are used to compensate for each frame of the stabilized image, and during the compensation process, the stabilized image is repositioned based on the screen target coordinates and the screen coordinate range to obtain the video image, and the video image is displayed. The step of comparing multiple consecutive frames of the original video images with multiple frames of the stabilized images to obtain multiple image loss factors further includes: Detect whether the ratio of the image loss factor to the corresponding original video image is greater than a preset ratio; If the ratio of multiple image loss factors for a consecutive preset number of frames to the corresponding multiple frames of the original video image 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.

2. The method according to claim 1, characterized in that, The attitude information includes: altitude above the ground, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle, and lens parameters; The step of mapping the map target coordinates and the target area range based on the drone's position and attitude information to obtain the screen target coordinates and screen coordinate range includes: Based on the location 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 is mapped and calculated according to the ground altitude, gimbal pitch angle, gimbal yaw angle, fuselage yaw angle, and lens parameters to obtain the screen coordinate range.

3. The method according to claim 2, characterized in that, The step of performing coordinate mapping calculations on the map target coordinates based on the drone's location information to obtain the screen target coordinates includes: Obtain the pre-built image coordinate system; Establish the coordinate mapping relationship between the geographic map and the image coordinate system; Based on the location information, attitude information, and coordinate mapping relationship of the UAV, 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 ground altitude, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle, and the lens parameters, to obtain the screen coordinate range includes: Based on the screen target coordinates, and according to the coordinate mapping relationship, the ground altitude, the gimbal pitch angle, the gimbal yaw angle, the fuselage yaw angle, and the lens parameters, the coordinate range of the target area in the image coordinate system is calculated to obtain the screen coordinate range.

4. The method according to claim 1, characterized in that, The steps for obtaining the range parameters include: Obtain user instructions; Parse the user command to obtain the reference distance and reference direction of the target reference point relative to the map target coordinates on the geographic map; Based on the reference distance and the reference direction, the reference coordinates of the target reference point on the geographic map are calculated; Based on the reference coordinates, the range parameters are calculated.

5. The method according to any one of claims 1-4, characterized in that, After the step of capturing and displaying video images based on the screen target coordinates and screen coordinate range, the method further includes: Based on the screen target coordinates and screen coordinate range, a video image is obtained by capturing the image. A target marker is added to the video image based on the screen target coordinates, the video image containing the target marker is displayed, and a geographic map marked with the target object is displayed.

6. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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