Image control point measuring method and related device

Abstract

The invention discloses an image control point measurement method and a related device, the method is executed by a measurement device, the measurement device comprises an unmanned aerial vehicle and a laser range finder, the laser range finder is installed on the bottom surface of the unmanned aerial vehicle, when the unmanned aerial vehicle is right above an image control point, the measurement device firstly obtains positioning information of the unmanned aerial vehicle, and the positioning information is sent to the unmanned aerial vehicle; the method comprises the following steps: determining the relative position of a laser range finder and a positioning device of an unmanned aerial vehicle and the linear distance from the laser range finder to an image control point, determining the height distance between a center point of the positioning device and the image control point based on the relative position of the laser range finder and the positioning device and the linear distance, and finally determining the height of the image control point by combining the positioning information of the unmanned aerial vehicle. According to the method, the position information of the image control point is determined, so that the non-contact measurement of the image control point can be realized, the method can be applied to an area which cannot be reached manually, the limitation of the measurement of the image control point caused by factors such as terrain, terrain or humanity conditions is effectively reduced, and the measurement efficiency and the image precision are further improved.

Description

Technical Field

[0001] This application relates to the field of measurement technology, and particularly to a method for measuring image control points and related devices. Background Art

[0002] Image control points are the basis for photogrammetric control encryption and mapping. In the measurement area, it is necessary to pre-plan, select image control points that are easy to identify and have obvious features for layout, and then use a measurement device to measure the image control points based on the laid-out marks.

[0003] Currently, for the problem that image control points cannot be laid out or measured due to terrain, topography, or human conditions, etc., mainly by finding a nearby reachable surrounding area to select other measurement points for measurement, and encrypting the measurement points to help improve the accuracy of the image.

[0004] However, this indirect measurement method is difficult to ensure the measurement accuracy of the measurement area. Summary of the Invention

[0005] In view of this, this application provides a method for measuring image control points with a laser rangefinder carried by a drone, which can obtain the position information of the image control points in a non-contact manner.

[0006] To solve the above problems, the technical solutions provided by this application are as follows:

[0007] On the one hand, this application provides a method for measuring image control points. The method is executed by a measurement device, and the measurement device includes a drone and a laser rangefinder. The laser rangefinder is installed on the bottom surface of the drone. The method includes:

[0008] When the drone is directly above the image control point, obtain the positioning information of the drone, the relative position between the laser rangefinder and the positioning device of the drone, and the straight-line distance X1 from the laser rangefinder to the image control point. The positioning information is obtained through the positioning device;

[0009] According to the relative position and the straight-line distance X1, determine the height distance H between the central point of the positioning device and the image control point;

[0010] According to the height distance H and the positioning information, determine the position information of the image control point.

[0011] In a possible implementation manner, when the central point of the positioning device and the image control point are not on the same horizontal plane, the determining the height distance H between the central point of the positioning device and the image control point according to the relative position and the straight-line distance X1 includes:

[0012] Determine the horizontal height difference H1 between the center point of the positioning device and the laser rangefinder according to the relative position, and the distance X2 from the virtual point a, which is the vertical projection of the center point of the positioning device onto the horizontal plane where the laser rangefinder is located, to the laser rangefinder;

[0013] Determine the height distance H2 from the virtual point a to the image control point according to the linear distance X1 and the distance X2 by using the Pythagorean theorem;

[0014] Based on the relative position between the laser rangefinder and the center point of the positioning device, determine the height distance H between the center point of the positioning device and the image control point according to the horizontal height difference H1 and the height distance H2;

[0015] In a possible implementation, when the center point of the positioning device and the image control point are on the same horizontal plane, the step of determining the height distance H between the center point of the positioning device and the image control point according to the relative position and the linear distance X1 includes:

[0016] Determine the distance X3 from the center point of the positioning device to the laser rangefinder according to the relative position;

[0017] Determine the height distance H between the center point of the positioning device and the image control point according to the linear distance X1 and the distance X3 by using the Pythagorean theorem.

[0018] In a possible implementation, the positioning device includes the camera of the unmanned aerial vehicle (UAV), and the positioning information is obtained in the following manner:

[0019] When the center point of the camera is vertically downward aligned with the image control point, drive the camera to take a photo, and the camera is located at the center of the bottom surface of the UAV;

[0020] Determine the positioning information according to the position and attitude system data of the camera when taking the photo.

[0021] In a possible implementation, the linear distance is obtained in the following manner:

[0022] When the center point of the camera is downward aligned with the image control point, drive the laser rangefinder to align with the image control point and emit laser;

[0023] Calculate the linear distance X1 according to the time difference between the laser rangefinder emitting laser and receiving the laser reflected by the image control point.

[0024] In a possible implementation, the method further includes:

[0025] Store the position information of the image control points.

[0026] In another aspect, the present application provides an image control point measurement device, which includes an acquisition unit and a determination unit:

[0027] The acquisition unit is used to obtain the positioning information of the UAV, the relative position between the laser rangefinder and the positioning device of the UAV, and the straight-line distance X1 from the laser rangefinder to the image control point when the UAV is directly above the image control point, and the positioning information is obtained through the positioning device;

[0028] The determination unit is used to determine the height distance H between the center point of the positioning device and the image control point according to the relative position;

[0029] The determination unit is further used to determine the position information of the image control point according to the height distance H and the positioning information.

[0030] In a possible implementation manner, when the center point of the positioning device and the image control point are not on the same horizontal plane, the determination unit is specifically used for:

[0031] According to the relative position, determine the horizontal height difference H1 between the center point of the positioning device and the laser rangefinder, and the distance X2 from the virtual point a where the center point of the positioning device is vertically mapped to the horizontal plane where the laser rangefinder is located to the laser rangefinder;

[0032] According to the straight-line distance X1 and the distance X2, determine the height distance H2 from the virtual point a to the image control point by using the Pythagorean theorem;

[0033] Based on the relative position between the laser rangefinder and the center point of the positioning device, determine the height distance H between the center point of the positioning device and the image control point according to the horizontal height difference H1 and the height distance H2.

[0034] In a possible implementation manner, when the center point of the positioning device and the image control point are on the same horizontal plane, the determination unit is specifically used for:

[0035] According to the relative position, determine the distance X3 from the center point of the positioning device to the laser rangefinder;

[0036] According to the straight-line distance X1 and the distance X3, determine the height distance H between the center point of the positioning device and the image control point by using the Pythagorean theorem.

[0037] In a possible implementation manner, the acquisition unit is specifically used for:

[0038] When the central point of the camera is vertically downward and aligned with the image control point, drive the camera to take a photo. The camera is located at the center of the bottom surface of the drone.

[0039] Determine the positioning information according to the position and attitude system data of the camera when taking the photo.

[0040] In a possible implementation manner, the obtaining unit is specifically configured to:

[0041] When the central point of the camera is downward and aligned with the image control point, drive the laser rangefinder to align with the image control point and emit laser light.

[0042] Calculate the linear distance X1 according to the time difference between the laser rangefinder emitting laser light and receiving the laser light reflected by the image control point.

[0043] In a possible implementation manner, the device further includes a storage unit:

[0044] The storage unit is used to store the position information of the image control point.

[0045] In another aspect, the present application provides a computer device, which includes a processor and a memory:

[0046] The memory is used to store a computer program;

[0047] The processor is used to execute any one of the methods according to the computer program.

[0048] In another aspect, the present application provides a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a computer device, it implements any one of the methods.

[0049] In another aspect, the present application provides a computer program product including a computer program. When it runs on a computer device, it causes the computer device to execute any one of the methods.

[0050] As can be seen from the above technical solution, this technical solution is executed by a measuring device, which includes a drone and a laser rangefinder. The laser rangefinder is installed on the bottom surface of the drone. When the drone is directly above the image control point, the measuring device first obtains the positioning information of the drone, the relative position between the laser rangefinder and the positioning device of the drone, and the straight-line distance X1 from the laser rangefinder to the image control point. Then, according to the relative position between the laser rangefinder and the positioning device of the drone, the height distance H between the center point of the positioning device and the image control point is determined. Finally, in combination with the positioning information of the drone, the position information of the image control point is determined. Thus, non-contact measurement of the image control point can be achieved, which can be applied to areas that are inaccessible to humans, effectively reducing the limitations of image control point measurement caused by factors such as terrain, topography, or human conditions, and further improving the measurement efficiency and image accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0052] Figure 1 It is a schematic flowchart of a method for measuring image control points provided by an embodiment of the present application;

[0053] Figure 2 It is a structural diagram of a measuring device provided by an embodiment of the present application;

[0054] Figure 3 It is a schematic diagram for solving measurement results provided by an embodiment of the present application;

[0055] Figure 4 It is a schematic diagram of an image control point measuring device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] In order to enable those skilled in the art to better understand the solution of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0057] As described in the background art, in view of the problem that image control points cannot be measured due to terrain, topography, or human conditions, etc., a method of selecting measurement points in a nearby reachable surrounding area for measurement is adopted. However, due to the problems that the measurement points are far from the target measurement area or the measurement points are difficult to be evenly distributed in the target measurement area, etc., the accuracy of the overall image cannot be guaranteed.

[0058] The present application provides a method for measuring image control points. This method is executed by a measuring device, which includes a drone and a laser rangefinder. The laser rangefinder is installed on the bottom surface of the drone. When the drone is directly above the image control point, the measuring device first obtains the positioning information of the drone, the relative position between the laser rangefinder and the positioning device of the drone, and the straight-line distance X1 from the laser rangefinder to the image control point. Then, according to the relative position between the laser rangefinder and the positioning device of the drone, the height distance H between the center point of the positioning device and the image control point is determined. Finally, in combination with the positioning information of the drone, the position information of the image control point is determined. Thus, non-contact measurement of the image control point can be realized, and it can be applied to areas that cannot be reached by humans, effectively reducing the limitations of image control point measurement caused by factors such as terrain, topography, or human conditions, and further improving the measurement efficiency and image accuracy.

[0059] The solution provided by the embodiment of the present application relates to Measurement the technical field, which will be specifically described through the following embodiments.

[0060] Refer to Figure 1 As shown, it is a schematic flowchart of a method for measuring image control points provided by an embodiment of the present application. In this embodiment, it can be executed by taking the measuring device as an example.

[0061] The measuring device includes a drone and a laser rangefinder. The laser rangefinder is installed on the bottom surface of the drone. The embodiment of the present application is implemented through the following steps:

[0062] S101: When the drone is directly above the image control point, obtain the positioning information of the drone, the relative position between the laser rangefinder and the positioning device of the drone, and the straight-line distance X1 from the laser rangefinder to the image control point.

[0063] An image control point refers to a characteristic measurement point selected in the measurement area, which is used to assist in drawing large-area images or model data. The selection of the image control point is usually located in an open area. It can be a measurement point that can be reached by the surveyor, such as an intersection, the top of a building, etc., or it can be a measurement point that is difficult for the surveyor to reach, such as a point in a complex terrain area like a cliff or a deep mountain forest. During the measurement, the measurement device should be as close as possible to the image control point to improve the measurement accuracy. The positioning information of the unmanned aerial vehicle (UAV) can be obtained through the positioning device on the UAV. For example, the positioning information includes longitude, latitude, and altitude relative to the sea level. When the UAV takes off to a certain height, by installing the laser rangefinder and the positioning device on the UAV, the relative position between the laser rangefinder and the positioning device can be determined when the UAV is in different postures. By aligning the laser rangefinder on the bottom surface of the UAV with the image control point, the distance to any image control point can be measured.

[0064] Through the camera installed on the UAV, when it is observed that the UAV flies directly above the image control point, the positioning information of the UAV at this time is obtained through the positioning device of the UAV. According to the posture of the UAV at this time, the relative position between the laser rangefinder and the positioning device is obtained, and the straight-line distance to the image control point is measured through the laser rangefinder.

[0065] S102: Determine the height distance H between the central point of the positioning device and the image control point according to the relative position.

[0066] When the UAV flies directly above the image control point, it is usually in a stable state. At this time, through the relative position between the positioning device and the laser rangefinder, the height distance H between the central point of the positioning device and the image control point can be determined.

[0067] In a possible implementation manner, when the central point of the positioning device and the image control point are not on the same horizontal plane, this step includes:

[0068] A1: Determine the horizontal height difference H1 between the central point of the positioning device and the laser rangefinder according to the relative position, and the distance X2 from the virtual point a, which is the vertical projection of the central point of the positioning device onto the horizontal plane where the laser rangefinder is located, to the laser rangefinder.

[0069] The horizontal height difference refers to the height difference between the horizontal plane where the central point of the positioning device is located and the horizontal plane where the laser rangefinder is located.

[0070] When the UAV flies directly above the image control point, it is usually in a stable state. At this time, through the relative position between the positioning device and the laser rangefinder, the horizontal height difference H1 between the central point of the positioning device and the laser rangefinder can be determined. The central point of the positioning device can be vertically projected onto the horizontal plane where the laser rangefinder is located to obtain the virtual point a, so as to determine the distance X2 from the virtual point a to the laser rangefinder.

[0071] If the positioning device and the laser rangefinder are at the same horizontal height, the horizontal height difference H1 is 0 at this time, and the distance X2 can be directly determined by the straight-line distance between the positioning device and the laser rangefinder.

[0072] A2: According to the straight-line distance X1 and the distance X2, the height distance H2 from the virtual point a to the image control point is determined by the Pythagorean theorem.

[0073] Since the UAV is directly above the image control point, that is, the positioning device is directly above the image control point, the virtual point a, the laser rangefinder and the image control point form a right triangle. At this time, the straight-line distance X1 is the hypotenuse of the right triangle. By the height distance H2 from the virtual point a to the image control point can be obtained.

[0074] A3: Based on the relative position of the central points of the laser rangefinder and the positioning device, and according to the horizontal height difference H1 and the height distance H2, the height distance H between the central point of the positioning device and the image control point is determined.

[0075] When the horizontal plane where the laser rangefinder is located is above the horizontal plane where the central point of the positioning device is located, the height distance H between the central point of the positioning device and the image control point is H2 - H1; when the horizontal plane where the laser rangefinder is located is below the horizontal plane where the central point of the positioning device is located, the height distance H between the central point of the positioning device and the image control point is H1 + H2.

[0076] Thus, when the central point of the positioning device and the image control point are not in the same horizontal plane, the measurement of the position information of the image control point can also be realized, which has a wider application scenario.

[0077] In a possible implementation, when the central point of the positioning device and the image control point are in the same horizontal plane, this step includes:

[0078] B1: According to the relative position, the distance X3 from the central point of the positioning device to the laser rangefinder is determined.

[0079] B2: According to the straight-line distance X1 and the distance X3, the height distance H between the central point of the positioning device and the image control point is determined by the Pythagorean theorem.

[0080] Since the central point of the positioning device and the image control point are in the same horizontal plane, and at this time the UAV, that is, the positioning device of the UAV is directly above the image control point. At this time, the central positioning of the positioning device, the laser rangefinder and the image control point form a right triangle. By the height distance H from the central point of the positioning device to the image control point can be obtained.

[0081] Therefore, when measuring the image control points, if the central point of the positioning device is at the same horizontal plane as the image control points, the calculation process can be simplified, data errors during calculation can be avoided, and more accurate position information of the image control points can be obtained.

[0082] S103: Determine the position information of the image control points according to the height distance H and the positioning information.

[0083] Subtract the height distance H from the height data in the positioning information to determine the position information of the image control points.

[0084] Therefore, non-contact measurement of the image control points can be achieved, which can be applied to areas that are inaccessible to humans, effectively reducing the limitations of image control point measurement caused by factors such as terrain, topography, or human conditions, and further improving the measurement efficiency and image accuracy.

[0085] In a possible implementation, the positioning information is obtained through the following method:

[0086] C1: When the central point of the camera of the unmanned aerial vehicle (UAV) is vertically downward aligned with the image control point, drive the camera to take a photo.

[0087] C2: Determine the positioning information according to the position and attitude system data when the camera takes a photo.

[0088] Among them, the central point of the camera refers to the phase center of the camera. The camera of the UAV is at the center of the bottom surface of the UAV and can take photos vertically downward. At this time, the laser rangefinder can be installed on the bottom surface of the UAV at a certain distance from the center of the bottom surface. When the phase center of the camera of the UAV is vertically downward aligned with the image control point, it is determined that the UAV is directly above the image control point at this time. The drive module of the measurement device is used to drive the camera to take a photo, and the position and attitude system data when taking the photo is automatically recorded by the built-in module. The position and attitude system data when the camera takes a photo includes position information and attitude data. Among them, the position data includes longitude, latitude, and height relative to the sea level. The positioning information when the UAV is directly above the image control point is the longitude, latitude, and height data when the camera takes the photo.

[0089] Therefore, through the camera installed at the center of the bottom surface of the UAV, it can be quickly determined whether the UAV is directly above the image control point, so as to more quickly and accurately determine the position information when the UAV is directly above the image control point.

[0090] In a possible implementation, the straight-line distance is obtained through the following method:

[0091] D1: When the central point of the camera is vertically downward aligned with the image control point, drive the laser rangefinder to align with the image control point and emit laser.

[0092] D2: Calculate the straight-line distance X1 based on the time difference between the laser emitted by the laser rangefinder and the laser reflected by the image control point received.

[0093] When the phase center of the camera is vertically downward aligned with the image control point, the driving module of the measuring device is used to drive the laser rangefinder to align with the image control point and emit laser light to the image control point. The laser rangefinder can measure the straight-line distance X1 to the image control point based on the time of laser emission and the time difference between the laser reflected by the image control point and received by the laser rangefinder.

[0094] Thus, judging the relative position between the drone and the image control point according to the same measurement standard and synchronously obtaining the positioning information of the drone and the straight-line distance from the laser rangefinder to the image control point can help obtain a more accurate measurement result.

[0095] In a possible implementation, the measuring device can store the position information of the image control point, so that the position information of multiple image control points can be recorded in a single flight mission to achieve the measurement of multiple image control points.

[0096] To describe this image control point measurement method more clearly, it is further described in combination with a specific implementation scenario.

[0097] Reference Figure 2 , is a structural diagram of a measuring device provided by an embodiment of the present application. The measuring device includes a drone and a laser rangefinder. The drone includes a storage bin, propellers, a lifting bracket, a counterweight, and a camera. The camera is located at the center of the bottom surface of the drone. The laser rangefinder is fixed to the bottom surface of the drone through a bracket and is mainly used for distance measurement and marking. The storage bin is equipped with an information enhancement collector and a control module. The control module includes a driving device, an information transmission device, and a calculation module. The counterweight is mainly used to balance the drone. The driving device is connected to the camera and the laser rangefinder and mainly controls its photographing and taking measurement information. The signal transmission device is connected to the calculation module, the laser rangefinder, and the receiver and is mainly used for collecting data and transmitting data back. The calculation module mainly performs data calculation to obtain the accurate coordinates of the image control point. The signal enhancement collector is mainly used to enhance radio signals.

[0098] The non-contact measurement of the image control point can be realized through the above measuring device, and its specific implementation process is as follows:

[0099] 1. Before the drone takes off, install the laser rangefinder on the bracket and adjust the height to be at the same horizontal height as the phase center of the camera lens, that is, the phase center.

[0100] 2. Check the connection status of the receiver with the laser rangefinder, camera, and control module, and conduct a test shooting test.

[0101] 3. Manually fly the UAV to the target object, i.e., above the image control point, and then slowly land and hover directly above the target object as close as possible.

[0102] 4. Adjust the camera to face vertically downward, and finely align the crosshair at the phase center of the lens with the target object so that the camera is directly above the target object. At the same time, aim the laser rangefinder at the target object.

[0103] 5. Send a signal to the driving device of the control module through the remote controller to make the camera and the laser rangefinder start working simultaneously.

[0104] 6. The signal transmission device transmits the data collected by the camera and the laser rangefinder to the calculation module for data resolution.

[0105] 7. The calculation module resolves according to the position and attitude system data of the camera, the measurement result of the laser rangefinder, and data such as the spatial error value between the laser rangefinder and the phase center of the camera lens.

[0106] Reference Figure 3 , which is a schematic diagram of resolving the measurement result provided by the embodiment of the present application. Here, Δh is the straight-line distance measured by the laser rangefinder to the target object, and ΔX is the distance from the laser rangefinder to the phase center of the lens. Through , the height distance H between the phase center of the lens and the target object can be obtained, so that the position of the target object can be accurately obtained through the positioning information of the UAV determined in the position and attitude system data of the camera.

[0107] 8. The information transmission device transmits the resolved result back to the receiver, so as to obtain the data in real time and save it.

[0108] Thus, the measurement device can be independent of strictly manual ground measurement of image control points, use the UAV to remotely collect target data, so as to meet the measurement specifications of image control points. When encountering terrains inaccessible to humans, the measurement of image control points can be realized in a non-contact manner, thereby further improving the accuracy of image data, reducing the difficulty of manual measurement, increasing the safety factor, and improving the operation efficiency.

[0109] Based on the above embodiments, the embodiment of the present application provides an image control point measurement device. Referring to Figure 4 shown, which is a schematic diagram of an image control point measurement device provided by the embodiment of the present application. The measurement device 400 includes an acquisition unit 401 and a determination unit 402:

[0110] The obtaining unit is used to obtain the positioning information of the UAV, the relative position between the laser rangefinder and the positioning device of the UAV, and the straight-line distance X1 from the laser rangefinder to the image control point when the UAV is directly above the image control point. The positioning information is obtained through the positioning device.

[0111] The determining unit is used to determine the height distance H between the center point of the positioning device and the image control point according to the relative position and the straight-line distance X1.

[0112] The determining unit is also used to determine the position information of the image control point according to the height distance H and the positioning information.

[0113] Thus, contactless measurement of the image control point can be realized, so that it can be applied in areas that are inaccessible to humans, effectively reducing the limitations of image control point measurement caused by factors such as terrain, topography or human conditions, and further improving the measurement efficiency and image accuracy.

[0114] In a possible implementation manner, when the center point of the positioning device and the image control point are not on the same horizontal plane, the determining unit specifically is used to:

[0115] According to the relative position, determine the horizontal height difference H1 between the center point of the positioning device and the laser rangefinder, and the distance X2 from the virtual point a where the center point of the positioning device is vertically mapped to the horizontal plane where the laser rangefinder is located to the laser rangefinder.

[0116] According to the straight-line distance X1 and the distance X2, determine the height distance H2 from the virtual point a to the image control point through the Pythagorean theorem.

[0117] Based on the relative position between the laser rangefinder and the center point of the positioning device, determine the height distance H between the center point of the positioning device and the image control point according to the horizontal height difference H1 and the height distance H2.

[0118] Thus, when the center point of the positioning device and the image control point are not on the same horizontal plane, the measurement of the position information of the image control point can also be realized, and it has a wider application scenario.

[0119] In a possible implementation manner, when the center point of the positioning device and the image control point are on the same horizontal plane, the determining unit specifically is used to:

[0120] According to the relative position, determine the distance X3 from the center point of the positioning device to the laser rangefinder.

[0121] According to the linear distance X1 and the distance X3, the height distance H between the center point of the positioning device and the image control point is determined by the Pythagorean theorem.

[0122] Thus, when measuring the image control point, if the center point of the positioning device and the image control point are on the same horizontal plane, the calculation process can be simplified, data errors during calculation can be avoided, and more accurate position information of the image control point can be obtained.

[0123] In a possible implementation manner, the obtaining unit is specifically configured to:

[0124] When the phase center of the camera of the unmanned aerial vehicle is vertically downward aligned with the image control point, drive the camera to take a picture, and the camera is located at the center of the bottom surface of the unmanned aerial vehicle;

[0125] Determine the positioning information according to the position and attitude system data of the camera when taking pictures.

[0126] Thus, by using the camera installed at the center of the bottom surface of the unmanned aerial vehicle, the position relationship between the unmanned aerial vehicle and the image control point can be determined, and thus the position information of the unmanned aerial vehicle directly above the image control point can be determined more quickly and accurately.

[0127] In a possible implementation manner, the obtaining unit is specifically configured to:

[0128] When the phase center of the camera is vertically downward aligned with the image control point, drive the laser rangefinder to align with the image control point and emit laser;

[0129] Calculate the linear distance according to the time difference between the laser rangefinder emitting laser and receiving the laser reflected by the image control point.

[0130] Thus, the positioning information of the unmanned aerial vehicle and the linear distance from the laser rangefinder to the image control point can be obtained synchronously, and thus a more accurate measurement result can be obtained.

[0131] In a possible implementation manner, the device further includes a storage unit:

[0132] The storage unit is used to store the position information of the image control point.

[0133] Thus, the position information of multiple image control points can be recorded, and the measurement of multiple image control points can be realized.

[0134] Based on the above embodiments, an embodiment of the present application provides a computer device, and the computer device includes a processor and a memory:

[0135] The memory is used to store a computer program;

[0136] The processor is configured to execute the above-mentioned image control point measurement method according to the computer program.

[0137] Based on the above embodiments, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, which when executed by a computer device, implements the above-mentioned image control point measurement method.

[0138] Based on the above embodiments, an embodiment of the present application provides a computer program product including a computer program, which when running on a computer device, causes the computer device to execute the above-mentioned image control point measurement method.

[0139] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions in the method part.

[0140] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control point measurement method, characterized in that, The method is executed by a measuring device, which includes a drone and a laser rangefinder. The laser rangefinder is installed on the bottom surface of the drone. The method includes: When the drone is directly above the image control point, obtain the positioning information of the drone, the relative position between the laser rangefinder and the positioning device of the drone, and the straight-line distance X1 from the laser rangefinder to the image control point. The positioning information is obtained through the positioning device; Determine the height distance H between the center point of the positioning device and the image control point according to the relative position and the straight-line distance X1; Determine the position information of the image control point according to the height distance H and the positioning information.

2. The method according to claim 1, characterized in that, When the center point of the positioning device and the image control point are not on the same horizontal plane, the step of determining the height distance H between the center point of the positioning device and the image control point according to the relative position and the straight-line distance X1 includes: According to the relative position, determine the horizontal height difference H1 between the center point of the positioning device and the laser rangefinder, and the distance X2 from the virtual point a, where the center point of the positioning device is vertically mapped to the horizontal plane where the laser rangefinder is located, to the laser rangefinder; According to the straight-line distance X1 and the distance X2, determine the height distance H2 from the virtual point a to the image control point by the Pythagorean theorem; Based on the relative position between the laser rangefinder and the center point of the positioning device, determine the height distance H between the center point of the positioning device and the image control point according to the horizontal height difference H1 and the height distance H2.

3. The method according to claim 1, wherein When the center point of the positioning device and the image control point are on the same horizontal plane, the step of determining the height distance H between the center point of the positioning device and the image control point according to the relative position and the straight-line distance X1 includes: According to the relative position, determine the distance X3 from the center point of the positioning device to the laser rangefinder; According to the straight-line distance X1 and the distance X3, determine the height distance H between the center point of the positioning device and the image control point by the Pythagorean theorem.

4. The method according to claim 1, characterized in that, The positioning device includes the camera of the drone. The positioning information is obtained in the following way: When the center point of the camera of the drone is vertically downward aligned with the image control point, drive the camera to take a picture. The camera is located at the center of the bottom surface of the drone; Determine the positioning information according to the position and attitude system data when the camera takes a picture.

5. The method according to claim 4, characterized in that, The straight-line distance is obtained in the following way: When the center point of the camera is vertically downward aligned with the image control point, drive the laser rangefinder to align with the image control point and emit laser; Calculate the straight-line distance according to the time difference between the laser rangefinder emitting laser and receiving the laser reflected by the image control point.

6. The method according to claim 1, characterized in that, The method further includes: Store the position information of the image control point.

7. A control point measurement device, characterized in that, The device includes an acquisition unit and a determination unit: The obtaining unit is configured to obtain the positioning information of the UAV, the relative position between the laser rangefinder and the positioning device of the UAV, and the straight-line distance X1 from the laser rangefinder to the image control point when the UAV is directly above the image control point, and the positioning information is obtained through the positioning device; The determining unit is configured to determine the height distance H between the center point of the positioning device and the image control point according to the relative position and the straight-line distance X1; The determining unit is further configured to determine the position information of the image control point according to the height distance H and the positioning information.

8. A computer device, characterized in that, The computer device includes a processor and a memory: The memory is used to store a computer program; The processor is configured to execute the method according to any one of claims 1-6 according to the computer program.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and the computer program realizes the execution of the method according to any one of claims 1-6 when executed by a computer device.

10. A computer program product comprising a computer program, characterized in that, When it runs on a computer device, it causes the computer device to execute the method according to any one of claims 1-6.

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