Panorama trajectory automatic generation method based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of solar photovoltaic engineering management, in particular to an unmanned aerial vehicle-based panorama track automatic generation method, which comprises the following steps of: acquiring a panorama according to a preset track; analyzing the panoramic picture metadata; obtaining metadata and dividing the panoramic picture into a plurality of groups; calculating an azimuth included angle by taking the longitude and latitude of the first picture in the group of panoramic pictures as a central point; generating a clickable anchor point according to the panoramic picture metadata and the included angle between other panoramic pictures and the central point; calculating the distance between the longitude and latitude of the central point and the longitude and latitude of other panoramic pictures, and calculating the rotation angle of the pitch according to the distance; the pitch rotation angle is adjusted through the distance, and the anchor point style is optimized. Compared with a large-volume three-dimensional model generated by oblique photography, the panorama has the advantages that the data volume is small, the operation is simple, scattered panorama pictures are integrated into an interactive track through a space correlation algorithm and anchor point interactive design, and the problems of data splitting and poor real-time performance in a traditional management mode are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of solar photovoltaic project management, and in particular to a method for automatically generating panoramic trajectory based on an unmanned aerial vehicle (UAV). Background Art

[0002] With the rapid growth in demand for solar photovoltaic (PV) panel power generation, numerous challenges in their installation have become increasingly apparent. Problems such as difficulty effectively controlling construction quality, accurately monitoring construction progress, a lack of transparency in construction site conditions, and frequent safety hazards not only severely impact project progress but also pose potential risks to project quality, cost control, and safety. These issues have rendered traditional management models inadequate for rapidly developing renewable energy projects. In modern PV panel installation projects, management primarily relies on automated drone patrols. While this approach saves time and effort, it also presents numerous uncontrollable factors. Data transmission delays and network fluctuations often prevent real-time progress from being viewed, increasing project risks. Therefore, panoramic images generated by drone flights are now being used for display, effectively circumventing the issues of large size and slow loading times. However, currently, when panoramic images are uploaded to the server, each panorama can only be viewed individually, creating a fragmented experience. There is no automatic generation of clickable anchor points for a coherent panorama display, starting with a single panorama. Furthermore, the images consume a large amount of memory, resulting in slow display on both desktop and mobile devices. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a method for automatically generating panoramic image trajectories based on drones, comprising the following steps: S1. The drone acquires a set of panoramic images of the monitored area along a preset trajectory and uploads them to a cloud platform; S2. The metadata of the panoramic images is parsed and stored in a database; S3. The server obtains metadata for each panoramic image and divides the panoramic images into several groups for storage; S4. Using the latitude and longitude of the first image in a set of panoramic images as the center point, calculate the azimuth angles between the other panoramic images and the center point; S5. Generate clickable anchor points based on the panoramic image metadata and the angle between the panoramic image and the center point; S6. Calculate the distance between the center point's longitude and latitude and the longitude and latitude of the other panoramic images; S7. Calculate the pitch rotation angle based on the calculated distance; S8. Adjust the pitch rotation angle of the anchor point in three-dimensional space by distance to optimize the anchor point style.

[0004] Furthermore, the metadata in step S2 includes the longitude and latitude of the panoramic image, pitch data, yaw data, and roll data.

[0005] Furthermore, the pitch data is the rotation angle of the camera around the X axis, the yaw data is the rotation angle of the camera around the Y axis, and the roll data is the rotation angle of the camera around the Z axis.

[0006] Furthermore, the azimuth angle in step S4 is based on the true north direction, and the clockwise offset angles of other longitude and latitude points relative to the center point are calculated.

[0007] Furthermore, the formula for calculating the clockwise offset angle of other latitude and longitude points relative to the center point is: Among them: latitude1, longitude1 are the latitude and longitude of the center point image, latitude2, longitude2 are the latitude and longitude of the panoramic image.

[0008] Furthermore, the calculation formula for calculating the distance between the longitude and latitude of the center point and the longitude and latitude of other panoramic images in step S6 is:

[0009] Among them: a=latitude1-latitude2 is the difference between the latitudes of the two points, b=longitude1-longitude2 is the difference in longitude between the two points 6378.137 is the equatorial radius of the Earth.

[0010] Furthermore, the formula for calculating the rotation angle of pitch in step S7 is:

[0011] R is the radius of the sphere on which the panoramic image is attached, Distance is the distance between the longitude and latitude of the center image and the longitude and latitude of the panoramic image.

[0012] Furthermore, the step S8 optimizes the anchor point pattern based on the perspective principle that objects that are closer are larger and objects that are farther away are smaller.

[0013] Furthermore, the method for parsing the metadata of the panoramic image in step S2 is to use the metadata-extractor open source library for parsing.

[0014] Automated drone inspections reduce manual labor, and drone panoramas, as a lightweight, efficient, and easy-to-manage solution, are well-suited for construction supervision of solar photovoltaic panels. Compared to large-scale three-dimensional models generated by oblique photography, panoramas offer advantages such as smaller data volumes, faster transmission and processing speeds, strong real-time performance, simple operation, and low costs and high efficiency. Furthermore, the present invention integrates scattered panoramic images into interactive tracks through spatial association algorithms and anchor point interaction design, addressing the data fragmentation and poor real-time performance issues of traditional management models. Automatic anchor point generation based on spatial algorithms reduces manual annotation costs and improves management efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the process of the method for automatically generating panoramic trajectory of unmanned aerial vehicle based on the present invention; Figure 2 This is a schematic diagram of the angle calculation in the automatic generation method of the panoramic trajectory of the drone in the present invention. Figure 1 ; Figure 3 This is a schematic diagram of the angle calculation in the automatic generation method of the panoramic trajectory of the drone in the present invention. Figure 1 ; Figure 4 Schematic diagram of the perspective principle in the method for automatically generating panoramic image trajectories based on drones of the present invention. DETAILED DESCRIPTION

[0016] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0017] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0018] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0019] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0020] The present invention is further described in detail below with reference to the accompanying drawings.

[0021] See Figure 1 The present invention provides a method for automatically generating panoramic image trajectories based on drones. Based on drones, GIS (Geographic Information System), and intelligent inspection equipment, drones are used to conduct aerial inspections of construction sites. The drones automatically fly along a preset flight path to capture panoramic images, easily covering the entire construction site. The specific method is as follows: With the help of the drone intelligent inspection platform, you can automatically issue panoramic image inspection tasks to the selected supervision area, or use handheld panoramic equipment to shoot multiple points.

[0022] The drone automatically takes off, cruises, takes photos, and lands according to the preset route. During the flight, the drone will take ultra-high-definition pictures according to the set shooting points. The machine automatically synthesizes the panoramic picture and uploads it to the cloud platform in real time using 5G / 4G (abbreviation for mobile communications and their technologies) or Wi-Fi (wireless network communication technology-mobile hotspot) network.

[0023] When the cloud platform receives the panoramic image, the backend (server development) will use metadata-extractor open source The library (mainly used to extract metadata from various types of image files [such as JPEG, PNG, GIF, TIFF, etc.] and some video files) parses the image's latitude and longitude data, pitch data (camera rotation around the X axis), yaw data (camera rotation around the Y axis), roll data (camera rotation around the Z axis), file name and other data and stores them in the database.

[0024] When the server receives a set of panoramic images, we obtain and store each panoramic image and accompanying information such as longitude and latitude.

[0025] like Figure 2 As shown, a group of panoramic images takes the latitude and longitude of the first panoramic image as the center point by default, and then the latitude and longitude of the other panoramic images are added to the latitude and longitude of the center point one by one to calculate the angle between the latitude and longitude of the two panoramic images and the true north, and the angles are recorded and stored.

[0026] Angle formula: Center point image latitude and longitude (radians) [latitude1,longitude1] Panoramic image latitude and longitude (radians) [latitude2,longitude2] yaw=tan(sin(longitude2 - longitude1)×cos(latitude2),cos(latitude1)×sin(latitude2) - sin(latitude1)×cos(latitude2)×cos(longitude2 -longitude1)); Now that we've determined the angles between the center's longitude and latitude, and the other panoramas' longitude and latitude, and true north, we can use the center's longitude and latitude as the origin, true north as the y-axis, and the equator as the x-axis. Now that we know the angles between each panorama and the center, we can determine the positions of the other panoramas. This is the anchor point we need to click on.

[0027] After obtaining the angle, we also need to obtain the distance between the longitude and latitude of the center point and the longitude and latitude of the panoramic image. It is convenient to beautify the anchor point at the back.

[0028]

[0029] a=latitude-latitude2 is the difference in latitude between two points b = longitude1-longitude2, the difference in longitude between the two points 6378.137 Earth's equatorial radius like Figure 3 As shown, anchor points can be automatically generated based on the existing panoramic image's own pitch, yaw, roll and the yaw of the panoramic image with respect to the center point image. However, all anchor points are on the horizontal line, which is not in line with the actual situation. The rotation angle of the pitch should be calculated based on the calculated distance. The roll axis cannot be rotated when the camera is shooting because the panoramic image is taken in a horizontal state, so there is no need to consider it. After obtaining the yaw and pitch of the panoramic image and the center point image, the yaw (0-360) can be set horizontally on the z-axis, and the pitch can be used on the y-axis.

[0030] formula: pitch

[0031] R: The radius of the sphere to which the panoramic image is attached Distance: The distance between the longitude and latitude of the center image and the longitude and latitude of the panoramic image like Figure 4As shown, the yaw and pitch between different panoramic images are combined with the yaw and pitch of the image itself to automatically generate anchor points. For the sake of aesthetics, the anchor points follow the perspective camera principle of larger objects when closer and smaller objects when farther away.

[0032] When the drone takes pictures and uploads them to the server, the photo information is obtained and the perspective information is calculated, and the image can be automatically formed. The track is turned into a picture for easy viewing.

[0033] Drone panoramas, as a lightweight, efficient, and easy-to-manage solution, are ideal for supervising the construction of solar photovoltaic panels. Compared to the large 3D models generated by oblique photography, panoramas offer advantages such as smaller data volumes, faster transmission and processing speeds, enhanced real-time capabilities, simple operation, and high cost-effectiveness. By optimizing multi-angle capture, intelligent annotation, timestamp recording, and AI-assisted analysis, drone panoramas can provide more intuitive and convenient support for construction management, driving the industry's digital transformation and high-quality development.

[0034]

[0035] The present invention is not limited to the above-mentioned specific implementation methods. Various changes made by ordinary technicians in this field based on the above-mentioned concept without creative work are all within the scope of protection of the present invention.

Claims

1. The automatic generation method of drone panoramic trajectory is characterized by: The method includes the following steps: S1. The drone acquires a set of panoramic images of the monitored area along a preset trajectory and uploads the images to a cloud platform; S2. The metadata of the panoramic images is parsed and stored in a database; S3. The server obtains metadata for each panoramic image and divides the panoramic images into several groups for storage; S4. Using the latitude and longitude of the first panoramic image in a set of panoramic images as the center point, calculate the azimuth angles between the other panoramic images and the center point; S5. Generate clickable anchor points based on the panoramic image metadata and the angle between the panoramic image and the center point; S6. Calculate the distance between the center point's longitude and latitude and the longitude and latitude of the other panoramic images; S7. Calculate the pitch rotation angle based on the calculated distance; S8. Adjust the pitch rotation angle of the anchor point in three-dimensional space by distance to optimize the anchor point style.

2. The method according to claim 1, characterized in that The metadata in step S2 includes the latitude and longitude, pitch data, yaw data, and roll data of the panoramic image.

3. The method according to claim 1, characterized in that The azimuth angle in step S4 is based on the true north direction, and the clockwise offset angles of other longitude and latitude points relative to the center point are calculated.

4. The method according to claim 3, characterized in that The formula for calculating the clockwise offset angle of other latitude and longitude points relative to the center point is: Among them: latitude1, longitude1 are the latitude and longitude of the center point image, latitude2, longitude2 are the latitude and longitude of the panoramic image.

5. The method according to claim 1, characterized in that The calculation formula for calculating the distance between the longitude and latitude of the center point and the longitude and latitude of other panoramic images in step S6 is: Among them: a=latitude1-latitude2 is the difference between the latitudes of the two points, b=longitude1-longitude2 is the difference in longitude between the two points 6378.137 is the equatorial radius of the Earth.

6. The method according to claim 1, characterized in that The formula for calculating the pitch rotation angle in step S7 is: R is the radius of the sphere on which the panoramic image is attached, Distance is the distance between the longitude and latitude of the center image and the longitude and latitude of the panoramic image.

7. The method according to claim 1, characterized in that The step S8 optimizes the anchor point pattern based on the perspective principle that objects appear larger when closer and smaller when farther away.

8. The method according to claim 1, characterized in that The method for parsing the metadata of the panoramic image in step S2 is to use the metadata-extractor open source library for parsing.

Images