Airline planning method for orthoimage acquisition, processor and aircraft thereof

Abstract

The invention discloses a route planning method for orthoimage acquisition, a processor, an aircraft and a machine readable storage medium, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: delimiting a plurality of original route auxiliary lines which are parallel along the whole long side direction of a measuring area to determine the intersection point of each original route auxiliary line and the boundary of the measuring area; aiming at the original route auxiliary line with more than two intersection points with the boundary of the measuring area, the intersection points of the original route auxiliary line and the boundary of the measuring area are divided into a plurality of intersection point groups according to the preset direction of the original route auxiliary line, and each intersection point group comprises two adjacent intersection points; determining the same convex area according to the intersection points in the intersection point groups with the same sequence; re-delimiting a route auxiliary line of the protruding area based on the overall long side direction of the protruding area; and determining an overall route according to the route auxiliary line of the protruding area and the original route auxiliary lines of other areas in the measuring area. The method can reduce the number of course inflection points and improve the orthoimage acquisition efficiency.

Description

Technical Field

[0001] The present application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a route planning method, a processor, an aircraft, and a machine-readable storage medium for orthophoto acquisition. Background Art

[0002] UAV orthophotos collect surface photographs of the surveyed area. The photos need to cover all areas, and there must be a certain overlap between the photos. Along the main route, the heading overlap rate is generally 60% to 80%, and perpendicular to the main route, the lateral overlap rate is generally 30% to 60%. A certain overlap rate of the collected photos can ensure the effectiveness of stereo matching and triangulation calculations of the overlapping areas during post-processing. A high overlap rate will improve measurement and positioning accuracy, but it will reduce photo collection efficiency, increase the amount of collected data, and reduce data processing efficiency. Orthophoto acquisition route planning usually first requires demarcating the survey area. If the survey area is irregular, the route planned based on the survey surface will often cause unnecessary turns due to the irregular survey surface, resulting in an excessively long route and reduced collection efficiency. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a route planning method, processor, aircraft and machine-readable storage medium for orthophoto image acquisition, so as to solve the technical problem in the prior art that the route planned based on the measured surface often produces unnecessary turns due to the irregularity of the measured surface, resulting in the route being too long and reducing the efficiency of orthophoto image acquisition.

[0004] To achieve the above objectives, the present application provides, in a first aspect, a route planning method for orthophoto acquisition, comprising: Delineate multiple original route auxiliary lines parallel to the overall long side of the survey area to determine the intersection of each original route auxiliary line and the survey area boundary; For original route auxiliary lines that have more than two intersection points with the survey area boundary, divide the intersection points of the original route auxiliary lines and the survey area boundary into multiple intersection point groups according to the preset original route auxiliary line directions, and determine the order of each intersection point group, where each intersection point group includes two adjacent intersection points; Determine the same convex area according to the intersection points in the intersection point groups with the same order; For any protruding area, the route auxiliary line of the protruding area is redrawn based on the overall long side direction of the protruding area; The overall route for the survey area is determined based on the route auxiliary line of the protruding area and the original route auxiliary lines of other areas in the survey area except the protruding area.

[0005] In an embodiment of the present application, for an original route auxiliary line that has more than two intersection points with the measurement area boundary, the intersection points of the original route auxiliary line and the measurement area boundary are divided into multiple intersection point groups according to the preset original route auxiliary line direction, including: when the number of intersection points between the original route auxiliary line and the measurement area boundary is odd, every two adjacent intersection points are classified into the same intersection point group according to the order of each intersection point along the preset original route auxiliary line direction, and the intersection point between the first intersection point and the last intersection point on the original route auxiliary line is classified into two adjacent intersection point order groups.

[0006] In an embodiment of the present application, determining the same protruding area based on the intersection points in the intersection point groups with the same order includes: determining the same protruding main area based on the intersection points in the intersection point groups with the same order; determining the measurement area boundary vertices belonging to the protruding main area based on the intersection points of the protruding main area; and determining the protruding area based on the measurement area boundary vertices and the intersection points in the protruding main area.

[0007] In an embodiment of the present application, determining a measurement area boundary vertex belonging to the protruding main area based on each intersection point of the protruding main area includes: determining that the measurement area boundary vertex belongs to the protruding main area based on the distance between the measurement area boundary vertex and each intersection point of the protruding main area, wherein the measurement area boundary vertex is directly connected to at least one intersection point of the protruding main area to which it belongs through the measurement area boundary.

[0008] In an embodiment of the present application, determining the survey area boundary vertices belonging to the protruding main area based on each intersection point of the protruding main area includes: using the first original route auxiliary line or the last original route auxiliary line among the multiple original route auxiliary lines as the split route auxiliary line, and determining the survey area boundary vertices on the same side of the split route auxiliary line as the protruding main area; determining the edge vertices away from the middle original route auxiliary line of the multiple original route auxiliary lines among the survey area boundary vertices on the same side of the split route auxiliary line as the protruding main area; and determining the survey area boundary vertices belonging to the protruding main area among the edge vertices based on the distances between each intersection point of the protruding main area and the edge vertices and the preset sequence direction of the multiple original route auxiliary lines.

[0009] In an embodiment of the present application, the distance between any two adjacent original route auxiliary lines is the main route distance, and the distance between any two adjacent route auxiliary lines in the protruding area is the main route distance; the overall route for the survey area is determined based on the route auxiliary lines of the protruding area and the original route auxiliary lines of other areas in the survey area except the protruding area, including: connecting the local routes of each protruding area and the local routes of each other area in the survey area except the protruding area to determine the overall route of the survey area, wherein the local routes of the protruding area are determined based on the route auxiliary lines in the protruding area, and the local routes of other areas are determined based on the original route auxiliary lines in other areas.

[0010] In an embodiment of the present application, the overall long side direction of the survey area is determined based on the long side of the minimum circumscribed rectangle of the survey area; connecting the local routes of each protruding area and the local routes of other areas in the survey area except the protruding area to determine the overall route of the survey area includes: determining the local routes of other areas based on the original route auxiliary lines in other areas; when the length of the wide side of the minimum circumscribed rectangle of the protruding area is less than or equal to the main route spacing, determining the local route of the protruding area based on the midpoint of the wide side of the minimum circumscribed rectangle of the protruding area; when the length of the wide side of the minimum circumscribed rectangle of the protruding area is greater than the main route spacing, determining the local route of the protruding area based on the route auxiliary lines of the protruding area; and connecting the local routes to determine the overall route of the survey area.

[0011] In an embodiment of the present application, connecting the local routes of each protruding area and the local routes of each other area in the survey area except the protruding area to determine the overall route of the survey area includes: selecting a first route point from multiple intersections and vertices of the survey area boundary; determining the local route of the area where the first route point is located, and determining the end waypoint of the area where the first route point is located; determining and connecting the starting waypoint of the next area based on the end waypoint of the current area, determining the local routes of each protruding area and each other area in a traversal manner, and obtaining the overall route of the survey area.

[0012] In the embodiment of the present application, the measurement area is a simply connected area.

[0013] A second aspect of the present application provides a processor configured to call instructions from a memory and, when executing the instructions, to implement the route planning method for orthophoto acquisition provided in the first aspect of the present application.

[0014] A third aspect of the present application provides an aircraft, comprising: a processor provided according to the second aspect of the present application; and an image acquisition device.

[0015] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the route planning method for orthophoto image acquisition provided in accordance with the first aspect of the present application.

[0016] Through the above technical solution, a protruding area can be divided in the survey area, and the overall route for the survey area can be determined based on the route auxiliary lines of the protruding area and the original route auxiliary lines of other areas in the survey area except the protruding area, so that the route planning of the protruding area is determined based on the overall long side direction of the protruding area, thereby reducing the number of route turning points in the protruding area and reducing the number of turning points of the overall route of the survey area, achieving the technical effect of reducing the flight time and flight distance of the aircraft and improving the efficiency of orthophoto image acquisition of the aircraft.

[0017] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings: Figure 1 The following schematically illustrates a flow chart of a route planning method for orthophoto image acquisition according to an embodiment of the present application; Figure 2 A schematic diagram of a grouping structure of intersection points of route auxiliary lines and measurement area boundaries according to an embodiment of the present application is shown; Figure 3 A schematic diagram of the structure of a survey area boundary and its route auxiliary line according to an embodiment of the present application is shown schematically; Figure 4 Schematically shows a structural diagram of the overall route of the survey area and the survey area determined by a route planning method for orthophoto image acquisition according to an embodiment of the present application; Figure 5 Schematically shows the Figure 4 The structural diagram of the overall route of the survey area is shown; Figure 6 A schematic structural diagram of a local route within a convex area delineated by a route planning method for orthophoto image acquisition according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of laws and regulations. In the embodiments of this application, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use such solutions.

[0021] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] If the survey area polygon formed by the survey area boundary has multiple convex corners, and the direction in which the convex corners extend is inconsistent with the overall long side direction of the survey area polygon, the overall route of the survey area may have a large number of inflection points, resulting in a longer overall route. The aircraft will need to decelerate and accelerate at the inflection points, which will increase the flight time and distance of the aircraft and reduce the efficiency of the aircraft's orthophoto acquisition. Based on this, the embodiment of the present application provides a route planning method for orthophoto acquisition.

[0024] The route planning method for orthophoto image acquisition provided in the embodiment of the present application can be applied to aircraft including drones. The method can be executed by a processor within the aircraft, or it can be executed by other computing devices outside the aircraft to determine the overall route of the survey area and then transmit the overall route to the aircraft.

[0025] Figure 1 The following schematically shows a flow chart of a route planning method for orthophoto image acquisition according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a route planning method for orthophoto acquisition, which may include the following steps: S102, delineating a plurality of original route auxiliary lines parallel to the overall long side of the survey area, to determine the intersection of each original route auxiliary line and the boundary of the survey area; In step S102, the survey area can be a pre-defined area on a map based on orthophoto acquisition requirements. Each point in the survey area can be represented by latitude and longitude, and the overall long side of the survey area can be, for example, the long side of the minimum circumscribed rectangle of the survey area boundary. The multiple original route auxiliary lines can be, for example, equidistant parallel lines, where the distance between any two adjacent original route auxiliary lines can be, for example, the main route spacing. Specifically, the main route spacing can be determined based on aircraft lens parameters, flight altitude, and the set lateral overlap ratio and heading overlap ratio.

[0026] As an example, the overall edge direction of the survey area can be obtained according to the following steps: obtaining the survey area boundary; delineating the minimum bounding rectangle of the survey area boundary; and determining the direction of the long side of the minimum bounding rectangle of the survey area boundary. When delineating the minimum bounding rectangle of the survey area boundary, one long side of the minimum bounding rectangle of the survey area boundary is used as a reference, and multiple parallel original route auxiliary lines are delineated based on the main route spacing until the distance between the delineated original route auxiliary lines and the other long side of the minimum bounding rectangle is less than or equal to the main route spacing.

[0027] S104: For an original route auxiliary line that has more than two intersection points with the measurement area boundary, the intersection points of the original route auxiliary line and the measurement area boundary are divided into a plurality of intersection point groups according to a preset original route auxiliary line direction, and the order of each intersection point group is determined, wherein each intersection point group includes two adjacent intersection points; S106, determining that the intersection points in the intersection point group with the same order belong to the same convex area; In step S104, because the original route auxiliary line can extend in two opposite directions, the preset original route auxiliary line direction can be, for example, any one of the original route auxiliary line extension directions, and the preset original route auxiliary line directions of multiple original route auxiliary lines are the same. It will be understood that for any original route auxiliary line, the multiple intersections are divided into multiple intersection point groups according to the original preset route auxiliary line direction, so the order of the intersection point groups on the original route auxiliary line can be determined according to the preset original route auxiliary line direction. It will be understood that the waypoints that the entire survey area route needs to pass through can be selected from the intersections of the survey area boundary and the original route auxiliary line.

[0028] Through steps S104 and S106, the intersection points on each original route auxiliary line that has more than two intersection points with the measurement area boundary can be grouped, and the protruding area can be determined based on the intersection points in the intersection point group. Figure 2 As shown, multiple dotted lines correspond to multiple original route auxiliary lines. The four original route auxiliary lines from bottom to top each have two intersection points. Figure 2For example, it can be from left to right. Then, among the four original route auxiliary lines from bottom to top, the intersection point group corresponding to the two intersection points on the left side of any original route auxiliary line can be, for example, the first group, and the intersection point group corresponding to the right side can be, for example, the second group. After determining the intersection point group on each original route auxiliary line that has more than two intersection points with the measurement area boundary in step S104, as shown in FIG. Figure 2 As shown, step S106 can be executed to determine that the intersection points in the intersection point groups with the same order belong to the same protruding area. That is, the intersection points of the first group of the plurality of original route auxiliary lines correspond to one protruding area, and the second group corresponds to another protruding area.

[0029] S108, for any protruding area, redrawing the route auxiliary line of the protruding area based on the overall long side direction of the protruding area; It can be understood that the route auxiliary line of the protruding area is parallel to the overall long side direction of the protruding area. The method for delineating the route auxiliary line of the protruding area can refer to the original route auxiliary line delineated relative to the survey area mentioned above.

[0030] S110 , determining an overall route for the survey area based on the route auxiliary line of the protruding area and the original route auxiliary lines of other areas in the survey area except the protruding area.

[0031] The route planning method for orthophoto image acquisition provided in an embodiment of the present application determines multiple convex areas of the survey area boundary based on the number of intersections between an original route auxiliary line and the survey area boundary. Specifically, if an original route auxiliary line has more than two intersections with the survey area boundary, the original route auxiliary line passes through at least two convex areas of the survey area. The multiple intersections are then grouped according to a preset original route auxiliary line direction, and an order for each intersection group is determined, thereby dividing different intersection groups into different convex areas. Because the order of the intersection groups is determined based on the preset original route auxiliary line, and the order of the intersection groups on each original route auxiliary line divided into multiple intersection groups is determined based on the preset original route auxiliary line direction, the intersections on each original route auxiliary line are grouped in the same manner. Therefore, the intersections in the same intersection group on multiple original route auxiliary lines can be determined to belong to the same convex area using the preset original route auxiliary line direction. Thus, a convex area is demarcated within the survey area, and the overall route for the survey area is determined based on the route auxiliary lines of the convex area and the original route auxiliary lines of other areas in the survey area except the convex area. This allows route planning for the convex area to be determined based on the overall long side direction of the convex area. That is, within the convex area, route planning can be performed along the long side direction of the convex area, so that the turning points of the route can be set along the overall wide side of the convex area, thereby reducing the number of route turning points in the convex area and, in turn, reducing the number of turning points in the overall route of the survey area. Therefore, the route planning method for orthophoto acquisition provided in the embodiments of the present application reduces the number of turning points in the overall route, thereby reducing the flight time and distance of the aircraft and improving the efficiency of orthophoto acquisition by the aircraft.

[0032] In some embodiments of the present application, the number of intersections between the original route auxiliary line and the measurement area boundary is an even number, each intersection group in step S104 includes two adjacent intersections, and on the same original route auxiliary line, different intersection groups include different intersections.

[0033] In some other embodiments of the present application, the number of intersections between the original route auxiliary line and the measurement area boundary is an odd number, and step S104 may include: When the number of intersections between the original route auxiliary line and the survey area boundary is odd, every two adjacent intersections are classified into the same intersection group according to the order of the intersections along the preset original route auxiliary line, and the intersections between the first and last intersections on the original route auxiliary line are classified into two adjacent intersection order groups.

[0034] Generally, because the survey area boundary is a closed boundary line, the number of intersections between it and the original route auxiliary line is usually even. However, in some cases, the original route auxiliary line may intersect with a vertex of the survey area boundary, resulting in an odd number of intersections between the original route auxiliary line and the survey area boundary. Therefore, the intersection points between the first and last intersection points on the original route auxiliary line are grouped into two adjacent intersection order groups, so that the intersection point groups can correspond to the convex area division.

[0035] In some embodiments of the present application, step S106 may include: determining the protruding main area based on the intersection points in the intersection point groups of the same order; determining the measurement area boundary vertices belonging to the protruding main area based on the intersection points of the protruding main area; and determining the protruding area based on the measurement area boundary vertices and the intersection points in the protruding main area.

[0036] The above-mentioned intersection grouping can be used to determine the main protruding region of the protruding area in the measurement area. Since the measurement area has measurement area boundary vertices, and the protruding area, due to its protruding nature, will correspondingly include measurement area boundary vertices, therefore, after determining the main protruding region, the above steps further determine the measurement area boundary vertices of the protruding region based on the intersection points of the protruding main region to determine the protruding region that includes the main protruding region, thereby making the protruding region more complete.

[0037] It can be understood that, in determining the measurement area boundary vertices belonging to the protruding main area based on the intersection points of the protruding main area, the measurement area boundary vertices belonging to the protruding main area do not require that the positions of the measurement area boundary vertices fall within the protruding main area. The belonging relationship between the protruding main area and the measurement area boundary vertices is intended to require that the protruding main area and the measurement area boundary vertices can form a protruding area that conforms to the measurement area boundary.

[0038] In some embodiments of the present application, the protruding main area may of course be directly regarded as the protruding area. In the embodiments of the present application, it is not limited that the protruding area must include the measurement area boundary vertices.

[0039] In some embodiments of the present application, determining the measurement area boundary vertices belonging to the protruding main area based on the intersection points of the protruding main area may include: determining that the measurement area boundary vertex belongs to the protruding main area based on the distance between the measurement area boundary vertex and the intersection points of the protruding main area, wherein the measurement area boundary vertex is directly connected to at least one intersection point of the protruding main area to which it belongs through the measurement area boundary.

[0040] Since there may be multiple measurement area boundary vertices, in order to determine the measurement area boundary vertex belonging to the protruding main area among the multiple measurement area boundary vertices, on the one hand, it is necessary to consider the distance between the measurement area boundary vertex and the protruding main area. This distance can be determined based on the intersection of the measurement area edge vertex and the protruding main area. On the other hand, the measurement area boundary vertex is directly connected to at least one intersection point of the protruding main area to which it belongs through the measurement area boundary to ensure that the protruding area determined by the line connecting the intersection points of the determined measurement area boundary vertex and the protruding main area to which it belongs is consistent with the actual protruding area of ​​the measurement area.

[0041] In some embodiments of the present application, since the intersection points of the measurement area boundary and the protrusion main area have been determined, the distances between the measurement area boundary vertices and the intersection points of the protrusion main area can be determined based on the positions of the measurement area boundary vertices and the positions of the intersection points of the protrusion main area. The number of measurement area boundary vertices may be multiple, and determining that a measurement area boundary vertex belongs to the protrusion main area based on the distances between the measurement area boundary vertices and the intersection points of the protrusion main area may include: Determine the distance between each intersection point of the protruding main area and each measurement area boundary vertex; and determine the measurement area boundary vertex with the smallest intersection-vertex distance as the measurement area boundary vertex belonging to the protruding main area.

[0042] In some embodiments of the present application, determining the survey area boundary vertices belonging to the protruding main area based on the intersection points of the protruding main area may include: using the first or last original route auxiliary line among the multiple original route auxiliary lines as a split route auxiliary line, and determining the survey area boundary vertices on the same side of the split route auxiliary line as the protruding main area; determining, among the survey area boundary vertices on the same side of the split route auxiliary line as the protruding main area, edge vertices that are away from the middle original route auxiliary line of the multiple original route auxiliary lines; and determining, according to a predetermined sequential direction of the multiple original route auxiliary lines, the survey area boundary vertices belonging to the protruding main area from the edge vertices. Through the above steps, the boundary vertices belonging to the protruding main area can be determined, thereby determining the protruding area.

[0043] In some embodiments of the present application, determining the measurement area boundary vertices belonging to the protruding main area among the edge vertices according to the preset sequence direction of multiple original route auxiliary lines may include: determining the edge vertices located in the preset sequence direction of the protruding main area; and determining the edge vertex with the smallest distance to each intersection point of the protruding main area as the measurement area boundary vertex belonging to the protruding main area.

[0044] As an example, Figure 3 As shown, Figure 3 The multiple parallel dotted lines in the figure are auxiliary lines of the original route. Figure 3 The top original route auxiliary line is used as the first original route auxiliary line and the split route auxiliary line. Figure 3The lowest original route auxiliary line is used as the last original route auxiliary line. Figure 3 The boundary of the survey area represented by the irregular closed solid line is divided into two parts by the route dividing auxiliary line. Figure 3 Point f and point e on the left side belong to the same protruding main area. The survey area boundary vertices on the same side of the dividing route auxiliary line as the protruding main area of ​​point f and point e include point d, point g and point a. The preset sequence direction of multiple original route auxiliary lines can be, for example, the direction from the first original route auxiliary line to the last original route auxiliary line. Therefore, on the one hand, point g and point a are selected between point g, point d and point a according to the preset sequence direction, and on the other hand, based on the distances of point g and point a relative to the intersection points of the protruding main area where point f and point e are located, the closest point g is determined as the survey area boundary vertex belonging to the protruding main area. Figure 3 In the convex main area where point c and point b are located, point a can also be determined as the boundary vertex of its measurement area by the above method.

[0045] In some embodiments of the present application, the distance between any two adjacent original route auxiliary lines is the main route distance, and the distance between any two adjacent route auxiliary lines in the protruding area is the main route distance; step S110 may include: connecting the local routes of each protruding area and the local routes of each other area in the survey area except the protruding area to determine the overall route of the survey area, wherein the local routes of the protruding area are determined according to the route auxiliary lines in the protruding area, and the local routes of the other areas are determined according to the original route auxiliary lines in the other areas.

[0046] As an example, Figure 4 As shown, the local route for the convex area abc is determined based on the route auxiliary lines within its convex area; the local route for the convex area feg is determined based on the route auxiliary lines within its convex area; and the local routes for other areas in the survey area, excluding the convex areas abc and feg, are determined based on the original route auxiliary lines within those areas. These multiple local routes are connected to form the overall route for the survey area. Figure 5 The solid line shows Figure 4 The survey area in the embodiment of the present application is based on the route planning method for orthophoto acquisition to determine the overall route of the survey area. Figure 5 As shown in FIG, in the triangular convex areas abc and feg, the local route is extended along the overall long side of the convex area, and in the convex area, the local route runs from one long side of the convex area to the other long side and turns, so that the turning points of the local route in the convex area are generally distributed along the wide side of the convex area. In the other areas of the survey area except the convex areas, that is, Figure 4 and Figure 5In the area above the original auxiliary route where the middle bcef point is located, the local route is extended along the entire long side of the survey area, and in the other areas, the turning points of the local route are distributed along the entire wide side of the survey area.

[0047] In some embodiments of the present application, the overall long side direction of the survey area is determined based on the long side of the minimum circumscribed rectangle of the survey area; step S110 may include: determining local routes of other areas based on the original route auxiliary lines in other areas; when the width length of the minimum circumscribed rectangle of the protruding area is less than or equal to the main route spacing, determining the local route of the protruding area based on the midpoint of the width of the minimum circumscribed rectangle of the protruding area; when the width length of the minimum circumscribed rectangle of the protruding area is greater than the main route spacing, determining the local route of the protruding area based on the route auxiliary lines of the protruding area; and connecting the local routes to determine the overall route of the survey area.

[0048] like Figure 6 The protruding area shown is a triangle, and the length of the wide side of its minimum circumscribed rectangle is less than or equal to the main route spacing. Therefore, the aircraft's route can be planned to pass through the median of the wide side of the minimum circumscribed rectangle of the triangle, so that the aircraft can collect orthophotos along the median without turning in the protruding area.

[0049] In some embodiments of the present application, step S110 may include: selecting a first waypoint from multiple intersection points and vertices of the survey area boundary; determining a local route of the area where the first waypoint is located, and determining an end waypoint of the area where the first waypoint is located; determining and connecting the starting waypoint of the next area based on the end waypoint of the current area, and determining the local routes of each protruding area and each other area in a traversal manner to obtain the overall route of the survey area.

[0050] It can be understood that the first navigation point may be, for example, the vertex of the survey area boundary closest to the initial position of the aircraft.

[0051] like Figure 4 As shown, as an example, the aircraft is a drone, the area closest to the initial position of the drone is triangle abc, the first waypoint is point a, and all waypoints in the area are connected in an H-shaped order to obtain the route of the area. After knowing the last waypoint, other areas are traversed in sequence or reverse order (the order or reverse order depends on which area vertex of the first and last areas in the area list to be traversed is closest to the last waypoint of the initial area). The waypoint connection rule is also to connect in an H-shaped order until all area waypoints are connected, and finally the overall route of the survey area is obtained.

[0052] In some embodiments of the present application, the measurement region is a simply connected region.

[0053] An embodiment of the present application provides a processor configured to call instructions from a memory and, when executing the instructions, implement a route planning method for orthophoto acquisition provided by an embodiment of the present application.

[0054] An embodiment of the present application also provides an aircraft, which may include: the above-mentioned processor and an image acquisition device.

[0055] An embodiment of the present application also provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned route planning method for orthophoto image acquisition.

[0056] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0057] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0058] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0059] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0060] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0061] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0062] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0063] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0064] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A route planning method for orthophoto acquisition, characterized in that: include: Delineating a plurality of original route auxiliary lines parallel to the overall long side of the survey area to determine the intersection point of each original route auxiliary line with the boundary of the survey area; For an original route auxiliary line that has more than two intersection points with the measurement area boundary, the intersection points of the original route auxiliary line and the measurement area boundary are divided into a plurality of intersection point groups according to a preset original route auxiliary line direction, and the order of each intersection point group is determined, wherein each intersection point group includes two adjacent intersection points; Determine the same convex area according to the intersection points in the intersection point groups with the same order; For any protruding area, redraw the route auxiliary line of the protruding area based on the overall long side direction of the protruding area; An overall route for the survey area is determined according to the route auxiliary line of the protruding area and original route auxiliary lines of other areas of the survey area except the protruding area.

2. The route planning method according to claim 1, characterized in that: For an original route auxiliary line having more than two intersection points with the measurement area boundary, dividing the intersection points of the original route auxiliary line and the measurement area boundary into a plurality of intersection point groups according to a preset original route auxiliary line direction includes: When the number of intersections between the original route auxiliary line and the measurement area boundary is odd, every two adjacent intersections are classified into the same intersection group according to the order of the intersections along the preset original route auxiliary line, and the intersections between the first and last intersections on the original route auxiliary line are classified into two adjacent intersection order groups.

3. The route planning method according to claim 1, characterized in that: The determining of the same protruding area according to the intersection points in the intersection point groups having the same order includes: determining a same protruding main area according to the intersection points in the intersection point groups having the same order; Determining the measurement area boundary vertices belonging to the protruding main area according to the intersection points of the protruding main area; The protruding area is determined according to the intersection points between the measurement area boundary vertices and the protruding main area.

4. The route planning method according to claim 3, characterized in that: The determining of the measurement area boundary vertices belonging to the protruding main area according to the intersection points of the protruding main area includes: According to the distance between the measurement area boundary vertex and each intersection point of the protruding main area, it is determined that the measurement area boundary vertex belongs to the protruding main area, wherein the measurement area boundary vertex is directly connected to at least one intersection point of the protruding main area to which it belongs through the measurement area boundary.

5. The route planning method according to claim 3, characterized in that: The determining of the measurement area boundary vertices belonging to the protruding main area according to the intersection points of the protruding main area includes: The first or last original route auxiliary line among the plurality of original route auxiliary lines is used as a segmentation route auxiliary line, and a survey area boundary vertex on the same side of the segmentation route auxiliary line as the protruding main area is determined; Determine, among the survey area boundary vertices on the same side of the split route auxiliary line as the protruding main area, an edge vertex away from the middle original route auxiliary line of the plurality of original route auxiliary lines; According to the distances between the intersection points of the protruding main area and the edge vertices and the preset sequence directions of the plurality of original route auxiliary lines, a survey area boundary vertex belonging to the protruding main area is determined among the edge vertices.

6. The route planning method according to claim 1, characterized in that: The distance between any two adjacent original route auxiliary lines is the main route distance, and the distance between any two adjacent route auxiliary lines in the protruding area is the main route distance; The determining of the overall route for the survey area based on the route auxiliary line of the protruding area and the original route auxiliary lines of other areas in the survey area except the protruding area includes: The local routes of each of the protruding areas and the local routes of each of the other areas in the survey area except the protruding area are connected to determine the overall route of the survey area, wherein the local routes of the protruding areas are determined based on the route auxiliary lines within the protruding areas, and the local routes of the other areas are determined based on the original route auxiliary lines within the other areas.

7. The route planning method according to claim 6, characterized in that: The overall long side direction of the measurement area is determined according to the long side of the minimum circumscribed rectangle of the measurement area; Connecting the local routes of the protruding areas and the local routes of other areas in the survey area except the protruding areas to determine the overall route of the survey area includes: Determining a local route of the other area based on the original route auxiliary line in the other area; When the width of the minimum circumscribed rectangle of the protruding area is less than or equal to the main route distance, determining the local route of the protruding area according to the midpoint of the width of the minimum circumscribed rectangle of the protruding area; When the width of the smallest circumscribed rectangle of the protruding area is greater than the main route spacing, determining the local route of the protruding area according to the route auxiliary line of the protruding area; The local routes are connected to determine the overall route of the survey area.

8. The route planning method according to claim 6, characterized in that: Connecting the local routes of the protruding areas and the local routes of the other areas in the survey area except the protruding areas to determine the overall route of the survey area includes: Selecting a first navigation point from a plurality of intersection points and vertices of the survey area boundary; Determine a local route in the area where the first route point is located, and determine the end route point in the area where the first route point is located; The starting waypoint of the next area is determined and connected according to the end waypoint of the current area, and the local routes of each protruding area and each other area are determined by traversal to obtain the overall route of the survey area.

9. The route planning method according to claim 1, characterized in that: The measurement area is a simply connected area.

10. A processor, characterized in that: The method is configured to call instructions from a memory and implement the route planning method for orthophoto acquisition according to any one of claims 1 to 9 when executing the instructions.

11. An aircraft, characterized in that: include: The processor according to claim 10; Image acquisition device.

12. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for enabling a machine to execute the route planning method for orthophoto acquisition according to any one of claims 1 to 9.

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