Route planning method for orthophoto image acquisition, processor and aircraft thereof

Abstract

The application discloses a flight route planning method for orthographic image 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: demarcating a plurality of original flight route auxiliary lines parallel to the overall long side direction of a survey area to determine the intersection points of each original flight route auxiliary line and the survey area boundary; for the original flight route auxiliary lines with more than two intersection points with the survey area boundary, dividing the intersection points of the original flight route auxiliary lines and the survey area boundary into a plurality of intersection point groups according to the preset original flight route auxiliary line direction, wherein each intersection point group comprises two adjacent intersection points; determining the same convex region according to the intersection points in the intersection point groups with the same sequence; redemarcating the flight route auxiliary lines of the convex region based on the overall long side direction of the convex region; and determining the overall flight route according to the flight route auxiliary lines of the convex region and the original flight route auxiliary lines of other regions in the survey area. The method can reduce the number of flight route inflection points and improve the orthographic image acquisition efficiency.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a flight path planning method, processor, aircraft, and machine-readable storage medium for orthophoto acquisition. Background Technology

[0002] UAV orthophoto acquisition involves capturing surface images of the measured area. These images need to cover the entire area, and there must be a certain degree of overlap between them. A forward overlap rate of 60%–80% along the main flight path is suitable, while a lateral overlap rate of 30%–60% perpendicular to the main flight path is appropriate. This overlap rate ensures the effectiveness of stereo matching and triangulation calculations in the overlapping areas during post-processing. A high overlap rate improves measurement and positioning accuracy but reduces image acquisition efficiency, increases the amount of data collected, and decreases data processing efficiency. Orthophoto acquisition flight path planning typically begins with defining the measured surface area. If the measured surface area is irregular, the planned flight path may require unnecessary detours due to the irregularity, resulting in excessively long flight paths and reduced acquisition efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a flight path planning method, processor, aircraft, and machine-readable storage medium for orthophoto acquisition, in order to solve the technical problem in the prior art that the flight path planned based on the survey surface often causes unnecessary backtracking due to the irregularity of the survey surface, resulting in an excessively long flight path and reduced efficiency of orthophoto acquisition.

[0004] To achieve the above objectives, the first aspect of this application provides a flight path planning method for orthophoto acquisition, comprising: Multiple original route auxiliary lines parallel to the overall long side of the survey area are drawn to determine the intersection point of each original route auxiliary line with the boundary of the survey area; For original route auxiliary lines that intersect with the boundary of the survey area more than two times, the intersection points of the original route auxiliary lines and the boundary of the survey area are divided into multiple intersection point groups according to the preset direction of the original route auxiliary lines, and the order of each intersection point group is determined. Each intersection point group includes two adjacent intersection points. The same convex region is determined by the intersection points in groups of intersection points with the same order. For any protruding area, the route auxiliary line of the protruding area is redefined 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 lines of the protruding area and the original route auxiliary lines of other areas in the survey area excluding the protruding area.

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

[0006] In this embodiment of the application, determining the same convex region based on the intersections in the same order of intersection groups includes: determining the same convex main region based on the intersections in the same order of intersection groups; determining the boundary vertex of the survey area belonging to the convex main region based on each intersection of the convex main region; and determining the convex region based on the intersection of the boundary vertex of the survey area and each intersection of the convex main region.

[0007] In this embodiment of the application, determining the boundary vertex of the survey area belonging to the main convex region based on the intersection points of the main convex region includes: determining that the boundary vertex of the survey area belongs to the main convex region based on the distance between the boundary vertex of the survey area and the intersection points of the main convex region, wherein the boundary vertex of the survey area is directly connected to at least one intersection point of the main convex region to which it belongs through the boundary of the survey area.

[0008] In this embodiment of the application, determining the boundary vertices of the survey area belonging to the main convex region based on the intersections of the main convex region includes: taking the first or last original route auxiliary line among multiple original route auxiliary lines as the segmentation route auxiliary line, and determining the boundary vertices of the survey area on the same side as the segmentation route auxiliary line of the main convex region; determining the edge vertices of the middle original route auxiliary line that are far away from the multiple original route auxiliary lines among the boundary vertices of the survey area on the same side as the segmentation route auxiliary line of the main convex region; and determining the boundary vertices of the survey area belonging to the main convex region among the edge vertices based on the distance between the intersections of the main convex region and the edge vertices and the preset order direction of the multiple original route auxiliary lines.

[0009] In this embodiment, 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 in the protruding area and the original route auxiliary lines in other areas of the survey area, excluding the protruding area. This includes: connecting the local routes of each protruding area and the local routes of each other area in the survey area, excluding the protruding area, to determine the overall route for the survey area. The local routes of the protruding areas are determined based on the route auxiliary lines in the protruding areas, and the local routes of other areas are determined based on the original route auxiliary lines in other areas.

[0010] In this embodiment, the overall long side direction of the survey area is determined based on the long side of the minimum bounding rectangle of the survey area; connecting the local routes of each protruding area and the local routes of other areas in the survey area (excluding the protruding areas) 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 width of the minimum bounding 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 bounding rectangle of the protruding area; when the width of the minimum bounding 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; connecting the local routes to determine the overall route of the survey area.

[0011] In this embodiment of the application, the process of connecting the local routes of each protruding region and the local routes of each other region in the survey area (excluding the protruding regions) to determine the overall route of the survey area includes: selecting a first waypoint among multiple intersection points and the vertices of the survey area boundary; determining the local route of the region where the first waypoint is located, and determining the end waypoint of the region where the first waypoint is located; determining and connecting the starting waypoint of the next region based on the end waypoint of the current region, and traversing to determine the local routes of each protruding region and each other region to obtain the overall route of the survey area.

[0012] In this embodiment of the application, the test area is a simply connected region.

[0013] The second aspect of this application provides a processor configured to retrieve instructions from memory and, when executing the instructions, to implement the flight path planning method for orthophoto acquisition provided in the first aspect of this application.

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

[0015] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to execute a flight path planning method for orthophoto acquisition according to a first aspect of this application.

[0016] The above technical solution can divide the survey area into protruding regions. Based on the flight path auxiliary lines of the protruding regions and the original flight path auxiliary lines of other regions in the survey area, the overall flight path for the survey area can be determined. This allows the flight path planning of the protruding regions to be determined based on the overall long side direction of the protruding regions, thereby reducing the number of flight path inflection points in the protruding regions and the overall number of flight path inflection points in the survey area. This achieves the technical effect of reducing the flight time and distance of the aircraft and improving the efficiency of orthophoto acquisition.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a flowchart of a flight path planning method for orthophoto acquisition according to an embodiment of this application; Figure 2 This illustration schematically shows a grouping structure of the intersection points of a flight path auxiliary line and a survey area boundary according to an embodiment of this application; Figure 3 This illustration schematically shows a structural diagram of a survey area boundary and its flight path auxiliary lines according to an embodiment of this application; Figure 4 The illustration shows a schematic diagram of the overall route of the survey area and the structure of the survey area determined by a route planning method for orthophoto acquisition according to an embodiment of this application. Figure 5 Schematic illustration as follows Figure 4 The diagram shows the overall structure of the survey area's flight path. Figure 6 The illustration shows a schematic diagram of the structure of a local flight path within a convex region defined by a flight path planning method for orthophoto acquisition according to an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort 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 all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0021] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0023] If the polygon formed by the boundary of the survey area has multiple convex corners, and the direction in which the convex corners extend is not consistent with the direction of the long side of the polygon, the overall flight path of the survey area may have a large number of inflection points. This will result in a longer overall flight path, and the aircraft will need to decelerate and accelerate at these inflection points, thus increasing the aircraft's flight time and distance, and reducing the efficiency of orthophoto acquisition. Based on this, embodiments of this application provide a flight path planning method for orthophoto acquisition.

[0024] The flight path planning method for orthophoto acquisition provided in this application is applicable to aircraft including UAVs. The method can be executed by a processor inside the aircraft or by other computing devices outside the aircraft to determine the overall flight path of the survey area and then transmit the overall flight path to the aircraft.

[0025] Figure 1 The illustration schematically shows a flowchart of a flight path planning method for orthophoto acquisition according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a flight path planning method for orthophoto acquisition, which may include the following steps: S102, delineate multiple 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; In step S102, the survey area can be a region pre-defined on a map based on the requirements for orthophoto acquisition. Points within the survey area can be represented by latitude and longitude. The overall long side direction of the survey area can be, for example, the long side direction of the smallest bounding rectangle of the survey area boundary. Multiple original flight path auxiliary lines can be, for example, equidistant parallel lines. The distance between any two adjacent original flight path auxiliary lines can be, for example, the main flight path spacing. Specifically, the main flight path spacing can be determined based on the aircraft camera parameters, flight altitude, and the set lateral overlap rate and forward overlap rate.

[0026] As an example, the overall field boundary direction of the survey area can be obtained through the following steps: Obtain the survey area boundary; delineate the minimum bounding rectangle of the survey area boundary, and determine the direction of the long side of the minimum bounding rectangle. With the minimum bounding rectangle of the survey area boundary delineated, use one long side of the minimum bounding rectangle as a reference, and delineate multiple parallel auxiliary lines of the original flight path based on the main flight path spacing, until the distance between the delineated auxiliary lines of the original flight path and the other long side of the minimum bounding rectangle is less than or equal to the main flight path spacing.

[0027] S104. For original route auxiliary lines that intersect with the boundary of the survey area more than two times, the intersection points of the original route auxiliary lines and the boundary of the survey area are divided into multiple intersection point groups according to the preset direction of the original route auxiliary lines, and the order of each intersection point group is determined. Each intersection point group includes two adjacent intersection points. S106, determine that the intersections in the same group of intersections belong to the same convex region; In step S104, since the extension direction of the original route auxiliary line can be two opposite directions, the preset direction of the original route auxiliary line can be, for example, any extension direction of the original route auxiliary line, and multiple original route auxiliary lines have the same preset direction. It can be understood that for any given original route auxiliary line, multiple intersection points are grouped according to the preset direction of the original route auxiliary line; therefore, the order of these intersection point groups on the original route auxiliary line can be determined according to the preset direction of the original route auxiliary line. It can also be understood that the waypoints that the overall route of the survey area needs to pass through can be selected from the intersections of the survey area boundary and the original route auxiliary lines.

[0028] Steps S104 and S106 determine the intersection point groups on each original flight path auxiliary line with more than two intersection points with the survey area boundary, and identify the protruding area based on the intersection points in the intersection point groups. As an example, such as... Figure 2 As shown, the multiple dashed lines correspond to multiple original route auxiliary lines. The four original route auxiliary lines from bottom to top each have two intersection points. The preset direction of the original route auxiliary lines is... Figure 2For example, if the direction is from left to right, then among the four original route auxiliary lines from bottom to top, on any one of the original route auxiliary lines, the intersection point group corresponding to the two intersection points on the left can be, for example, the first group, and the intersection point group corresponding to the two intersection points on the right can be, for example, the second group. After determining the intersection point groupings on each original route auxiliary line that intersects with the boundary of the survey area more than two times through step S104, as follows... Figure 2 As shown, step S106 can be executed to determine that the intersections in the same order of intersection groups belong to the same convex region. That is, the intersections of the first group of multiple original route auxiliary lines correspond to one convex region, and the second group corresponds to another convex region.

[0029] S108, For any protruding area, redefine the route auxiliary line of the protruding area based on the overall long side direction of the protruding area; Understandably, the route auxiliary lines of the protruding area are parallel to the overall long side direction of the protruding area. The method for delineating the route auxiliary lines of the protruding area can be found in the original route auxiliary lines delineated relative to the survey area mentioned above.

[0030] S110, determine the overall route for the survey area based on the route auxiliary lines of the protruding area and the original route auxiliary lines of other areas in the survey area excluding the protruding area.

[0031] The flight path planning method for orthophoto acquisition provided in this application determines multiple convex regions of the survey area boundary based on the number of intersections between the original flight path auxiliary line and the survey area boundary. Specifically, if an original flight path auxiliary line intersects the survey area boundary more than two times, then the original flight path auxiliary line passes through at least two convex regions of the survey area. Then, according to a preset original flight path auxiliary line direction, the multiple intersection points are grouped to obtain the order of each intersection point group, thereby dividing different intersection point groups into different convex regions. Since the order of intersection point grouping is determined based on the preset original flight path auxiliary line, and the order of intersection point grouping on each original flight path auxiliary line divided into multiple intersection point groups is determined according to the preset original flight path auxiliary line direction, the intersection point grouping method is the same on each original flight path auxiliary line. Therefore, by using the preset original flight path auxiliary line direction, intersection points in intersection point groups with the same order on multiple original flight path auxiliary lines can be determined to belong to the same convex region. This method divides the survey area into protruding regions. Based on the flight path auxiliary lines of these protruding regions and the original flight path auxiliary lines of other regions within the survey area, the overall flight path for the survey area is determined. This ensures that flight path planning for the protruding regions is based on the overall long side direction of the protruding regions. Specifically, flight path planning can proceed along the long side of the protruding regions, allowing turning points to be set along the overall wide side of the protruding regions. This reduces the number of turning points in the protruding regions, and consequently, the number of turning points in the overall flight path of the survey area. Therefore, the flight path planning method for orthophoto acquisition provided in this application reduces the number of turning points in the overall flight path, thereby reducing the aircraft's flight time and distance, and improving the efficiency of orthophoto acquisition.

[0032] In some embodiments of this application, the number of intersections between the original route auxiliary line and the boundary of the survey area is even, 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 this application, the number of intersections between the original route auxiliary line and the boundary of the survey area is odd, and step S104 may include: When the number of intersections between the original route auxiliary line and the boundary of the survey area is odd, each pair of adjacent intersections is grouped into the same intersection group according to the order of each intersection along the preset original route auxiliary line. Furthermore, intersections on the original route auxiliary line between the first and last intersections are grouped into two adjacent intersection order groups.

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

[0035] In some embodiments of this application, step S106 may include: determining the protruding main region based on the intersections in the intersection group with the same order; determining the boundary vertex of the survey area belonging to the protruding main region based on each intersection of the protruding main region; and determining the protruding region based on the boundary vertex of the survey area and each intersection of the protruding main region.

[0036] By grouping the intersection points as described above, the main convex region of the convex area can be determined. Since the survey area has boundary vertices, and the convex region, due to its convex characteristic, will include the boundary vertices of the survey area. Therefore, after determining the main convex region, the above steps further determine the boundary vertices of the convex region based on the intersection points of the main convex region, thus identifying the convex region that includes the main convex region, making the convex region more complete.

[0037] Understandably, in determining the boundary vertices of the survey area belonging to the main convex region based on the intersections of the main convex region, it is not required that the boundary vertices of the survey area belong to the main convex region and that their positions fall within the main convex region. The relationship between the main convex region and the boundary vertices of the survey area aims to require that the main convex region and the boundary vertices of the survey area can form a convex region that conforms to the boundary of the survey area.

[0038] In some embodiments of this application, the protruding main region can be directly regarded as the protruding region. In the embodiments of this application, it is not limited that the protruding region must include the boundary vertex of the survey area.

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

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

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

[0042] In some embodiments of this application, determining the boundary vertices of the survey area belonging to the convex main region based on the intersections of the convex main region may include: using the first or last original route auxiliary line among multiple original route auxiliary lines as the dividing route auxiliary line, and determining the boundary vertices of the survey area on the same side as the convex main region along the dividing route auxiliary line; determining the edge vertices of the middle original route auxiliary line that are far from the multiple original route auxiliary lines among the boundary vertices of the survey area on the same side as the convex main region along the dividing route auxiliary line; and determining the boundary vertices of the survey area belonging to the convex main region among the edge vertices according to the preset order direction of the multiple original route auxiliary lines. Through the above steps, the boundary vertices belonging to the convex main region can be determined, thereby determining the convex region.

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

[0044] As an example, such as Figure 3 As shown, Figure 3 The multiple parallel dashed lines in the middle are auxiliary lines for the original flight path. Figure 3 The topmost original route auxiliary line serves as both the first original route auxiliary line and the dividing route auxiliary line. Figure 3The lowest original route auxiliary line serves as the last original route auxiliary line. Therefore... Figure 3 The irregular closed solid line in the middle represents the boundary of the survey area, which is divided into two parts by the flight path auxiliary line. Figure 3 Points f and e on the left side belong to the same convex principal region. The boundary vertices of the survey area on the same side of the dividing line auxiliary line as the convex principal regions of points f and e include points d, g, and a. The preset order direction of multiple original line auxiliary lines can be, for example, from the first original line auxiliary line to the last original line auxiliary line. Therefore, on the one hand, points g and a are selected among points g, d, and a according to the preset order direction; on the other hand, based on the distances of points g and a relative to the intersection points of the convex principal regions where points f and e are located, the closest point g is determined as the boundary vertex of the survey area belonging to that convex principal region. Figure 3 In the above method, the convex main region where points c and b are located can also determine point a as the vertex of its survey area boundary.

[0045] In some embodiments of this 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 areas are determined according to the route auxiliary lines in the protruding areas, and the local routes of other areas are determined according to the original route auxiliary lines in other areas.

[0046] As an example, such as Figure 4 As shown, the local flight path of the protruding region abc is determined based on the flight path auxiliary lines within its protruding region; the local flight path of the protruding region feg is determined based on the flight path auxiliary lines within its protruding region; the local flight paths of other regions in the survey area besides the protruding regions abc and feg are determined based on the original flight path auxiliary lines within them. These multiple local flight paths are connected to form the overall flight path of the survey area. Figure 5 The solid line shows Figure 4 The overall route of the survey area is determined based on the route planning method for orthophoto acquisition provided in the embodiments of this application. For example... Figure 5 As shown, in the triangular convex regions abc and feg, local flight paths are delineated along the overall long side of the convex region. Within the convex region, the local flight paths travel from one long side to the other and make turns, thus the turning points of the local flight paths are distributed along the broad side of the convex region. In other areas of the survey area besides the convex regions, i.e. Figure 4 and Figure 5In the region above the original auxiliary route where the bcef point is located, local routes are delineated along the long side of the overall survey area, and in other regions, the turning points of local routes are distributed along the wide side of the survey area.

[0047] In some embodiments of this application, the overall long side direction of the survey area is determined based on the long side of the minimum bounding rectangle of the survey area; step S110 may include: determining the local routes of other areas based on the original route auxiliary lines in other areas; when the width of the minimum bounding 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 bounding rectangle of the protruding area; when the width of the minimum bounding 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; connecting the local routes to determine the overall route of the survey area.

[0048] like Figure 6 The convex region shown is a triangle, and the width of its smallest bounding rectangle is less than or equal to the main flight path spacing. Therefore, the flight path of the aircraft can be planned to pass through the median of the width of the smallest bounding rectangle of the triangle, so that the aircraft can perform orthophoto acquisition along the median without turning within the convex region.

[0049] In some embodiments of this application, step S110 may include: selecting a first waypoint among multiple intersections and vertices of the survey area boundary; determining the local route of the area where the first waypoint is located, and determining the 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 route of each protruding area and each other area in a traversal manner to obtain the overall route of the survey area.

[0050] Understandably, the first point of entry can be, for example, the vertex of the survey area boundary closest to the initial position of the aircraft.

[0051] like Figure 4 As shown in the example, the aircraft is a drone. The area closest to the drone's initial position is triangle abc, and the first waypoint is point a. All waypoints in this area are connected in a zigzag pattern to obtain the flight path for this area. The last waypoint is known. Other areas are traversed in either order or reverse order (the order depends on which vertex in the first or last area of ​​the list of areas to be traversed is closest to the last waypoint of the initial area). The waypoint connection rule is also a zigzag pattern until all area waypoints are connected, and finally the overall flight path of the survey area is obtained.

[0052] In some embodiments of this application, the test area is a simply connected region.

[0053] This application provides a processor configured to retrieve instructions from memory and, when executing the instructions, to implement a flight path planning method for orthophoto acquisition according to this application.

[0054] This application also provides an aircraft that may include the processor and image acquisition device described above.

[0055] This application also provides a machine-readable storage medium storing instructions that cause a machine to execute the above-described flight path planning method for orthophoto acquisition.

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

[0057] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0058] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0059] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

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

[0061] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0062] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0063] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0064] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A flight path planning method for orthophoto acquisition, characterized in that, include: Multiple original route auxiliary lines parallel to the overall long side direction of the survey area are drawn to determine the intersection point of each original route auxiliary line with the boundary of the survey area. The overall long side direction is the long side direction of the smallest bounding rectangle of the boundary where the survey area is located. For original flight path auxiliary lines that intersect with the boundary of the survey area more than two times, the intersection points of the original flight path auxiliary lines and the boundary of the survey area are divided into multiple intersection point groups according to the preset direction of the original flight path auxiliary lines, and the order of each intersection point group is determined. Each intersection point group includes two adjacent intersection points. The same convex region is determined by the intersection points in groups of intersection points with the same order. For any protruding area, the route auxiliary line of the protruding area is redefined based on the overall long side direction of the protruding area; The overall flight path for the survey area is determined based on the flight path auxiliary lines of the protruding area and the original flight path auxiliary lines of other areas in the survey area excluding the protruding area. The step of determining the same convex region based on the intersections in the same order of intersection groups includes: determining the same convex main region based on the intersections in the same order of intersection groups; determining the boundary vertex of the survey area belonging to the convex main region based on each intersection of the convex main region; and determining the convex region based on the boundary vertex of the survey area and each intersection of the convex main region.

2. The route planning method according to claim 1, characterized in that, For original flight path auxiliary lines that intersect the boundary of the survey area more than twice, the intersection points of the original flight path auxiliary lines and the boundary of the survey area are divided into multiple intersection point groups according to the preset direction of the original flight path auxiliary lines, including: When the number of intersections between the original route auxiliary line and the boundary of the survey area is odd, each pair of adjacent intersections is grouped into the same intersection group according to the order of each intersection along the preset original route auxiliary line, and the intersections on the original route auxiliary line between the first and last intersections are grouped into two adjacent intersection order groups.

3. The route planning method according to claim 1, characterized in that, The step of determining the boundary vertices of the survey area belonging to the convex main region based on the intersections of the convex main region includes: The distance between the vertex of the survey area boundary and each intersection point of the protruding main region is used to determine that the vertex of the survey area boundary belongs to the protruding main region, wherein the vertex of the survey area boundary and at least one intersection point of the protruding main region to which it belongs are directly connected through the survey area boundary.

4. The route planning method according to claim 1, characterized in that, The step of determining the boundary vertices of the survey area belonging to the convex main region based on the intersections of the convex main region includes: The first or last original route auxiliary line among the multiple original route auxiliary lines is used as the segmented route auxiliary line, and the boundary vertex of the survey area that is on the same side of the segmented route auxiliary line as the protruding main region is determined. In the boundary vertices of the survey area that are on the same side as the segmented route auxiliary line as the protruding main region, determine the edge vertex of the middle original route auxiliary line that is far away from the multiple original route auxiliary lines; Based on the distance between each intersection point of the protruding main region and the edge vertex, and the preset order direction of multiple original route auxiliary lines, the boundary vertex of the survey area belonging to the protruding main region is determined among the edge vertices.

5. 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 step of determining the overall flight path for the survey area based on the flight path auxiliary lines of the protruding area and the original flight path auxiliary lines of other areas in the survey area excluding 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, excluding the protruding areas, are connected to determine the overall route of the survey area. 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.

6. The route planning method according to claim 5, characterized in that, The overall long side direction of the survey area is determined based on the long side of the smallest circumscribed rectangle of the survey area; The local routes connecting each of the protruding areas and the local routes of other areas in the survey area besides the protruding areas, to determine the overall route of the survey area, include: Determine the local routes in the other regions based on the original route auxiliary lines in the other regions; If the width of the minimum bounding rectangle of the protruding area is less than or equal to the main route spacing, the local route of the protruding area is determined based on the midpoint of the width of the minimum bounding rectangle of the protruding area. If the width of the minimum bounding rectangle of the protruding area is greater than the main route spacing, the local route of the protruding area is determined according to the route auxiliary line of the protruding area. Connect the local routes to determine the overall route of the survey area.

7. The route planning method according to claim 5, characterized in that, The local routes connecting each of the protruding regions and the local routes connecting each of the other regions in the survey area (excluding the protruding regions) to determine the overall route of the survey area include: Select the first voyage point from among the multiple intersection points and the vertices of the survey area boundary; Determine the local route within the area where the first point of entry is located, and determine the terminal waypoint within the area where the first point of entry is located; Based on the end waypoint of the current area, the starting waypoint of the next area is determined and connected. The local routes of each of the protruding areas and other areas are determined in a traversal manner to obtain the overall route of the survey area.

8. The route planning method according to claim 1, characterized in that, The test area is a simply connected region.

9. A processor, characterized in that, It is configured to retrieve instructions from memory and, when executing the instructions, to implement the flight path planning method for orthophoto acquisition according to any one of claims 1 to 8.

10. An aircraft, characterized in that, include: The processor according to claim 9; Image acquisition device.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the flight path planning method for orthophoto acquisition according to any one of claims 1 to 8.

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