阅读说明：本技术 一种测绘采样点的规划方法、装置、控制终端及存储介质 (Planning method and device for surveying and mapping sampling point, control terminal and storage medium ) 是由 刘鹏 金晓会 于 2018-11-21 设计创作，主要内容包括：一种测绘采样点的规划方法,包括：获取测绘无人机所携带的拍照设备的拍摄参数,拍摄参数包括测绘无人机在设定飞行高度下的单照片拍摄区域(步骤110)；根据预设的照片重叠度指标以及单照片拍摄区域,确定组合拍摄点集内每个拍摄点之间预设的相对位置关系,每个拍摄点都对应一个单照片拍摄区域(步骤120)；根据测绘地块信息以及组合拍摄点集内每个拍摄点之间预设的相对位置关系,将组合拍摄点集内的每个拍摄点映射至测绘地块中,作为测绘无人机以该飞行高度在测绘地块中测绘的测绘采样点(步骤130)。还公开了一种测绘采样点的规划装置、控制终端(512)及存储介质。上述方法能够降低测绘成本,提高测绘效率。(A method of planning a survey and drawing sampling point, comprising: acquiring shooting parameters of shooting equipment carried by the surveying and mapping unmanned aerial vehicle, wherein the shooting parameters comprise a single-picture shooting area of the surveying and mapping unmanned aerial vehicle at a set flying height (step 110); determining a preset relative position relationship between each shooting point in the combined shooting point set according to a preset photo overlapping degree index and a single-photo shooting area, wherein each shooting point corresponds to one single-photo shooting area (step 120); according to the mapping plot information and the preset relative position relation between each shooting point in the combined shooting point set, each shooting point in the combined shooting point set is mapped to the mapping plot to serve as a mapping sampling point of the mapping unmanned aerial vehicle for mapping in the mapping plot by the flying height (step 130). A planning device, a control terminal (512) and a storage medium for mapping the sampling points are also disclosed. The method can reduce the surveying and mapping cost and improve the surveying and mapping efficiency.)

A method of planning a survey and drawing sampling point, comprising:

acquiring shooting parameters of shooting equipment carried by a surveying and mapping unmanned aerial vehicle, wherein the shooting parameters comprise a single-picture shooting area of the surveying and mapping unmanned aerial vehicle at a set flight height;

determining a preset relative position relation between each shooting point in the combined shooting point set according to a preset photo overlapping degree index and the single-photo shooting area, wherein each shooting point corresponds to one single-photo shooting area;

according to survey and drawing plot information and the predetermined relative position relation between every shooting point in the combination shooting point set, will every shooting point in the combination shooting point set maps to in surveying and drawing the plot, as survey and drawing unmanned aerial vehicle with flying height is in survey and drawing sampling point of survey and drawing in the survey and drawing plot.

The method of claim 1, wherein the initial shots within the combined shot set comprise: the shooting method comprises a central shooting point and four peripheral shooting points, wherein the peripheral shooting points are four vertexes of a rectangle taking the central shooting point as the center;

and the shape of the composite picture shot according to each shooting point in the combined shooting point set is a rectangle.

The method of claim 2, further comprising, prior to mapping each shot point in the combined shot point set into a mapped parcel based on survey parcel information and a preset relative positional relationship between each shot point in the combined shot point set:

determining a footprint area of the mapping parcel as an actual footprint area of the mapping parcel if it is determined from the mapping parcel information that the shape of the mapping parcel is rectangular;

and if the mapping land parcel is determined to be non-rectangular according to the mapping land parcel information, determining the occupied area corresponding to the minimum outsourcing rectangle of the mapping land parcel as the actual occupied area of the mapping land parcel.

The method of claim 2 or 3, wherein mapping each shot point in the combined shot point set into the mapped parcel according to mapping parcel information and a preset relative positional relationship between each shot point in the combined shot point set comprises:

and if the fact that the combined picture shooting area corresponding to the combined shooting point set can completely cover the actual occupied area of the mapping plot is determined, mapping each shooting point in the combined shooting point set to the mapping plot according to the preset relative position relation between each shooting point in the combined shooting point set.

The method of claim 2 or 3, wherein mapping each shot point in the combined shot point set into a mapped parcel according to mapping parcel information and a preset relative positional relationship between each shot point in the combined shot point set comprises:

if it is determined that the combined photo shooting area corresponding to the combined shooting point set cannot completely cover the actual floor area of the mapping plot, adding a new shooting point into the combined shooting point set to construct a new combined shooting point set according to the coverage condition of the combined photo shooting area on the mapping plot;

returning to execute the operation of determining the preset relative position relation between every two shooting points in the combined shooting point set according to the preset photo overlapping degree index and the single-photo shooting area until the combined photo shooting area corresponding to the combined shooting point set is determined to completely cover the actual floor area of the surveying and mapping plot;

and mapping each shooting point in the combined shooting point set to the mapping plot according to a preset relative position relation between each shooting point in the combined shooting point set.

The method of claim 4, wherein determining the preset relative position relationship between each shot point in the combined shot point set according to the preset photo overlap index and the single-photo shooting area comprises:

determining the size of a single photo according to the size of the picture frame of the photographing equipment and the width of a pixel of the photographing equipment;

constructing a two-dimensional coordinate system, and selecting a target point in the two-dimensional coordinate system as a central shooting point;

generating a central picture in the two-dimensional coordinate system according to the central shooting point and the size of the single picture;

respectively generating four surrounding photos which meet the photo overlap degree index with the central photo at the upper left corner, the lower left corner, the upper right corner and the lower right corner of the central photo;

determining coordinate values of surrounding shooting points corresponding to each surrounding photo in the two-dimensional coordinate system according to the mapping relation between the size of the single photo and the shooting area of the single photo;

and determining a preset relative position relation between each shooting point in the combined shooting point set according to the coordinate values of the central shooting point and each peripheral shooting point in the two-dimensional coordinate system.

The method of claim 4, wherein determining that a combined photograph capture area corresponding to the combined set of shots can completely cover an actual footprint area of the survey parcel comprises:

determining that the combined photograph shooting area can completely cover the actual occupation area of the survey and drawing plot if the actual occupation length in the actual occupation area is less than or equal to the combined shooting length of the combined photograph shooting area and the actual occupation width in the actual occupation area is less than or equal to the combined shooting width of the combined photograph shooting area;

mapping each shot within the combined shot set into the mapped parcel, comprising:

mapping the central shot point in the combined shot point set to a plot midpoint of the mapped plot;

and mapping each surrounding shooting point to the mapping plot according to a preset relative position relation between each surrounding shooting point and the central shooting point in the combined shooting point set.

The method of claim 5, wherein determining that a combined photograph capture area corresponding to the combined set of shots does not completely cover an actual footprint area of the survey parcel comprises:

determining that the combined photograph capture area cannot completely cover the actual footprint area of the survey parcel if the actual footprint length in the actual footprint area is greater than the combined capture length of the combined photograph capture area, or the actual footprint width in the actual footprint area is greater than the combined capture width of the combined photograph capture area.

The method of claim 8, wherein adding new shots to the combined shot set to construct a new combined shot set based on coverage of the combined photograph shooting area over the mapped plot comprises:

if the actual occupation length in the actual occupation area is determined to be less than or equal to the combined shooting length of the combined photo shooting area, and the actual occupation width in the actual occupation area is determined to be greater than the combined shooting width of the combined photo shooting area, judging whether a subset exists in the combined shooting point set or not;

if yes, selecting any subset from the subsets as an original subset; if not, constructing an original subset according to the current shooting point in the combined shooting point set;

generating a first target replication subset which has the same relative position information with each shooting point in the original subset and adding the first target replication subset into the combined shooting point set;

wherein each shot point in the first target duplicate subset is directly above each shot point at a corresponding position in the subset at the uppermost position in the combined shot point set, or each shot point in the first target duplicate subset is directly below each shot point at a corresponding position in the subset at the lowermost position in the combined shot point set.

The method of claim 8, wherein adding new shots to the combined shot set to construct a new combined shot set based on coverage of the combined photograph shooting area over the mapped plot comprises:

if the actual occupation length in the actual occupation area is determined to be larger than the combined shooting length of the combined photo shooting area, and the actual occupation width in the actual occupation area is determined to be smaller than or equal to the combined shooting width of the combined photo shooting area, judging whether a subset exists in the combined shooting point set or not;

if yes, selecting any subset from the subsets as an original subset; if not, constructing an original subset according to the current shooting point in the combined shooting point set;

generating a second target replication subset which has the same relative position information with each shooting point direction in the original subset and adding the second target replication subset into the combined shooting point set;

wherein each shot point in the second target duplication subset is located directly to the left of each shot point at a corresponding position in the subset at the leftmost position in the combined shot point set, or each shot point in the second target duplication subset is located directly to the right of each shot point at a corresponding position in the subset at the rightmost position in the combined shot point set.

The method of claim 8, wherein adding new shots to the combined shot set to construct a new combined shot set based on coverage of the combined photograph shooting area over the mapped plot comprises:

if the actual occupied area length in the actual occupied area is determined to be larger than the combined shooting length of the combined photo shooting area, and the actual occupied area width in the actual occupied area is determined to be larger than the combined shooting width of the combined photo shooting area, adding a plurality of supplementary outer layer surrounding shooting points in the combined shooting point set;

wherein the supplementary outer-layer surrounding shot points are vertices of a rectangle centered at each outermost-layer surrounding shot point of the combined shot point set.

The method of any one of claims 9-11, wherein determining the relative position between each shot within the combined shot set based on a preset shot overlap indicator and the single-shot region comprises:

determining the size of a single photo according to the size of the picture frame of the photographing equipment and the width of a pixel of the photographing equipment;

if the combined shooting point set comprises at least two subsets, acquiring one subset in the limit direction as a target operation subset;

acquiring a central shooting point in the target operation subset;

constructing a two-dimensional coordinate system, and selecting a target point in the two-dimensional coordinate system as the central shooting point;

calculating coordinate values of each surrounding shooting point in the target operation subset in the two-dimensional coordinate system from an inner layer to an outer layer according to the central shooting point, the single-picture size, the mapping relation between the single-picture size and the single-picture shooting area, a first-picture overlapping degree index and the number of the surrounding shooting points corresponding to the target operation subset;

the first picture overlapping degree index is the overlapping degree between a picture shot at one outer-layer shooting point and a picture shot at a corresponding inner-layer shooting point;

in the combined shooting point set, acquiring a subset of a central shooting point which is closest to the central shooting point in the target operation subset as a new target operation subset;

determining the coordinate value of each shooting point in the new target operation subset in the two-dimensional coordinate system according to the second photo overlapping degree index and the coordinate value of each shooting point in the previous target operation subset in the two-dimensional coordinate system;

the second picture overlapping degree index is the overlapping degree between pictures taken by two adjacent outermost shooting points in the previous target operation subset and the new target operation subset;

and returning to execute the operation of taking a subset of the central shooting point closest to the central shooting point in the target operation subset as a current target operation subset in the combined shooting point set until the processing of all subsets in the combined shooting point set is completed.

The method of claim 5, wherein mapping each shot point in the combined shot point set into the mapped parcel according to mapping parcel information and a preset relative positional relationship between each shot point in the combined shot point set comprises:

acquiring a key positioning shooting point from each shooting point in the combined shooting point set, wherein the key positioning shooting point comprises: an angular point positioning point or a central positioning point;

and after mapping the key positioning shooting points to corresponding positions in the mapping plot, respectively mapping other shooting points in the combined shooting point set to the mapping plot according to a preset relative position relation between other shooting points in the combined shooting point set and the key positioning shooting points.

The method of claim 1, further comprising, prior to acquiring the photographing parameters of the photographing device carried by the mapping drone:

and calculating the set flying height according to the pixel width of the photographing equipment, the lens focal length of the photographing equipment and the ground pixel resolution.

The method of claim 1, wherein acquiring the photographing parameters of the photographing device carried by the mapping drone comprises:

and calculating a single-picture shooting area of the surveying and mapping unmanned aerial vehicle under the set flying height according to the pixel width of the shooting equipment, the frame size of the shooting equipment and the ground pixel resolution.

The method of claim 1, further comprising, after mapping each shot point in the combined shot point set into the mapped parcel based on survey parcel information and a preset relative positional relationship between each shot point in the combined shot point set:

sending each mapping sampling point to the mapping unmanned aerial vehicle so that the mapping unmanned aerial vehicle shoots a mapping photo set corresponding to the mapping plot when flying to each mapping sampling point according to the flying height;

each photo in the set of mapping photos is configured to synthesize a mapping image that matches the mapping parcel.

A planning apparatus for mapping a sampling point, comprising:

the shooting parameter acquisition module is used for acquiring shooting parameters of shooting equipment carried by the surveying and mapping unmanned aerial vehicle, and the shooting parameters comprise a single-picture shooting area of the surveying and mapping unmanned aerial vehicle at a set flight height;

the relative position relation determining module is set to determine a preset relative position relation between every two shooting points in the combined shooting point set according to a preset photo overlapping degree index and the single-photo shooting area, and every shooting point corresponds to one single-photo shooting area;

the shooting point mapping module is set to be according to surveying and mapping plot information and the preset relative position relation between every shooting point in the combined shooting point set, and every shooting point in the combined shooting point set is mapped to the surveying and mapping plot as the surveying and mapping unmanned aerial vehicle is in the flying height surveying and mapping sampling point of surveying and mapping in the surveying and mapping plot.

A control terminal for controlling an unmanned aerial vehicle, the control terminal comprising:

one or more processors;

a storage device arranged to store one or more programs,

when executed by the one or more processors, cause the one or more processors to implement a method of planning sampling points for mapping as claimed in any one of claims 1-16.

A computer storage medium having stored thereon a computer program which, when executed by a processor, implements a method of planning a mapped sampling point as claimed in any one of claims 1 to 16.