CN106249751A - A kind of tilt the three-dimensional acquisition system of aerophotogrammetry data, acquisition method and control terminal - Google Patents
A kind of tilt the three-dimensional acquisition system of aerophotogrammetry data, acquisition method and control terminal Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The present invention relates to a kind of tilt three-dimensional aerophotogrammetry data acquisition system, including flying platform with control terminal；Described flying platform includes many rotor wing unmanned aerial vehicles and the single camera being mounted on these many rotor wing unmanned aerial vehicles；Described control terminal includes: mission area planning module, for planning the course line of flight；Parameter setting module, for being configured, including start position, final position, the angle of inclination of head, aircraft flying height, ship's control and sidelapping degree the flight parameter of many rotor wing unmanned aerial vehicles；Described many rotor wing unmanned aerial vehicles fly according to the parameter of Sortie, the line of flight and the setting of this planning；Described camera is for gathering data in flight way.Present invention also offers a kind of collecting method and control terminal.Compared to prior art, the present invention studies brand-new flight acquisition method, to adapt to the oblique photograph Collecting operation pattern of rotor single-lens, many, individual soldierization.Further, it is achieved boat flies to gather automatically, normalized operation process, it is ensured that quality of achievement improves working performance.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, a kind of for the three-dimensional acquisition system of aerophotogrammetry data, collection side
Method and control terminal.
Background technology
The world is three-dimensional, along with computer, mapping, the development of geographical information technology, people more and more require from
Three-dimensional perspective sees the world.The advantage of true three-dimensional digital city construction gradually highlights, and becomes the informatization of smart city, the whole world
Main flow.Oblique photograph technology is the new and high technology that international survey field grew up in recent years, and it is the most just being overturned
Projection picture can only be from the limitation of vertical angle shooting.By carrying multiple stage sensor on same flying platform, simultaneously from one
Vertically, five different angle acquisition images such as four inclinations, by a large scale, in high precision, complete perception is multiple in the way of high-resolution
Miscellaneous scene, introduces the true directly perceived world meeting human eye vision by user, be greatly improved simultaneously data acquisition speed and
Efficiency.At present, oblique photograph is measured technology and is widely used in digital city, the fundamental geological space frame of digital earth (the wisdom earth)
Frame is built.
What oblique photograph measurement technology was most crucial is image sensor (i.e. camera) and Data Post.Refer to Fig. 1,
It is existing oblique photograph operation process chart.Existing oblique photograph is measured the work flow of technology and is included:
Step 1: the collection of oblique photograph data；
Step 2: the process of oblique photograph data；
Step 3: the production of multiple data.
And wherein, in the step of data acquisition, camera is typically mounted on unmanned plane by prior art, entered by camera
Row data acquisition.Referring to Fig. 2, it is the structural representation of existing camera.At present, the camera used is five technology ginsengs
Count the identical camera camera according to different being assembled integrally of angle.Wherein, a middle camera lens is vertically downward, all
Enclosing four cameras angle that respectively forwardly each inclination in rear left and right is identical, this camera can also be integrated with GPS, in high precision IMU, integrally
Changing camera and provide image information, GPS provides spatial positional information, and IMU provides spatial attitude information.
When taking pictures, control five cameras by unified Exposure Control Module and expose simultaneously, obtain same atural object top, after
Side, front side, left side, five, right side photo.
But, prior art exists following technological deficiency:
(1) flying platform is big, and camera cost is high, and equipment is difficult to penetration and promotion.
Nucleus equipment of the prior art is oblique photograph many spellings camera, and this cameras of spelling use the measurement camera of specialty more
Or slr camera splicing assemble, need multiple stage mm professional camera special and assemble adnexa, somewhat expensive, typically tens0000 yuan with
On.And weight ratio is relatively big, typically more than three kilograms.When carrying this many spelling cameras and carrying out oblique photograph measurement operation,
The flying platform load-carrying needed is relatively big, and general selection has people's aircraft or large-scale unmanned plane, and the most any aircraft is required for bigger
Cost.It is difficult to penetration and promotion application, only as the professional equipment of specialty unit, for profession service, it is impossible to popularize
To all of mapping work unit.
(2) flying platform equipment is numerous, and operation is complicated, needs technical flight to manipulate personnel, and it is high that boat flies technical threshold.
Prior art needs employing to have people's aircraft or large-scale unmanned plane as flying platform.First, flying platform is bigger,
It is generally required to the oversize vehicle transport of customization；Second, except flying platform, also earth station, radio station, communication antenna etc. are numerous attached
Part equipment, operation process is complicated；3rd, it is desirable to have the flight management human users of specialty, flight operation technical threshold is higher.
(3) operating flexibility is poor, is affected bigger by spatial domain application and weather extraneous factor.
Prior art needs employing to have people's aircraft or large-scale unmanned plane as flying platform.Firstly, it is necessary to application boat flies sky
Territory, cycle of handling minimum needs one month, it is difficult to adapt to Hang Fei market, zonule；Secondly, boat flies scene needs to make an on-the-spot survey selection sky
Spacious landing site, the general minimum spacious flat site needing 100 meters of radiuses, place election is time-consuming, laborious；3rd, minimum
Flying height is higher, typically more than 1000 meters, higher to weather transparency requirement, is affected by outside environmental elements such as weather
Bigger.
(4) camera tilt angles degree is fixed, and it is limited that boat flies acquisition mode.
Multiple camera positions, angle that prior art is carried are fixed, and the oblique photograph boat that can only meet routine flies demand.Right
Require that higher boat flies demand in building compact district, historic reservation etc., it tends to be difficult to meet.
Summary of the invention
It is an object of the invention to the shortcoming overcoming prior art with not enough, it is provided that one is used for tilting three-dimensional aerial survey number
According to acquisition system, acquisition method and terminal.
The present invention realizes especially by following technical scheme: a kind of tilt three-dimensional aerophotogrammetry data acquisition system, including
Flying platform and control terminal；
Described flying platform includes many rotor wing unmanned aerial vehicles and the single camera being mounted on these many rotor wing unmanned aerial vehicles；
Described control terminal includes:
Mission area planning module, for 5 Sorties of planning and the course line of each sortie；
Parameter setting module, for being configured, including start position, terminal position the flight parameter of many rotor wing unmanned aerial vehicles
Put, the angle of inclination of head, aircraft flying height, ship's control and sidelapping degree；
Described many rotor wing unmanned aerial vehicles fly according to the line of flight of this planning and the parameter of setting；
Described camera is for gathering data in flight way.
As a further improvement on the present invention, described parameter setting module includes: calculating sub module, for zequin position
Put, final position and the angle of inclination of camera lens.
As a further improvement on the present invention, also include aircraft platform Intelligent Matching module, for the machine according to unmanned plane
Type carries out intelligent parameter coupling.
As a further improvement on the present invention, also include safety check module, for carrying out tens before unmanned plane during flying
The safety inspection of item.
Present invention also offers the inclination three-dimensional aerophotogrammetry data acquisition method of a kind of many rotor wing unmanned aerial vehicles, including following step
Rapid:
S1: unmanned plane is carried out type Intelligent Matching；
S2: the line of flight in planning tasks region；
S3: the parameter that boat flies is arranged；
S4: carry out safety inspection；
S5: carry out flying and gathering data according to flight navigation.
As a further improvement on the present invention, in described step S3, described parameter arranges and includes: the starting point of unmanned plane during flying
The angle of inclination of position, final position and head.
As a further improvement on the present invention, in described step S5, specifically include following steps:
S51: the first sortie, eastwards, camera lens is vertically downward for unmanned plane head；Calculate boat and fly region and course line, arrange
Departure point camera site；Collection Zone Full is just being penetrated again along course line；
S52: the second sortie, plane nose eastwards, camera lens eastwards, downward-sloping；Adjustment camera lens is downward-sloping
Angle, recalculates boat and flies region and course line, adjust departure point camera site；Along course line tilt Zone Full；
S53: the three sortie, plane nose westwards, camera lens westwards, downward-sloping；Adjustment camera lens is downward-sloping
Angle, recalculates boat and flies region and course line, adjust departure point camera site；Along course line tilt Zone Full；
S54: the four sortie, plane nose northwards, camera lens northwards, downward-sloping；Adjustment camera lens is downward-sloping
Angle, recalculates boat and flies region and course line, adjust departure point camera site；Along course line tilt Zone Full；
S55: the five sortie, plane nose is to the south, and camera lens is to the south, downward-sloping；Adjustment camera lens is downward-sloping
Angle, recalculates boat and flies region and course line, adjust departure point camera site；Along course line tilt Zone Full.
Present invention also offers a kind of control terminal, including:
Mission area planning module, for planning the course line of flight；
Parameter setting module, for being configured, including start position, terminal position the flight parameter of many rotor wing unmanned aerial vehicles
Put, the angle of inclination of head, aircraft flying height, ship's control and sidelapping degree；Described parameter setting module includes calculating son
Module, for the angle of inclination of zequin position, final position and camera lens.
As a further improvement on the present invention, also include aircraft platform Intelligent Matching module, for the machine according to unmanned plane
Type carries out intelligent parameter coupling.
As a further improvement on the present invention, also include safety check module, for carrying out safety before unmanned plane during flying
Check.
Compared to prior art, the present invention possesses following beneficial effect:
(1) camera selects single-lens, reduces camera apparatus expense, expands the flying platform scope being suitable for.
The core concept of the machine technological invention be realize individual soldierization, automatization, standardization, flexible and efficient oblique photograph are adopted
Collection solution.Therefore, one of invention key technology is to select camera, selects single-lens camera, reduces camera weight, expands
Optional flying platform scope；It is substantially reduced camera apparatus cost, it is possible to decrease camera apparatus cost more than 10 times simultaneously.
(2) flying platform selects miniature many rotors, reduces flying platform expense, reduces flight operation specialization threshold.
The core concept of the machine technological invention be realize individual soldierization, automatization, standardization, flexible and efficient oblique photograph are adopted
Collection solution.Therefore, the two of invention key technology is to select miniature many rotor flyings platform, it is no longer necessary to flying of specialty
Machine manipulation personnel, general professional and technical personnel just can carry out boat through the training of several hours and fly Collecting operation, be substantially reduced boat
Fly the technical threshold of operation；Be substantially reduced the cost of flying platform simultaneously, it is possible to decrease aircraft acquisition expenses tens times to Radix Achyranthis Bidentatae with
On.
(3) camera tilt angles degree arbitrarily can adjust angle of inclination as required easily, three-dimensional to adapt to special inclination
Gather and need.Such as building close quarters, major cultural relic protection building etc..It is greatly improved the motility of data acquisition, improves
The quality of threedimensional model.
(4) boat flies to gather individual soldier's equalization, improves operating flexibility, reduces the outside environmental elements impacts such as weather as far as possible.
After gathering camera, flying platform solution above, just can readily realize the three of this technological invention key technology.
Realize the single boat that completes and fly collecting work, it is no longer necessary to the oversize vehicle carrier of customization, it is no longer necessary to one month earlier Shen
Please navigate and fly spatial domain, it is no longer necessary to carry and make an on-the-spot survey selection landing site the most on the spot, it is no longer necessary to the Complete working unit of four people, no longer
Need the assembling of the front large number quipments of flight, it is no longer necessary to boat flies the flying height of more than 1000 meters.Thus it is greatly improved the flexible of operation
Property, real realization is carried out boat whenever and wherever possible and is flown operation.
(5) brand-new flight acquisition method is studied, to adapt to the oblique photograph collection work of rotor single-lens, many, individual soldierization
Industry pattern.Carry out the oblique photograph work of needs five camera lenses in the past owing to have employed the single-lens camera extremely simplified, then study
Brand-new acquisition method just becomes the most critical technology of this technological invention.
(6) intelligentized flight acquisition controlling software and terminal unit are researched and developed, it is achieved boat flies to gather automatically, and specification is turned into
Industry process, it is ensured that quality of achievement, improves working performance.
In order to be more fully understood that and implement, describe the present invention below in conjunction with the accompanying drawings in detail.
Accompanying drawing explanation
Fig. 1 is the oblique photograph operation process chart of prior art.
Fig. 2 is the structural representation of existing camera.
Fig. 3 is the schematic diagram of the three-dimensional aerophotogrammetry data acquisition system of the present invention.
Fig. 4 is the flow chart of steps of the three-dimensional aerophotogrammetry data acquisition method of the present invention.
Fig. 5 is the flow chart of steps of the data acquisition of the present invention.
Fig. 6 is the schematic diagram of the first time sortie gathering data in the present invention.
Fig. 7 is the schematic diagram of the second time sortie gathering data in the present invention.
Fig. 8 is the schematic diagram of the third time sortie gathering data in the present invention.
Fig. 9 is the schematic diagram of the 4th sortie gathering data in the present invention.
Figure 10 is the schematic diagram of the 5th sortie gathering data in the present invention.
Figure 11 is the schematic diagram at offset distance and angle of inclination.
Figure 12 is the connection block diagram of the control terminal of the present invention.
Detailed description of the invention
Referring to Fig. 3, it is the schematic diagram of three-dimensional aerophotogrammetry data acquisition system of the present invention.The invention provides a kind of three
The acquisition system of dimension aerophotogrammetry data, including flying platform 1 and control terminal 2.
Described flying platform 1 includes many rotor wing unmanned aerial vehicles 11 and the single camera 12 being mounted on these many rotor wing unmanned aerial vehicles.
Described control terminal 2 includes: mission area planning module 21, parameter setting module 22, aircraft platform Intelligent Matching
Module 23 and safety check module 24.
Described mission area planning module 21, for planning the course line of flight.
Described parameter setting module 22, for the flight parameter of many rotor wing unmanned aerial vehicles is configured, including start position,
Final position, the angle of inclination of head, aircraft flying height, ship's control and sidelapping degree.Concrete, described parameter arranges mould
Block includes: calculating sub module, for the angle of inclination of zequin position, final position and camera lens.
Described aircraft platform Intelligent Matching module 23, for carrying out intelligent parameter coupling according to the type of unmanned plane.
Concrete, due to the unmanned plane during flying platform hardware technical parameter of different model differ relatively big (such as platform weight,
Flight time, maximum flying speed, wind resistance grade, exposure sensor interval, storage card capacity etc.), allow non-professional industry answer
With personnel by substantial amounts of parameter computational analysis after, thus the safety flown that ensures to navigate is considerably complicated thing with Task Quality
Feelings, will be substantially reduced working performance, and then affect unmanned plane popularization in sector application with universal.
Therefore, in the present invention, flying platform parameter can be obtained by radio communication, it is possible to automatically identify flying platform
ID mark and classification, obtain further the detailed skills such as flying platform model, sensor, battery capacity, maximum flying speed
The status information that art parameter is real-time, flies mission planning, parameter of taking photo by plane calculating etc. for the boat that control safety in real time is relevant to quality and carries
Supply the basic parameter information of flying platform.
Described safety check module 24, for checking before unmanned plane during flying.
Concrete, owing to the safety and quality control flown that navigates is that during sector application boat flies, moment needs monitor
" red line ", does not has safety and quality, does not just have the sector application of unmanned plane, and before flight, safety and quality preliminary examination are the rings of most critical
Joint.Therefore, the present invention can obtain big boundary many rotor flyings platform key parameter status data by radio communication, and whether evaluation
Exceeding threshold value, preliminary examination of taking off is reported to the police.Arbitrary parameter exceedes threshold value, and equal Alarm Disable takes off.Realize the one-touch preliminary examination of user,
It is greatly simplified safe mass inspection work before every sortie takes off, improves work efficiency, it is ensured that boat flies Task Quality.The ginseng checked
Number includes: whether unmanned plane is connected with earth station, flight flying height calculates, battery capacity calculating, memory card calculation of capacity etc..
Described many rotor wing unmanned aerial vehicles 11 fly according to the line of flight of this planning and the parameter of setting.
Described camera 12 is for gathering data in flight way.
Referring to Fig. 4, it is the flow chart of steps of three-dimensional aerophotogrammetry data acquisition method of the present invention.
Present invention also offers the three-dimensional aerophotogrammetry data acquisition method of a kind of many rotor wing unmanned aerial vehicles, comprise the following steps:
S1: unmanned plane is carried out type Intelligent Matching.
S2: the line of flight in planning tasks region.
S3: the parameter that boat flies is arranged.Concrete, in described step S3, described parameter arranges and includes: rising of unmanned plane during flying
Point position, final position and the angle of inclination of head.
S4: carry out safety inspection.
S5: carry out flying and gathering data according to flight navigation.
Concrete, please refer to Fig. 5, it is the flow chart of steps of data acquisition of the present invention.
In described step S5, specifically include following steps:
The present invention is divided into 5 sorties to carry out data acquisition, carries out data acquisition from vertically downward with four inclinations angle respectively.
Concrete flight is as follows:
S51: the first sortie, eastwards, camera lens is vertically downward for unmanned plane head；Calculate boat and fly region and course line, arrange
Departure point camera site；Collection Zone Full is just being penetrated again along course line.
Please refer to Fig. 6, it is the schematic diagram of the first time sortie gathering data in the present invention.In the present embodiment,
Assuming that the region needing shooting is A, course line is B.From starting point to the end of taking off, altogether through 4 course lines, respectively B1, B2, B3 and
B4.In boat flies gatherer process, plane nose direction is always maintained at constant, and camera lens direction also keeps constant, concrete during flight
Step is:
(1) along B1 course line, eastwards, vertically downward, aircraft advances and shoots camera lens plane nose.
(2) along B1-2 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B2.
(3) along B2 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(4) along B2-3 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B3.
(5) along B3 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(6) along B3-4 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B4.
(7) along B4 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
S52: the second sortie, plane nose eastwards, camera lens eastwards, downward-sloping；Recalculate boat and fly region and boat
Line, adjusts departure point camera site；Along course line tilt Zone Full.
Please refer to Fig. 7, it is the schematic diagram of the second time sortie gathering data in the present invention.In the present embodiment,
Assuming that the region needing shooting is A, course line is B.From starting point to the end of taking off, altogether through 4 course lines, respectively B1, B2, B3 and
B4.In boat flies gatherer process, plane nose direction is always maintained at constant, and camera lens direction also keeps constant, concrete during flight
Step is:
(1) this sortie is tilt, take off, terminal need skew, so as to shooting complete task survey district.Please be simultaneously
Refering to Figure 11, it is the schematic diagram at offset distance and angle of inclination.The computing formula of concrete offset distance is: offset distance L
=terrain clearance H*tan (camera tilt angles degree).
(2) along B1 course line, eastwards, camera lens is consistent with heading for plane nose, downward-sloping 30 degree, before aircraft
Enter shooting.
(3) along B1-2 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B2.
(4) along B2 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(5) along B2-3 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B3.
(6) along B3 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(7) along B3-4 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B4.
(8) along 4 course lines, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
S53: the three sortie, plane nose westwards, camera lens westwards, downward-sloping；Recalculate boat and fly region and boat
Line, adjusts departure point camera site；Along course line tilt Zone Full.
Simultaneously refering to Fig. 8, it is the schematic diagram of the third time sortie gathering data in the present invention.In the present embodiment, false
If the region needing shooting is A, course line is B.From starting point to the end of taking off, altogether through 4 course lines, respectively B1, B2, B3 and
B4.In boat flies gatherer process, plane nose direction is always maintained at constant, and camera lens direction also keeps constant, concrete during flight
Step is:
(1) this sortie is tilt, take off, terminal need skew, so as to shooting complete task survey district.Please be simultaneously
Refering to Figure 11, it is the schematic diagram at offset distance and angle of inclination.The computing formula of concrete offset distance is: offset distance L
=terrain clearance H*tan (camera tilt angles degree).
(2) along B1 course line, westwards, camera lens is consistent with heading for plane nose, downward-sloping 30 degree, after aircraft
Move back shooting.
(3) along B1-2 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B2.
(4) along 2 course lines, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(5) along B2-3 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B3.
(6) along B3 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(7) along B3-4 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B4.
(8) along B4 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
S54: the four sortie, plane nose northwards, camera lens northwards, downward-sloping.Recalculate boat and fly region and boat
Line, adjusts departure point camera site；Along course line tilt Zone Full.
Simultaneously refering to Fig. 9, it is the schematic diagram of the 4th sortie gathering data in the present invention.In the present embodiment, false
If the region needing shooting is A, course line is B.From starting point to the end of taking off, altogether through 9 course lines, respectively B1, B2, B3, B4,
B5, B6, B7, B8 and B9.This sortie is tilt, take off, terminal need skew, so as to shooting complete task survey district.
Please refer to Figure 11, it is the schematic diagram at offset distance and angle of inclination.The computing formula of concrete offset distance is: skew
Distance L=terrain clearance H*tan (camera tilt angles degree).In boat flies gatherer process, plane nose direction is always maintained at constant,
Camera lens direction also keeps constant, concretely comprises the following steps during flight:
(1) along B1 course line, northwards, camera lens is consistent with heading for plane nose, downward-sloping 30 degree, after aircraft
Move back shooting.
(2) along B1-2 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B2.
(3) along B2 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(4) along B2-3 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B3.
(5) along B3 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(6) along B3-4 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B4.
(7) along B4 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(8) along B4-5 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B5.
(9) along B5 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(10) along B5-6 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B6.
(11) along B6 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(12) along B6-7 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B7.
(13) along B7 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(14) along B7-8 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B8.
(15) along B8 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(16) along B8-9 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B9.
(17) along B9 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
S55: the five sortie, plane nose is to the south, and camera lens is to the south, downward-sloping；Recalculate boat and fly region and boat
Line, adjusts departure point camera site；Along course line tilt Zone Full.
Simultaneously refering to Figure 10, it is the schematic diagram of the 5th sortie gathering data in the present invention.In the present embodiment, false
If the region needing shooting is A, course line is B.From starting point to the end of taking off, altogether through 9 course lines, respectively B1, B2, B3, B4,
B5, B6, B7, B8 and B9.This sortie is tilt, take off, terminal need skew, so as to shooting complete task survey district.
Please refer to Figure 11, it is the schematic diagram at offset distance and angle of inclination.The computing formula of concrete offset distance is: skew
Distance L=terrain clearance H*tan (camera tilt angles degree).In boat flies gatherer process, plane nose direction is always maintained at constant,
Camera lens direction also keeps constant, concretely comprises the following steps during flight:
(1) along B1 course line, plane nose is to the south, and camera lens is consistent with heading, downward-sloping 30 degree, before aircraft
Enter shooting.
(2) along B1-2 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B2.
(3) along B2 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(4) along B2-3 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B3.
(5) along B3 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(6) along B3-4 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B4.
(7) along B4 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(8) along B4-5 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B5.
(9) along B5 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(10) along B5-6 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B6.
(11) along B6 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(12) along B6-7 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B7.
(13) along B7 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
(14) along B7-8 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B8.
(15) along B8 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft retreats shooting.
(16) along B8-9 course line, plane nose direction is constant, and camera lens direction is constant, sidesway to lower bar course line B9.
(17) along B9 course line, plane nose direction is constant, and camera lens direction is constant, and aircraft advances and shoots.
It addition, refer to Figure 12, it is the connection block diagram of control terminal of the present invention.Present invention also offers a kind of control
Terminal, including: mission area planning module 21, parameter setting module 22, aircraft platform Intelligent Matching module 23 and safety inspection
Module 24.
Described mission area planning module 21, for planning the course line of flight.
Described parameter setting module 22, for the flight parameter of many rotor wing unmanned aerial vehicles is configured, including start position,
Final position and the angle of inclination of head.Concrete, described parameter setting module includes: calculating sub module, for zequin
The angle of inclination of position, final position and camera lens.
Described aircraft platform Intelligent Matching module 23, for carrying out intelligent parameter coupling according to the type of unmanned plane.
Concrete, due to the unmanned plane during flying platform hardware technical parameter of different model differ relatively big (such as platform weight,
Flight time, maximum flying speed, wind resistance grade, exposure sensor interval, storage card capacity etc.), allow non-professional industry answer
With personnel by substantial amounts of parameter computational analysis after, thus the safety flown that ensures to navigate is considerably complicated thing with Task Quality
Feelings, will be substantially reduced working performance, and then affect unmanned plane popularization in sector application with universal.
Therefore, in the present invention, flying platform parameter can be obtained by radio communication, it is possible to automatically identify flying platform
ID mark and classification, obtain further the detailed skills such as flying platform model, sensor, battery capacity, maximum flying speed
The status information that art parameter is real-time, flies mission planning, parameter of taking photo by plane calculating etc. for the boat that control safety in real time is relevant to quality and carries
Supply the basic parameter information of flying platform.
Described safety check module 24, for checking before unmanned plane during flying.
Concrete, owing to the safety and quality control flown that navigates is that during sector application boat flies, moment needs monitor
" red line ", does not has safety and quality, does not just have the sector application of unmanned plane, and before flight, safety and quality preliminary examination are the rings of most critical
Joint.Therefore, the present invention can obtain big boundary many rotor flyings platform key parameter status data by radio communication, and whether evaluation
Exceeding threshold value, preliminary examination of taking off is reported to the police.Arbitrary parameter exceedes threshold value, and equal Alarm Disable takes off.Realize the one-touch preliminary examination of user,
It is greatly simplified safe mass inspection work before every sortie takes off, improves work efficiency, it is ensured that boat flies Task Quality.The ginseng checked
Number includes: whether unmanned plane is connected with earth station, flight flying height calculates, battery capacity calculating, memory card calculation of capacity etc..
Compared to prior art, the present invention has a following beneficial effect:
(1) camera selects single-lens, reduces camera apparatus expense, expands the flying platform scope being suitable for.
The core concept of the machine technological invention be realize individual soldierization, automatization, standardization, flexible and efficient oblique photograph are adopted
Collection solution.Therefore, one of invention key technology is to select camera, selects single-lens camera, reduces camera weight, expands
Optional flying platform scope；It is substantially reduced camera apparatus cost, it is possible to decrease camera apparatus cost more than 10 times simultaneously.
(2) flying platform selects miniature many rotors, reduces flying platform expense, reduces flight operation specialization threshold.
The core concept of the machine technological invention be realize individual soldierization, automatization, standardization, flexible and efficient oblique photograph are adopted
Collection solution.Therefore, the two of invention key technology is to select miniature many rotor flyings platform, it is no longer necessary to flying of specialty
Machine manipulation personnel, general professional and technical personnel just can carry out boat through the training of several hours and fly Collecting operation, be substantially reduced boat
Fly the technical threshold of operation；Be substantially reduced the cost of flying platform simultaneously, it is possible to decrease aircraft acquisition expenses tens times to Radix Achyranthis Bidentatae with
On.
(3) camera tilt angles degree arbitrarily can adjust angle of inclination as required easily, three-dimensional to adapt to special inclination
Gather and need.Such as building close quarters, major cultural relic protection building etc..It is greatly improved the motility of data acquisition, improves
The quality of threedimensional model.
(4) boat flies to gather individual soldier's equalization, improves operating flexibility, reduces the outside environmental elements impacts such as weather as far as possible.
After gathering camera, flying platform solution above, just can readily realize the three of this technological invention key technology.
Realize the single boat that completes and fly collecting work, it is no longer necessary to the oversize vehicle carrier of customization, it is no longer necessary to one month earlier Shen
Please navigate and fly spatial domain, it is no longer necessary to carry and make an on-the-spot survey selection landing site the most on the spot, it is no longer necessary to the Complete working unit of four people, no longer
Need the assembling of the front large number quipments of flight, it is no longer necessary to boat flies the flying height of more than 1000 meters.Thus it is greatly improved the flexible of operation
Property, real realization is carried out boat whenever and wherever possible and is flown operation.
(5) brand-new flight acquisition method is studied, to adapt to the oblique photograph collection work of rotor single-lens, many, individual soldierization
Industry pattern.Carry out the oblique photograph work of needs five camera lenses in the past owing to have employed the single-lens camera extremely simplified, then study
Brand-new acquisition method just becomes the most critical technology of this technological invention.
(6) intelligentized flight acquisition controlling software and terminal unit are researched and developed, it is achieved boat flies to gather automatically, and specification is turned into
Industry process, it is ensured that quality of achievement, improves working performance.
The invention is not limited in above-mentioned embodiment, if various changes or deformation to the present invention are without departing from the present invention
Spirit and scope, if these are changed and within the scope of deformation belongs to claim and the equivalent technologies of the present invention, then this
Bright being also intended to comprises these changes and deformation.
Claims (10)
1. the acquisition system tilting three-dimensional aerophotogrammetry data, it is characterised in that: include flying platform and control terminal；
Described flying platform includes many rotor wing unmanned aerial vehicles and the single camera being mounted on these many rotor wing unmanned aerial vehicles；
Described control terminal includes:
Mission area planning module, for 5 Sorties of planning and the course line of each sortie；
Parameter setting module, for the flight parameter of many rotor wing unmanned aerial vehicles is configured, including start position, final position,
The angle of inclination of head, aircraft flying height, ship's control and sidelapping degree；
Described many rotor wing unmanned aerial vehicles fly according to the parameter of Sortie, the line of flight and the setting of this planning；
Described camera is for gathering data in flight way.
Tilt the acquisition system of three-dimensional aerophotogrammetry data the most according to claim 1, it is characterised in that: described parameter setting module
Including calculating sub module, for zequin position, final position, the angle of inclination of head, aircraft flying height, ship's control
With sidelapping degree.
Tilt the acquisition system of three-dimensional aerophotogrammetry data the most according to claim 1, it is characterised in that: also include aircraft platform intelligence
Energy matching module, for carrying out intelligent parameter coupling according to the type of unmanned plane.
Tilt the acquisition system of three-dimensional aerophotogrammetry data the most according to claim 1, it is characterised in that: also include safety inspection mould
Block, for carrying out safety inspection before unmanned plane during flying.
5. an inclination three-dimensional aerophotogrammetry data acquisition method for rotor wing unmanned aerial vehicle more than, comprises the following steps:
S1: unmanned plane is carried out type Intelligent Matching；
S2: the line of flight in planning tasks region；
S3: the parameter that boat flies is arranged；
S4: carry out safety inspection；
S5: carry out flying and gathering data according to flight navigation.
The inclination three-dimensional aerophotogrammetry data acquisition method of the most rotor wing unmanned aerial vehicles, it is characterised in that: described
In step S3, described parameter arranges and includes: the start position of unmanned plane during flying, final position, the angle of inclination of head, Aircraft
Height, ship's control and sidelapping degree.
The three-dimensional aerophotogrammetry data acquisition method of the most rotor wing unmanned aerial vehicles, it is characterised in that: described step
In S5, specifically include following steps:
S51: the first sortie, eastwards, camera lens is vertically downward for unmanned plane head；Calculate boat and fly region and course line, course line is set
Starting point camera site；Collection Zone Full is just being penetrated again along course line；
S52: the second sortie, plane nose eastwards, camera lens eastwards, downward-sloping；Adjust the downward-sloping angle of camera lens,
Recalculate boat and fly region and course line, adjust departure point camera site；Along course line tilt Zone Full；
S53: the three sortie, plane nose westwards, camera lens westwards, downward-sloping；Adjust the downward-sloping angle of camera lens,
Recalculate boat and fly region and course line, adjust departure point camera site；Along course line tilt Zone Full；
S54: the four sortie, plane nose northwards, camera lens northwards, downward-sloping；Adjust the downward-sloping angle of camera lens,
Recalculate boat and fly region and course line, adjust departure point camera site；Along course line tilt Zone Full；
S55: the five sortie, plane nose is to the south, and camera lens is to the south, downward-sloping；Adjust the downward-sloping angle of camera lens,
Recalculate boat and fly region and course line, adjust departure point camera site；Along course line tilt Zone Full.
8. one kind controls terminal, it is characterised in that: including:
Mission area planning module, for 5 Sorties of planning and the course line of each sortie；
Parameter setting module, for the flight parameter of many rotor wing unmanned aerial vehicles is configured, including start position, final position,
The angle of inclination of head, aircraft flying height, ship's control and sidelapping degree；Described parameter setting module includes calculating submodule
Block, for the angle of inclination of zequin position, final position and camera.
Control terminal the most according to claim 8, it is characterised in that: also include aircraft platform Intelligent Matching module, for root
Intelligent parameter coupling is carried out according to the flying platform type of unmanned plane.
Control terminal the most according to claim 9, it is characterised in that: also include safety check module, for unmanned plane is flown
Safety inspection is carried out before row.
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| CN109765927A (en) * | 2018-12-29 | 2019-05-17 | 湖北无垠智探科技发展有限公司 | A kind of unmanned plane aerial photography flight remote control system based on APP |
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| CN111699454A (en) * | 2019-05-27 | 2020-09-22 | 深圳市大疆创新科技有限公司 | Flight planning method and related equipment |
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| CN112212832A (en) * | 2019-07-10 | 2021-01-12 | 瞰景科技发展(上海)有限公司 | Device and method for improving aerial survey efficiency of oblique photography |
| CN111928824A (en) * | 2020-08-07 | 2020-11-13 | 贵州正业工程技术投资有限公司 | Engineering investigation method combining laser radar and oblique photography |
| CN112009708A (en) * | 2020-09-04 | 2020-12-01 | 广州飞图信息科技有限公司 | Fixed-wing unmanned aerial vehicle, single-lens oblique photography system and method |
| CN112212835A (en) * | 2020-09-15 | 2021-01-12 | 广州全成多维信息技术有限公司 | Oblique photography and control method based on single-lens unmanned aerial vehicle |
| CN112781563A (en) * | 2020-12-28 | 2021-05-11 | 广东电网有限责任公司 | Distribution network oblique photography high-precision point cloud acquisition method |
| CN113778126A (en) * | 2021-09-14 | 2021-12-10 | 厦门精图信息技术有限公司 | Three-dimensional modeling measurement method, system and equipment in digital twin CIM platform construction |
| CN113778126B (en) * | 2021-09-14 | 2023-05-09 | 厦门精图信息技术有限公司 | Three-dimensional modeling measurement method, system and equipment in digital twin CIM platform construction |
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Application publication date: 20161221 |