RU2298150C2 - Multispectral complex for the aerial surveying of the earth surface wildlife objects and the method of the aerial surveying - Google Patents

Abstract

FIELD: nature protection; wildlife protection; fish industry; other industries; devices and the methods of the remote registration of the earth surface wildlife objects.

SUBSTANCE: the invention is pertaining to the field of the measurements, in particular, to the devices and the methods of the remote registration of the earth surface wildlife objects, for example, to the aerial registration surveys of the warm-blood animals, such as seals, sea cows, and may be used in the nature protection purposes in the fish industry and other industries. The complex includes the aerial surveying apparatuses for the multispectral aerial surveying and the airborne automated system of the data acquisition, processing and presentation, and also the device to control the airborn multispectral aerial surveying equipment for the target registration of the earth wildlife objects. This device contains the special mount-skeleton with the fixed on it slewing assembly for changing position of the registration device and the guidance system made in the form of the manual manipulator with the control buttons, which allows to set the position of the registration device along and across the axis of the airplane within the limits of the preset angles of supervision. The manual manipulator is equipped with the sensors for registration of the manipulator mount position and with the microcontrollers for transmission of the information on the mount position and the state of the buttons of the manipulator in the control computer of the system for representation in the background mode of the sight in the form of the cursor on the monitor screen of then IR-scanner. The method provides for production of the synchronous image on the screens of the monitors of the IR-scanner and the video equipment, selection of the image, on which they will be guided at making the registration of the observable wildlife objects and selection of the target on the screen image - the wildlife object of supervision for registration. By means of the manual manipulator, which allows to set the necessary position of the registration device along and across the airplane axis within the limits of the preset angles of supervision, aim the cursor of the IR-scanner monitor screen at the selected target and by pushing the button on the handle of the manipulator conduct the aerial photography. The technical result of the invention consists in the increased quality and reliability of the aerial photography, the effective usage of the air flight time at the aerial photography realization, reduction of the expenditures on realization of the researches.

EFFECT: the invention ensures the increased quality and reliability of the aerial photography, the effective usage of the air flight time at the aerial photography realization, reduction of the expenditures on realization of the researches.

5 cl, 4 dwg

Description

The invention relates to the field of measurements, and in particular to devices and methods for remote registration of ground objects, for example, to aerial surveys of warm-blooded animals, such as seals, walruses, and can be used for environmental purposes in fisheries and other industries.

There are a number of systems, complexes of devices and methods of aerial photography used for research from aircraft carriers using optical-mechanical scanning devices, photo and video equipment operating in real time (RU 2232104 C1, 02.28.2003; RU 2156453 C1, 12.29.1998; RU 2178906 C2, 06/19/1998; RU 2138780 C1, 01/15/1997; RU 24003 U1, 03/28/2002; RU 2213326 C1, 03/20/2002).

Closest to the claimed invention are a shooting method and a multispectral complex for conducting aerial surveys of ground objects, including an infrared scanner, video and photo equipment, an on-board automated system and a satellite navigation system (Guidelines for recording harp seal pups according to multispectral aerial surveys [manuscript]: report on R&D / PINRO; Manual work by V.I. Chernook. - Topic 1; - Murmansk: [6.p.], 2003. - 45 p.).

The indicated method and equipment are used by PINRO, for example, during aerial surveys of harp seals from an AN-26 "Arctic" aircraft.

The complex contains a Malachite thermal imager (81 ° viewing angle, a capture band of 273 m, a resolution of 1024 pixels), an analog JVC type 2 camera (6 ° viewing angle, a capture band of 17 m, a resolution of 380 pixels), a digital video camera of the PANASONIC NV-MX7D type (viewing angle 19 °, capture bandwidth 54 m resolution of 530 pixels), digital camera "Nikon D1X" F = 24 mm (horizontal: viewing angle 52 °, viewing range 156 m, resolution 3008 pixels; vertical: viewing angle 36 ° , capture band 104 m, resolution 1960 pixels).

Cameras and video cameras are installed with the shooting axis directed vertically downward in the technological openings of the bottom of the aircraft not covered by sealed glass.

The camera complex is locked in one position.

The shooting is as follows.

At the time of shooting, a continuous recording of thermal and video images is synchronously performed, and photographing (shooting with high resolution) is performed with a constant time interval of 3-5 s.

To save magnetic media on long sections of empty ice, the method of intermittent shooting is used: the equipment is simultaneously turned off and turned on by a signal from the head.

The disadvantages of the prototype include the relatively low efficiency of the use of flight time.

This is due to the fact that the indicated device complex does not provide for precise pointing of the recording device’s lens to the objects of shooting, and since the viewing angle and the capture band of the thermal imager are almost two times higher than the corresponding parameters of the camera, during synchronous shooting the camera does not register those objects that do not fall into her account band.

As a result, a large number of “empty” frames are fixed without useful information and the useful one that was actually present in the portion of the registration band of the thermal imager that was inaccessible to the camera (i.e., in the area that does not coincide with the accounting band of the camera) is skipped.

An advantage of the invention is that a complex of multispectral equipment installed on an aircraft carrier for remote sensing of ground objects, namely for IR shooting, video and photo registration of observation objects (with a higher resolution than other equipment of the complex), includes a device control of shooting equipment for targeted registration of ground objects.

The proposed device (figure 1) contains a platform frame 1 with communicative connectors, a rotary assembly 2 fixed thereon, and a manual manipulator 3 (such as a joystick) with buttons 4 for controlling the shutter of the camera.

The manipulator 3 is equipped with a platform 5 for fixing devices 6 that record objects of observation (one or two cameras and a video camera), a vernier device 7 with potentiometric sensors 8 for recording the position of the platform 5 of the manipulator 3, microcontrollers for processing signals from sensors 8 and buttons 4 of the manipulator 3 and transmitting information about the position of the site 5 and the state of the buttons 4 of the manipulator to the control computer of the system to display in the background a sight in the form of a cursor on the monitor of the IR scanner.

The rotary assembly 2 is fixed on the platform-frame 1 with the possibility of changing the position of the recording device 6, fixed on the platform 5 of the manipulator 3 so that the angle of inclination of its lens along and across the axis of symmetry of the aircraft can be changed respectively within ± 40 and 60 °.

The IR scanner has a viewing angle of up to 90, a video camera - 30 and a camera - from 3 to 8 °, but when using the proposed control device for shooting equipment, the viewing angle indicators and the width of the observation band of the camera 6, as well as the video camera 6, mounted on one platform 5 will be closer to the IR scanner.

The ability to control filming equipment allows the operator through the manipulator 3 to aim the recording device’s lens precisely at those objects observed by him on the monitor of an IR scanner or video camera that interest him.

Having determined the target on the monitor, it is enough for the operator to aim the sight (cursor) on the monitor of the IR scanner and press the button of the manipulator to register the object with the camera, which has a higher resolution than the IR scanner and video equipment.

Targeted registration of an infrared scanner or video camera synchronously recorded on the registration strip and selected by the operator, as well as the new ability to take up to three clarifying images of the selected object, eliminates information loss and thereby increases its information content, in particular, the representativeness of the results of seal registration surveys and walruses.

Fixing the manipulator 3 of the camera and the camera 6 on one platform 5 allows you to expand the field of view of the camera 6 and, when visually comparing the images on the monitors of the IR scanner and the camera, adjust your choice of objects for registration with the camera 6, which also improves the quality and information content of the shooting materials.

The method of remote shooting of ground objects, involving the use of the proposed control device for shooting equipment for accurate registration of ground objects (figure 2) allows more efficient use of flight time during aerial surveys.

During aerial photography, synchronous images from an IR scanner and camcorder are displayed on monitors.

On the monitor of the IR scanner, the interface program in the background displays the sight in the form of a cursor.

The operator monitors the images on the monitors and has the ability to select from the image which monitor should be guided by choosing objects for registration.

After selecting and aiming the sight (cursor on the monitor) on the target, the operator, by pressing the start button on the handle of the manipulator, takes a photograph. In this case, the camera lens moved by the manipulator will also be aimed at the target object.

As necessary, the operator can take up to 2-3 pictures of one object, holding the sight on the object of observation. At the same time, the image continues to be fixed for some time, for example, on the screen of a video monitor.

Using the IR channel of the complex allows more accurately pointing the recording device's lens at warm-blooded objects, such as, for example, calf seals, which are hardly noticeable on the ice surface but are clearly visible in the IR image.

The application of the proposed method and device can approximately ten times reduce the number of “empty” frames without useful information by expanding the viewing range of the camera and camcorder, aiming the recording device’s lens at the subject, and the possibility of obtaining repeated refinement images of the same object when performing one span.

The invention is illustrated by drawings.

Figure 1 shows a General view of a device for controlling filming equipment, where 1 is a frame with communication connectors; 2 - rotary node; 3 - manual manipulator; 4 - manipulator buttons for controlling the shutter release of the camera; 5 - a platform for fixing cameras and / or video cameras; 6 - recording devices (photo and / or video cameras); 7 - vernier device; 8 - potentiometric sensors. Figure 2 presents the functional diagram of the control of the image recorder. Figure 3 shows a General view of the devices installed in the photolock AN-26 "Arctic", where 1 is an infrared scanner monitor with an eye; 2 - manual manipulator; 3 - digital camera; 4 - analog video camera; 5 - digital video camera. Figure 4 shows a synchronously executed infrared image and a digital photograph of seals from a height of 350 m

An example of the use of the invention.

A set of equipment for aerial photography is installed in the airplane photograph (Fig. 3) of the AN-26 "Arctic".

The composition of the shooting equipment includes: monitors 1 (IR scanners and video cameras), a manual manipulator 2 devices for controlling shooting equipment and recording devices such as camera 3, analog 4 and digital 5 cameras.

Carried out registration aerial surveys of young harp seal cubs in rookeries.

When conducting aerial photography, the operator used the device to control the shooting equipment.

During aerial photography, synchronous images from an infrared scanner and a video camera were displayed on the device monitors (figure 2).

On the monitor of the infrared scanner in the background, a sight in the form of a cursor was displayed.

The operator observed the images on the monitors and selected from the image on which monitor to navigate, choosing objects for registration.

When moving the manual manipulator 3 (Fig. 1), the operator changed the direction of the lens of the photo and video cameras 6 fixed on the platform 5 of the manipulator 3 so that the angle of inclination of the lenses along and across the axis of symmetry of the aircraft changed respectively within ± 40 and 60 °.

Under the operator’s action with the manipulator 3, the camera lens and the sight (cursor) were synchronously aimed at the selected target object on the monitor of the IR scanner, and when the button 4 (start) was pressed on the handle of the manipulator 3, a photograph was taken of it.

If necessary, the operator held the sight on the target object of observation and performed up to 2-3 clarifying pictures of the selected object, smoothly moving the handle of the manipulator 3 forward in the direction of travel and holding the sight on the target object. At the same time, the image continued to be fixed on the screen of the video monitor for some time.

The vernier device 7 using potentiometric sensors 8 recorded the position of the platform 5 of the manipulator 3, on which photo and video equipment 6 were fixed.

The signals from the sensors 8 and buttons 4 of the manipulator 3 were processed by a microcontroller, which transmitted information about the position of the site 5 and the state of the buttons 4 to the control computer.

All flight parameters and conditions were entered into the on-board automated system.

When recording surveys of young seals that are hardly noticeable on the ice surface, it is especially important to use the infrared channel of the complex, as this made it possible to more accurately direct the lens of the recording device to warm-blooded objects and significantly reduced the risk of losing useful information.

Subsequently, when processing aerial photography materials, several combinations of joint processing of photo and video materials were used: IR + photo, IR + video narrowband, IR + video broadband (Fig. 4).

The need to obtain digital photos is due to the difficulties in identifying IR images, which include the presence of “false targets”, such as the contrast glow in images that are comparable in size to seals of pressure sores, sun-heated surface areas, open water areas in faults, etc. When processing thermal images and photographic materials together, the reliability of the counting results is increased.

Using photographs when taking into account the numbers of harp seals by the IR + photo method, in addition to the number of animals, we were able to remotely determine their sizes, which in turn made it possible to obtain the size-age structure of the population through calibration measurements and “keys”.

The capabilities of high-resolution digital photography also make it possible to remotely recognize seal color, which together with body size can characterize their age, remotely from a shooting height of more than 400 m.

Aerial surveys make it possible to explore large areas in one day, for example, virtually all of the harred seals of the harp seal in the White Sea, and obtain photographs with images of seals for further determination of their size.

The application of the proposed method and device allows for aerial surveys of ground objects to reduce the number of “empty” frames by about ten times without useful information by expanding the camera’s viewing band, aiming the recording device’s lens at the target object and the possibility of obtaining repeated refinement images of the same object when performing one flight and, as a result, to improve the quality and reliability of aerial photography, the efficiency of the use of flight time during its Eden, reduce the cost of research.

Claims (5)

1. A multispectral complex for aerial surveys of ground-based objects, including equipment for multispectral aerial surveys and an on-board automated system for collecting, processing and presenting data, characterized in that the complex for synchronous IR shooting, video and photo recording of observation objects includes a control device for shooting equipment for aiming registration of ground objects, including a special platform-frame, a rotary unit mounted on it to change the position of the recording device, system him guidance, made in the form of a manual manipulator with control buttons, which allows you to set the position of the recording device along and across the axis of the aircraft within the specified viewing angles of the lens of the recording device, while the manual manipulator is equipped with a platform for fixing devices recording the objects of observation, vernier device with potentiometric sensors for recording the position of the manipulator pad, microcontrollers for processing signals from sensors and buttons Yator and transmission of information on the status of the site and the manipulator buttons able to control computer system for display in the background of the sight of the cursor on the monitor infrared scanner. 2. The multispectral complex according to claim 1, characterized in that the rotary assembly is fixed on the platform frame with the possibility of changing the position of the recording device, so that the angle of inclination of its lens along and across the axis of symmetry of the aircraft can be changed accordingly within ± 40 and 60 °. 3. The multispectral complex according to claim 1, characterized in that communication sockets are provided on the platform frame of the control device for shooting equipment for aiming registration of ground objects. 4. The method of multispectral aerial photography of ground objects according to claim 1, characterized in that when receiving a synchronous image on the monitors of the IR scanner and video equipment, an image is selected that will be oriented when registering the observed objects, the image selects the target — the observation object for registration, by means of a manual manipulator, which allows you to set the position of the recording device along and across the axis of the aircraft within the specified viewing angles of the lens of the recording device CTBA, suggest the cursor on the monitor of the infrared scanner to a selected target and pressing a button on the manipulator arm to take photographs. 5. The method of multispectral aerial photography according to claim 4, characterized in that, holding the sight on the target, produce up to three photographic registrations of one object.

Images