CN107168356A - A kind of airphoto displacement acquisition methods and airphoto control method for movement - Google Patents
A kind of airphoto displacement acquisition methods and airphoto control method for movement Download PDFInfo
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- CN107168356A CN107168356A CN201710511561.1A CN201710511561A CN107168356A CN 107168356 A CN107168356 A CN 107168356A CN 201710511561 A CN201710511561 A CN 201710511561A CN 107168356 A CN107168356 A CN 107168356A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims description 13
- 238000007689 inspection Methods 0.000 claims description 10
- VMXUWOKSQNHOCA-UKTHLTGXSA-N ranitidine Chemical compound [O-][N+](=O)\C=C(/NC)NCCSCC1=CC=C(CN(C)C)O1 VMXUWOKSQNHOCA-UKTHLTGXSA-N 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of airphoto displacement acquisition methods and airphoto control method for movement, and compensation campaign servo control mechanism determines the start time point of control aerial camera movement；Compensation campaign servo control mechanism obtains aircraft flight parameter；Compensation campaign servo control mechanism obtains controlling the displacement of aerial camera movement.According to the attitude information of the flying height of aircraft, flying speed and the focal length, time for exposure and the camera platform that shoot camera, aerial camera is driven to move by the acquisition of airphoto displacement, the speed and camera shutter shooting time point of compensation campaign servo control mechanism operation, eliminate due to the high-speed flight of the aircraft during taking photo by plane, forward direction as move difference and camera platform posture caused by rotating photo of the target that target and camera have motion and produced within the unit exposure time in focal plane moves deviation.By the acquisition of airphoto displacement, aerial camera is being shot exposure moment spatially geo-stationary, complete the shooting to photographic subjects.
Description
Technical field
The present invention relates to Aerial photography field, more particularly to a kind of airphoto displacement acquisition methods and airphoto
Control method for movement.
Background technology
Electric power enterprise will put into huge manpower and materials and carry out periodical inspection inspection to transmission line of electricity every year, so as at any time
Grasp and understand transmission line of electricity running situation and circuit surrounding environment and the situation of change in route protection area, find and disappear in time
Except hidden danger.
Depopulated helicopter carry photoelectric nacelle is during electric inspection process, due to the limitation of the conditions such as temperature, height above sea level, aircraft
Hover and shoot before shaft tower, aircraft engine power output reaches maximum, aircraft safety is had a certain impact, simultaneously because
The shooting cost time of hovering for a long time is long, and routing inspection efficiency is low.Electric power enterprise wishes that aircraft completes inspection under the conditions of without hovering and appointed
Business.But shot under state of flight, due to aircraft flight speed, target exists with camera and transported within the unit exposure time
Forward direction rotating photo as caused by moving difference and camera platform posture dynamic and that the target of generation is in focal plane moves deviation.Shooting image meeting
Situations such as there is de- shadow, obscure.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, the present invention provides a kind of airphoto displacement acquisition methods, side
Method includes：
S1：Compensation campaign servo control mechanism determines the start time point of control aerial camera movement；
S2：Compensation campaign servo control mechanism obtains aircraft flight parameter；
S3：Aircraft flight parameter based on step S2, compensation campaign servo control mechanism obtains controlling aerial camera movement
Displacement.
Preferably, step S1 also includes：
Routeing point is preset according to flight inspection, and according to routeing electric force pole tower geographical coordinate position, it is determined that
Compensation campaign servo control mechanism start time point.
Preferably, step S2 also includes：
Aircraft flight parameter includes：Flying speed, flying height, the appearance of the focal length of camera, time for exposure and camera platform
State information.
Preferably, step S3 also includes：
In aircraft flight, aircraft pitch direction produces image motion velocity, the presence based on the angle of pitch so that image motion velocity exists
There are two components in image coordinates system:Forward direction image motion velocity Vp1With the component Vp perpendicular to CCD image planes2；
When the CCD image planes of photoelectric nacelle are taken pictures parallel to ground, i.e., when the angle of pitch is 0, atural object image motion velocity VDWith flying
Machine flying speed VrEqual in magnitude, direction is identical；
VD=Vr (1)
Now, the image motion velocity V in CCD image planesPWith atural object image motion velocity VDIn the presence of following relation:
When aircraft has the angle of pitch, the CCD image planes of photoelectric nacelle generate inclination, by Vp along parallel to P direction of principal axis and
Vp1 and Vp2 are resolved into perpendicular to P direction of principal axis, then:
It is T, aircraft flight height H according to the default time for exposure, is compensated motion servo mechanism controls airphoto
Machine movement displacement Δ S, Δ S be:
A kind of airphoto control method for movement, method includes：
Compensation campaign servo control mechanism is shot using PID positions current closed-loop feedback control system control aerial camera.
Preferably, current closed-loop feedback control system in PID positions obtains the displacement Δ S of control aerial camera movement；
PID positions current closed-loop feedback control system uses increment type control method, and PID is the increment of output duty cycle,
Displacement Δ S enters feedforward computing module, carries out differential process, the changing value of displacement of targets amount is obtained, with displacement of targets amount
Changing value is applied directly on the output duty cycle of PID control as feedforward amount, duty cycle signals is increased or is reduced, control boat
Sky shooting follow shot.
Preferably, current closed-loop feedback control system in PID positions uses increment type control method, and PID is output duty cycle
Increment, displacement Δ S enter feedforward computing module, carry out differential process, obtain the changing value of displacement of targets amount；
Again using the changing value of electric current as feedforward amount, differential process is carried out, the changing value of target current is obtained；
With the changing value of displacement of targets amount and using the changing value of target current as feedforward amount, PID control is applied directly to
On output duty cycle, duty cycle signals is increased or is reduced, control airphoto follow shot.
As can be seen from the above technical solutions, the present invention has advantages below：
The present invention is according to the flying height of aircraft, flying speed and the focal length, time for exposure and the camera platform that shoot camera
Attitude information, drive aerial camera to move by the acquisition of airphoto displacement, the operation of compensation campaign servo control mechanism
Speed and camera shutter shooting time point, were eliminated due to the high-speed flight of the aircraft during taking photo by plane, within the unit exposure time
Forward direction as move difference and camera platform posture caused by rotating photo of the target that target has motion with camera and produced in focal plane
Move deviation.By the acquisition of airphoto displacement, aerial camera is set to shoot exposure moment spatially geo-stationary, it is complete
Into the shooting to photographic subjects.The present invention improves the success that high quality graphic is shot in unmanned plane electric inspection process shooting process
Rate and the operating efficiency of inspection.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, it will make simple to the required accompanying drawing used in description below
Introduce on ground, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill
For personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the flow chart of airphoto displacement acquisition methods；
Fig. 2 is for the present invention as pitching picture moves schematic diagram.
Embodiment
The present invention provides a kind of airphoto displacement acquisition methods, and as depicted in figs. 1 and 2, method includes：
S1：Compensation campaign servo control mechanism determines the start time point of control aerial camera movement；
S2：Compensation campaign servo control mechanism obtains aircraft flight parameter；
S3：Aircraft flight parameter based on step S2, compensation campaign servo control mechanism obtains controlling aerial camera movement
Displacement.
Step S1 also includes：
Routeing point is preset according to flight inspection, and according to routeing electric force pole tower geographical coordinate position, it is determined that
Compensation campaign servo control mechanism start time point.
Step S2 also includes：
Aircraft flight parameter includes：Flying speed, flying height, the appearance of the focal length of camera, time for exposure and camera platform
State information.
Step S3 also includes：
In aircraft flight, aircraft pitch direction produces image motion velocity, the presence based on the angle of pitch so that image motion velocity exists
There are two components in image coordinates system:Forward direction image motion velocity Vp1With the component Vp perpendicular to CCD image planes2；Due to Vp2Perpendicular to
CCD image planes, then will not be produced as moving, therefore, and IMC system is needed before compensating to this component of image motion velocity, so that it may to disappear
Except as moving.
When the CCD image planes of photoelectric nacelle are taken pictures parallel to ground, i.e., when the angle of pitch is 0, atural object image motion velocity VDWith flying
Machine flying speed VrEqual in magnitude, direction is identical；
VD=Vr (1)
Now, the image motion velocity V in CCD image planesPWith atural object image motion velocity VDIn the presence of following relation:
When aircraft has the angle of pitch, the CCD image planes of photoelectric nacelle generate inclination, by Vp along parallel to P direction of principal axis and
Vp1 and Vp2 are resolved into perpendicular to P direction of principal axis, then:
It is T, aircraft flight height H according to the default time for exposure, is compensated motion servo mechanism controls airphoto
Machine movement displacement Δ S, Δ S be:
Find out that angle of pitch control error is bigger from (4) formula, remaining image motion velocity and as shifting amount is bigger, to gondola image quality
Influence is bigger.Compensation campaign servo control mechanism must obtain aircraft flight speed, flying height in (4) formula, when CCD exposes
Between, the parameter such as camera focus can just calculate displacement Δ S.
Compensation campaign servo control mechanism is to include：The servomotor of aerial camera motion is controlled, the micro- of servomotor is controlled
Controller and its auxiliary device, peripheral circuit, in program of the microcontroller provided with runs software and calculating displacement.
The present invention also provides a kind of airphoto control method for movement, and method includes：
Compensation campaign servo control mechanism is shot using PID positions current closed-loop feedback control system control aerial camera.
Wherein, current closed-loop feedback control system in PID positions obtains the displacement Δ S of control aerial camera movement；
PID positions current closed-loop feedback control system uses increment type control method, and PID is the increment of output duty cycle,
Displacement Δ S enters feedforward computing module, carries out differential process, the changing value of displacement of targets amount is obtained, with displacement of targets amount
Changing value is applied directly on the output duty cycle of PID control as feedforward amount, duty cycle signals is increased or is reduced, control boat
Sky shooting follow shot.
Further, current closed-loop feedback control system in PID positions uses increment type control method, and PID is output duty cycle
Increment, displacement Δ S enter feedforward computing module, carry out differential process, obtain the changing value of displacement of targets amount；
Again using the changing value of electric current as feedforward amount, differential process is carried out, the changing value of target current is obtained；
With the changing value of displacement of targets amount and using the changing value of target current as feedforward amount, PID control is applied directly to
On output duty cycle, duty cycle signals is increased or is reduced, control airphoto follow shot.
PID positions current closed-loop feedback control system is by reasonably setting pid parameter, it is ensured that the height of compensation mechanism motion
Precision and high duplication so that the unfavorable factor such as extraneous disturbance is preferably minimized.In the current closed-loop feedback control system of PID positions
Coal addition position ring feedback mainly meets the systematic steady state of control system, and electric current loop feeds back asking for solution system quick response
Topic.Differential process improves system and suppresses the ability of overshoot, and can significantly reduce dynamic velocity drop caused by load disturbance, improves system
During system dynamic response performance.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (7)
1. a kind of airphoto displacement acquisition methods, it is characterised in that method includes：
S1：Compensation campaign servo control mechanism determines the start time point of control aerial camera movement；
S2：Compensation campaign servo control mechanism obtains aircraft flight parameter；
S3：Aircraft flight parameter based on step S2, compensation campaign servo control mechanism obtains controlling the displacement of aerial camera movement
Amount.
2. Aerial photography IMC control method according to claim 1, it is characterised in that
Step S1 also includes：
Routeing point is preset according to flight inspection, and according to routeing electric force pole tower geographical coordinate position, it is determined that compensation
Motion servo mechanism start time point.
3. Aerial photography IMC control method according to claim 1, it is characterised in that
Step S2 also includes：
Aircraft flight parameter includes：Flying speed, flying height, the posture letter of the focal length of camera, time for exposure and camera platform
Breath.
4. Aerial photography IMC control method according to claim 1, it is characterised in that
Step S3 also includes：
In aircraft flight, aircraft pitch direction produces image motion velocity, the presence based on the angle of pitch so that image motion velocity is in image planes
There are two components in coordinate system:Forward direction image motion velocity Vp1With the component Vp perpendicular to CCD image planes2；
When the CCD image planes of photoelectric nacelle are taken pictures parallel to ground, i.e., when the angle of pitch is 0, atural object image motion velocity VDWith aircraft flight
Speed VrEqual in magnitude, direction is identical；
VD=Vr (1)
Now, the image motion velocity V in CCD image planesPWith atural object image motion velocity VDIn the presence of following relation:
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When aircraft has the angle of pitch, the CCD image planes of photoelectric nacelle generate inclination, by Vp along parallel to P direction of principal axis and vertically
Vp 1 and Vp 2 are resolved into P direction of principal axis, then:
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5. a kind of airphoto control method for movement, it is characterised in that method includes：
Compensation campaign servo control mechanism is shot using PID positions current closed-loop feedback control system control aerial camera.
6. airphoto control method for movement according to claim 5, it is characterised in that
PID positions current closed-loop feedback control system obtains the displacement △ S of control aerial camera movement；
PID positions current closed-loop feedback control system uses increment type control method, and PID is the increment of output duty cycle, displacement
Measure △ S and enter feedforward computing module, carry out differential process, the changing value of displacement of targets amount is obtained, with the change of displacement of targets amount
Value is applied directly on the output duty cycle of PID control as feedforward amount, duty cycle signals is increased or is reduced, and control aviation is taken the photograph
As follow shot.
7. airphoto control method for movement according to claim 6, it is characterised in that
PID positions current closed-loop feedback control system uses increment type control method, and PID is the increment of output duty cycle, displacement
Measure △ S and enter feedforward computing module, carry out differential process, obtain the changing value of displacement of targets amount；
Again using the changing value of electric current as feedforward amount, differential process is carried out, the changing value of target current is obtained；
With the changing value of displacement of targets amount and using the changing value of target current as feedforward amount, the output of PID control is applied directly to
In dutycycle, duty cycle signals is increased or is reduced, control airphoto follow shot.
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Cited By (11)
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| CN107613219A (en) * | 2017-09-21 | 2018-01-19 | 维沃移动通信有限公司 | A kind of image pickup method, mobile terminal and storage medium |
| CN108227753A (en) * | 2017-12-08 | 2018-06-29 | 国网浙江省电力公司温州供电公司 | For the not parking method for inspecting of power equipment |
| CN108280894A (en) * | 2017-12-08 | 2018-07-13 | 浙江国自机器人技术有限公司 | Not parking method for inspecting for power equipment |
| CN109831600A (en) * | 2019-02-27 | 2019-05-31 | 中国科学院光电技术研究所 | A kind of method that photoelectric follow-up avoids picture from moving during target approaches |
| CN111416943A (en) * | 2020-04-28 | 2020-07-14 | 成都纵横自动化技术股份有限公司 | Camera anti-shake method, camera anti-shake apparatus, aerial survey camera, and computer-readable storage medium |
| CN111457897A (en) * | 2020-04-23 | 2020-07-28 | 中国科学院上海技术物理研究所 | Swinging-scanning type multi-view-angle aerial oblique photography camera and imaging method |
| CN113543420A (en) * | 2021-09-14 | 2021-10-22 | 四川大学华西医院 | Illumination imaging illumination control method and device |
| CN113994657A (en) * | 2020-10-20 | 2022-01-28 | 深圳市大疆创新科技有限公司 | Track delay shooting method and device, cradle head camera, unmanned aerial vehicle and handheld cradle head |
| CN114185365A (en) * | 2021-10-22 | 2022-03-15 | 中国科学院长春光学精密机械与物理研究所 | Aerial camera controller supporting different-speed image motion compensation function |
| CN115426455A (en) * | 2022-11-03 | 2022-12-02 | 季华实验室 | Image motion compensation mechanism of space camera and control method thereof |
| CN115514896A (en) * | 2022-11-01 | 2022-12-23 | 季华实验室 | Image motion compensation method, device and system for area-array camera and readable storage medium |
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Cited By (16)
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| CN107613219A (en) * | 2017-09-21 | 2018-01-19 | 维沃移动通信有限公司 | A kind of image pickup method, mobile terminal and storage medium |
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| CN108280894A (en) * | 2017-12-08 | 2018-07-13 | 浙江国自机器人技术有限公司 | Not parking method for inspecting for power equipment |
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| CN111457897A (en) * | 2020-04-23 | 2020-07-28 | 中国科学院上海技术物理研究所 | Swinging-scanning type multi-view-angle aerial oblique photography camera and imaging method |
| CN111457897B (en) * | 2020-04-23 | 2024-02-23 | 中国科学院上海技术物理研究所 | Swing-scanning type multi-view aviation oblique photography camera and imaging method |
| CN111416943A (en) * | 2020-04-28 | 2020-07-14 | 成都纵横自动化技术股份有限公司 | Camera anti-shake method, camera anti-shake apparatus, aerial survey camera, and computer-readable storage medium |
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| CN113543420B (en) * | 2021-09-14 | 2021-11-26 | 四川大学华西医院 | Illumination imaging illumination control method and device |
| CN113543420A (en) * | 2021-09-14 | 2021-10-22 | 四川大学华西医院 | Illumination imaging illumination control method and device |
| CN114185365A (en) * | 2021-10-22 | 2022-03-15 | 中国科学院长春光学精密机械与物理研究所 | Aerial camera controller supporting different-speed image motion compensation function |
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