CN108955645A - Three-dimensional modeling method and device applied to communication iron tower intelligent patrol detection - Google Patents
Three-dimensional modeling method and device applied to communication iron tower intelligent patrol detection Download PDFInfo
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- CN108955645A CN108955645A CN201810779799.7A CN201810779799A CN108955645A CN 108955645 A CN108955645 A CN 108955645A CN 201810779799 A CN201810779799 A CN 201810779799A CN 108955645 A CN108955645 A CN 108955645A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The present invention relates to unmanned plane fields, and in particular to three-dimensional modeling method and device applied to communication iron tower intelligent patrol detection, which comprises determine the image acquisition region of the communication iron tower；According to the image acquisition region of the communication iron tower, the line of flight that unmanned plane acquires the communication iron tower image data, the line of flight flight broken line and hovering course line are generated；Control unmanned plane flies along the line of flight, successively reaches the flight broken line and the hovering course line, hovers and shoot the communication iron tower image data of predetermined angular on the flight broken line and the hovering course line；Point cloud data is converted by the communication iron tower image data of each flight broken line and course line of hovering, UAV Attitude parameter when shooting according to image data generates the threedimensional model of the communication iron tower under point cloud data unification to world coordinate system.The invention proposes a kind of methods of simple, efficient threedimensional model for establishing communication iron tower.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to three-dimensional modeling method and dress applied to communication iron tower intelligent patrol detection
It sets.
Background technique
With the development of domestic air mail industry, UAV technology tends to mature gradually, disappears for power circuit, public security
Anti-, extra large land patrol etc. provides the technical method and means of update, for the inspection project of communication iron tower, more especially
For high mountain website and the difficult website of some environment complexity, these projects are often required that " short, adaptable and fast ", and measurement period is short, appoints
Business weight, quality are high, and landform, landforms are complicated and changeable in region, and survey crew, instrument and equipment can not reach sometimes.Unmanned plane is realized
Electronization, information-based, intelligent inspection, improve that the working efficiency of communication iron tower inspection, emergency repair is horizontal and communication is protected
Hinder reliability.Simultaneously running cost substantially reduce, landing site without limitation, it is easy to operate, can be safely and conveniently close to target, complete
It can safeguard that unit voluntarily possess and complete independently operation and O&M, the scene that can fast implement inspection target are believed by transporting to examine entirely
Breath.Only to could preferably study communication iron tower after communication iron tower modeling, however, how to utilize unmanned plane fast and efficiently
Emphasis, the difficult point that modeling is current industry research are carried out to communication iron tower.
Summary of the invention
To overcome the above technical problem, especially communication simply and efficiently can not be established using unmanned plane in the prior art
The problem of threedimensional model of steel tower, spy propose following technical scheme:
In a first aspect, the present invention provides a kind of three-dimensional modeling methods applied to communication iron tower intelligent patrol detection, including walk as follows
It is rapid:
According to the longitude and latitude and height of communication iron tower, the image acquisition region of the communication iron tower is determined in the controls；
According to the image acquisition region of the communication iron tower, the flight boat that unmanned plane acquires the communication iron tower image data is generated
Line, the line of flight include around the flight broken line of the communication iron tower and hovering in the hovering boat in the communication iron tower overhead
Line；
Control unmanned plane flies along the line of flight, the flight broken line and the hovering course line is successively reached, described
The communication iron tower image data that the predetermined angular on the flight broken line is hovered and shot on flight broken line, in the hovering course line
Upper hovering and the communication iron tower image data for shooting the predetermined angular on the hovering course line；
Point cloud data is converted by the communication iron tower image data of each flight broken line and course line of hovering, is clapped according to image data
UAV Attitude parameter when taking the photograph generates the three-dimensional mould of the communication iron tower under point cloud data unification to world coordinate system
Type.
Further, described image pickup area is quadrangular image pickup area, and the flight navigation includes around institute
The polygon flight broken line of quadrangular image pickup area, and hovering are stated in the hovering in quadrangular image pickup area overhead
Course line.
Further, after the threedimensional model for generating the communication iron tower, further includes:
The image acquisition region for converting the communication iron tower, it is raw according to the three-dimensional modeling method of the communication iron tower intelligent patrol detection
The threedimensional model of communication iron tower under the image acquisition region of Cheng Xin；
The characteristic area for comparing the threedimensional model of two communication iron towers calculates the similarity of the characteristic area, will be described similar
The characteristic area that degree meets preset condition screens, the characteristic area of the threedimensional model as determining communication iron tower.
The further UAV Attitude parameter include the kinematic parameter determined by the sensor of unmanned plane and by
The acquisition parameters that the shooting mould group of unmanned plane determines.
Second aspect, the present invention provide a kind of three-dimensional modeling apparatus applied to communication iron tower intelligent patrol detection, comprising:
Pickup area determining module: for the longitude and latitude and height according to communication iron tower, the communication is determined in the controls
The image acquisition region of steel tower；
Airline generation module: it for the image acquisition region according to the communication iron tower, generates unmanned plane and acquires the communication iron
The line of flight of tower image data, the line of flight include around the flight broken line of the communication iron tower and hovering in described logical
Believe the hovering course line in steel tower overhead；
Image capture module: flying for controlling unmanned plane along the line of flight, successively reaches the flight broken line and institute
Hovering course line is stated, the communication iron tower picture number of the predetermined angular on the flight broken line is hovered and shot on the flight broken line
According to, it is described hovering course line on hover and shoot it is described hovering course line on predetermined angular communication iron tower image data；
Threedimensional model generation module: for converting the communication iron tower image data of each flight broken line and course line of hovering to a little
Cloud data, UAV Attitude parameter when being shot according to image data unifies the point cloud data under world coordinate system, raw
At the threedimensional model of the communication iron tower.
Further, described image pickup area is quadrangular image pickup area, and the flight navigation includes around institute
The polygon flight broken line of quadrangular image pickup area, and hovering are stated in the hovering in quadrangular image pickup area overhead
Course line.
Further, described device further include:
Variation module: the image acquisition region of the communication iron tower is converted, is built according to the three-dimensional of the communication iron tower intelligent patrol detection
Mould method generates the threedimensional model of the communication iron tower under new image acquisition region；
Comparison module: for comparing the characteristic area of the threedimensional model of two communication iron towers, the similar of the characteristic area is calculated
Degree, the characteristic area that the similarity meets preset condition is screened, the threedimensional model as determining communication iron tower
Characteristic area.
Further, the UAV Attitude parameter include the kinematic parameter determined by the sensor of unmanned plane and by
The acquisition parameters that the shooting mould group of unmanned plane determines.
The third aspect, the present invention also provides a kind of computer readable storage medium, the computer readable storage medium
On be stored with computer program, which realizes when being executed by processor above-mentioned is applied to communication iron tower intelligent patrol detection
Three-dimensional modeling method.
Compared with the prior art, the present invention has the following beneficial effects:
The present invention provides a kind of three-dimensional modeling method applied to communication iron tower intelligent patrol detection, the longitudes and latitudes and height of communication iron tower
Degree determines the image acquisition region of the communication iron tower in the controls, extends then along described image pickup area, raw
The line of flight of the communication iron tower image data is acquired at unmanned plane, and the line of flight includes around the communication iron tower
Flight broken line and hovering in the hovering course line in the communication iron tower overhead, it is pre- in line of flight photographs then to control unmanned plane
The communication iron tower image data for determining angle enables unmanned plane 360 ° omni-directional to take the image data of communication iron tower, and
The location of unmanned plane height, the route goodness of fit, environment temperature are possible different when considering shooting each time, according to each time
Image data is eventually converted into the coordinate under objective world coordinate system by UAV Attitude parameter when shooting, and it is objective to be generated with this
The threedimensional model of communication iron tower in the world, can under world coordinate system 360 ° of shapes for watching the communication iron tower.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is an embodiment flow diagram of the three-dimensional modeling method that the present invention is applied to communication iron tower intelligent patrol detection；
Fig. 2 acquires the flight boat of the communication iron tower image data for the image acquisition region and unmanned plane of communication iron tower of the present invention
One embodiment schematic diagram of line；
Fig. 3 acquires the flight boat of the communication iron tower image data for the image acquisition region and unmanned plane of communication iron tower of the present invention
Another embodiment schematic diagram of line；
Fig. 4 is an embodiment schematic diagram of the three-dimensional modeling apparatus that the present invention is applied to communication iron tower intelligent patrol detection.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refers to that there are the feature, integer, step, operations, but it is not excluded that in the presence of or addition it is one or more other
Feature, integer, step, operation.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
It will be appreciated by those skilled in the art that so-called " computer program " of the invention and the concept of similar statement, are
Same concept well known to those skilled in the art, refer to instructed by series of computation machine and the organic construction of related data resource it is suitable
In the computer software of electronics operation.Unless specified, it is this name itself not by types and levels of programming languages, also not by
The operating system or platform of its operation of relying are limited.In the nature of things, this genus is not also limited by any type of terminal
System.
In one embodiment, the present invention provides a kind of three-dimensional modeling method applied to communication iron tower intelligent patrol detection, should
The functional application that method is realized is equipped with image in the UAV system for including unmanned plane, control system, on the unmanned plane
Data shoot mould group, specifically, as shown in Figure 1, the described method comprises the following steps:
S10: according to the longitude and latitude and height of communication iron tower, the image acquisition areas of the communication iron tower is determined in the controls
Domain.
The present embodiment can acquire the longitude and latitude and height of communication iron tower first, and for communication iron tower, shape is most
For awl shape, pedestal is wide, more up narrower, the shape feature based on communication iron tower, can acquire the multiple tops of communication iron tower pedestal
The latitude and longitude information of point, then can select the position of communication iron tower according to the latitude and longitude information on multiple vertex from map upper ledge
Region, for example, communication iron tower pedestal is there are four vertex, according to four vertex can frame select the band of position of communication iron tower,
As connected four vertex, the band of position of the communication iron tower is selected with a quadrilateral frame；Either being surrounded using one should
The band of position of the border circular areas of the minimum area on four vertex as the communication iron tower；Further, in order to avoid unmanned plane
It collides during operation with communication iron tower, it is also necessary to the height of unmanned plane during flying is considered according to the height of communication iron tower, this
In embodiment, the band of position of communication iron tower is determined based on the longitude and latitude of the communication iron tower, the height based on communication iron tower is true
The height of fixed unmanned machine operation, so that the image acquisition region of the communication iron tower is determined in the controls, the control system
System include ground real time data processing equipment, central station and data link system, can input control instruct to
Unmanned plane makes it complete assigned work.
S20: it according to the image acquisition region of the communication iron tower, generates unmanned plane and acquires the communication iron tower image data
The line of flight, the line of flight include around the communication iron tower flight broken line and hovering in the communication iron tower overhead
Hovering course line.
In the present embodiment, in order to which 360 ° omni-directional takes the communication iron tower, adopted in the image that communication iron tower has been determined
After collecting region, navigated according to the flight that the image acquisition region of the communication iron tower generates unmanned plane acquisition communication iron tower image data
Line, generally, the range that the line of flight of unmanned plane is covered is bigger than the range of the image acquisition region of the communication iron tower
15%-20% takes the communication iron tower with could allowing unmanned plane 360 ° omni-directional and unmanned plane and communication iron tower is avoided to occur
Collision, specifically, the line of flight includes around the flight broken line of the communication iron tower and hovering on the communication iron tower
Empty hovering course line, can take the full-view image of communication iron tower around the flight broken line of the communication iron tower with 360 °, and with
It is easier to control the flight of unmanned plane when the line of flight of the flight broken line as unmanned plane, hovers in the hovering in communication iron tower overhead
Course line can take the high angle shot visual angle of communication iron tower, show the more details of communication iron tower.As shown in Fig. 2, quadrangle institute
The region of encirclement is described image pickup area 202, and the line of flight includes the flight broken line of polygon 203 and hovers over figure
As the hovering course line (be not shown in the figure, it will be appreciated by those skilled in the art that) in 202 overhead of pickup area.
S30: control unmanned plane flies along the line of flight, successively reaches the flight broken line and hovering boat
Line hovers on the flight broken line and shoots the communication iron tower image data of the predetermined angular on the flight broken line, in institute
State the communication iron tower image data that the predetermined angular on the hovering course line is hovered and shot on hovering course line.
After the line of flight of unmanned plane has been determined, control unmanned plane takes off, hovers, and flies then along the line of flight
It goes, in the present embodiment, the line of flight includes flight broken line and hovering course line, it is preferable that control unmanned plane is first along institute
The flight of flight broken line is stated, then hovers and shoot the communication iron tower image data of predetermined angular on flight broken line, on unmanned plane
Shooting mould group can be freely rotated, the predetermined angular includes will shoot mould group to face communication iron tower, and keep and level
The parallel shooting angle in face, and shooting mould group face communication iron tower, and when shooting mould group and being parallel to the horizontal plane upwards,
Under, left and right each shooting angle when rotating specified degree will shooting mould group adjustment for example, after hovering on the flight broken line
To facing the communication iron tower and being parallel to the horizontal plane, communication iron tower image data at this time is then shot；Then, it will shoot
Mould group upward direction rotates 45 °, shoots communication iron tower image data at this time；Shooting mould group is recovered to and faces the communication
It steel tower and is parallel to the horizontal plane, rotates 45 degree still further below, shoot communication iron tower image data at this time；Shooting mould group is recovered to
It faces the communication iron tower and is parallel to the horizontal plane, then turn left 45 degree, shoot communication iron tower image data at this time；It will
Shooting mould group, which recovers to, to be faced the communication iron tower and is parallel to the horizontal plane, then is turned right 45 degree, and communication at this time is shot
Steel tower image data；And so on, shoot the communication iron tower picture number of the predetermined angular of the hovering point on current flight broken line
According to.Optionally, after having shot the communication iron tower image data on all flight broken lines, control unmanned plane reaches the hovering boat
Line makes unmanned plane hover over the overhead of communication iron tower, and shooting mould group is then faced downwards communication iron tower shooting current angular
Communication iron tower image data, be rotated further by the shooting mould group, the communication iron tower figure of other predetermined angulars on shooting hovering course line
As data.After unmanned plane completes the flight of the line of flight and completes the image data shot, unmanned plane can be first controlled along pre-
Fixed return route returns to destination.
S40: point cloud data is converted by the communication iron tower image data of each flight broken line and course line of hovering, according to figure
UAV Attitude parameter when as data shooting generates the communication iron tower under point cloud data unification to world coordinate system
Threedimensional model.
After unmanned plane acquires the image data of communication iron tower, in order to allow unmanned plane to be used to clap by more continuation of the journey resources
Image data is taken the photograph, unmanned plane preferably is not provided in the present embodiment, all acquired image data is returned into control in real time
End, but after unmanned plane makes a return voyage, described image data are returned into control terminal again when there is the continuation of the journey resource of more free time, are controlled
After system termination receives described image data, convert the communication iron tower image data of each flight broken line and course line of hovering to a little
Cloud data, point cloud data refer to the set of one group of vector in a three-dimensional coordinate system, these vectors are usually with X, Y, Z tri-
The form for tieing up coordinate indicates, for indicating the outer surface geometry an of object, in addition, point cloud data is in addition to indicating object
Except geometry information, the RGB color of a point collected also may indicate that, gray value, depth, segmentation result etc.,
Therefore the threedimensional model of communication iron tower is not only generated, additionally it is possible to restore the information such as the color characteristic of communication iron tower.Due to unmanned plane
When shooting image data each time, location height, the route goodness of fit, environment temperature may be different, cause simultaneously
Non- UAV Attitude when shooting each time is identical, such as originally sets the flying height of unmanned plane as 200 meters, and the
When primary shooting, hovering height is 198.5 meters, and when shooting for second, hovering height is 201.2 meters, and the present embodiment is in order to more
The threedimensional model of communication iron tower is accurately generated, obtains UAV Attitude data when captured image data each time, then root
UAV Attitude parameter when according to captured image data each time is by described this time captured corresponding cloud number of image data
According under unification to world coordinate system, real-time attitude data when by unmanned plane captured image data are taken into account, and are generated with this
The threedimensional model of communication iron tower under world coordinate system, world coordinate system are the absolute coordinate system of real objective world, can be retouched
Stating object can be alive by generating the threedimensional model of the communication iron tower under world coordinate system in the position of objective world
Lower 360 ° of the boundary's coordinate system shapes for watching the communication iron tower.
Present embodiments provide a kind of three-dimensional modeling method applied to communication iron tower intelligent patrol detection, the longitude and latitude of communication iron tower
Degree and height determine the image acquisition region of the communication iron tower in the controls, expand then along described image pickup area
Exhibition generates the line of flight that unmanned plane acquires the communication iron tower image data, and the line of flight includes around described logical
Then the flight broken line for believing steel tower and hovering control unmanned plane on the line of flight in the hovering course line in the communication iron tower overhead
The communication iron tower image data for shooting predetermined angular, enables unmanned plane 360 ° omni-directional to take the picture number of communication iron tower
According to, and consider the location of unmanned plane height when shooting each time, the possible difference of the route goodness of fit, environment temperature, root
Image data is eventually converted into the coordinate under objective world coordinate system according to UAV Attitude parameter when shooting each time, with this
Generate objective world in communication iron tower threedimensional model, can under world coordinate system 360 ° watch the communication iron tower
Shape.
Preferably, in the embodiment of the present invention, described image pickup area is quadrangular image pickup area, the flight
Navigation includes the polygon flight broken line around the quadrangular image pickup area, and hovering is acquired in the quadrangular image
The hovering course line in region overhead.
In the present embodiment, it is contemplated that " awl shape, pedestal is wide, more up narrower " basic configuration feature of communication iron tower, especially
It is the shape feature that communication iron tower pedestal is quadrangle, in the controls, according to the latitude and longitude information of communication iron tower, i.e., logical
Believe the latitude and longitude information on four vertex of steel tower pedestal quadrangle, is then in control according to the latitude and longitude information on four vertex
The map upper ledge of system selects the band of position of the quadrilateral shape of communication iron tower, determines that unmanned plane is made further according to the height of communication iron tower
The height of industry, to determine the quadrangular image pickup area of the communication iron tower in the controls.As shown in Fig. 2, this reality
A kind of embodiment of example is applied, four vertex 201 of communication iron tower, using four vertex 201 as the vertex of quadrangle, connection should
Four 201 frames of vertex select the quadrangle band of position 202, and consider the quadrangle band of position after the height of communication iron tower
Then the 202 quadrangular image pickup area 202 as the communication iron tower states quadrangular image pickup area 202 according to this
It determines and is adopted around the polygon flight broken line 203 of the quadrangular image pickup area 202 and hovering in the quadrangular image
The hovering course line (be not shown in the figure, it will be appreciated by those skilled in the art that) for collecting 202 overhead of region, optionally, in one-stop operation
In task, the embodiment of the present invention is only clapped on the polygon flight broken line 203 parallel with the quadrangular image pickup area 202
Take the photograph communication iron tower image data.
Further, a kind of embodiment of the invention after the threedimensional model for generating the communication iron tower, is also wrapped
It includes:
The image acquisition region for converting the communication iron tower, it is raw according to the three-dimensional modeling method of the communication iron tower intelligent patrol detection
The threedimensional model of communication iron tower under the image acquisition region of Cheng Xin；
The characteristic area for comparing the threedimensional model of two communication iron towers calculates the similarity of the characteristic area, will be described similar
The characteristic area that degree meets preset condition screens, the characteristic area of the threedimensional model as determining communication iron tower.
The threedimensional model of more accurate communication iron tower in order to obtain in the present embodiment, after one-stop operation task, converts institute
The image acquisition region of communication iron tower is stated, then according to the three-dimensional modeling method of above-mentioned communication iron tower intelligent patrol detection, is generated new
The threedimensional model of communication iron tower under image acquisition region, as shown in figure 3, being relative to another embodiment shown in Fig. 2
The quadrangular image pickup area of the communication iron tower is determined, likewise, four vertex 301 of communication iron tower, generate one or four sides
Shape image acquisition region 302 successively falls on each vertex 301 on each side of quadrangular image, and considers communication iron tower
Quadrangular image pickup area 302 after height by the quadrangle band of position 302 as the communication iron tower, then basis
This is stated quadrangular image pickup area 302 and determines the polygon flight broken line 303 for surrounding the quadrangular image pickup area 302
And hovering (is not shown in the figure, those skilled in the art can be in the hovering course line in 302 overhead of quadrangular image pickup area
Understand), after the line of flight has been determined, according to raw the step of the above-mentioned three-dimensional modeling method applied to communication iron tower intelligent patrol detection
The threedimensional model of communication iron tower under the image acquisition region of Cheng Xin.Then, compare the three of two communication iron towers that front and back generates
The characteristic area of dimension module calculates the similarity of the characteristic area, and the similarity can be calculated according to SIFT algorithm,
Then the characteristic area that the similarity meets preset condition is screened, such as the same characteristic area of two threedimensional models
The similarity in domain (i.e. same position) is greater than 99%, then screens this feature region, the three-dimensional as determining communication iron tower
The characteristic area of model makees Recursion process with this, just can obtain the threedimensional model of accurate communication iron tower.
Specifically, the UAV Attitude parameter includes being determined by the sensor of unmanned plane in the embodiment of the present invention
Kinematic parameter and the acquisition parameters that are determined by the shooting mould group of unmanned plane.
In the present embodiment, the UAV Attitude parameter includes the kinematic parameter determined by the sensor of unmanned plane as sat
Position is demarcated, flying height flies to direction, wind direction, shake amplitude, and the sensor includes three-axis gyroscope, three axis accelerometer,
Three axle electronic compass.Further include the acquisition parameters determined by the shooting mould group of unmanned plane, for example, shooting when time, focal length, into
Light quantity, shutter speed, hot sensing temperature etc. will shoot each time and be obtained by taking into account a variety of UAV Attitude parameters
The image data obtained can more objectively be converted into the data under world coordinate system, generate the communication more more met with objective time
The threedimensional model of steel tower.For example, hovering height is 198.5 meters when shooting first time, and when shooting for second, hovering height
It is 201.2 meters, when under unification to world coordinate system, which is taken into account, realizes and more objectively calculate.
As shown in figure 4, in another embodiment, the present invention provides a kind of three applied to communication iron tower intelligent patrol detection
Tie up model building device, comprising:
Pickup area determining module 10: it for the longitude and latitude and height according to communication iron tower, determines in the controls described logical
Believe the image acquisition region of steel tower；
Airline generation module 20: it for the image acquisition region according to the communication iron tower, generates unmanned plane and acquires the communication
The line of flight of steel tower image data, the line of flight include around the flight broken line of the communication iron tower and hovering in described
The hovering course line in communication iron tower overhead；
Image capture module 30: flying for controlling unmanned plane along the line of flight, successively reach the flight broken line and
The communication iron tower image of the predetermined angular on the flight broken line is hovered on the flight broken line and is shot in the hovering course line
The communication iron tower image data of the predetermined angular on the hovering course line is hovered on the hovering course line and shot to data；
Threedimensional model generation module 40: for converting the communication iron tower image data of each flight broken line and course line of hovering to
Point cloud data, UAV Attitude parameter when being shot according to image data unify the point cloud data under world coordinate system,
Generate the threedimensional model of the communication iron tower.
A kind of embodiment of the invention, described image pickup area are quadrangular image pickup area, the flight navigation
Including the polygon flight broken line around the quadrangular image pickup area, and hovering is in the quadrangular image pickup area
The hovering course line in overhead.
A kind of embodiment of the invention, described device further include:
Variation module: the image acquisition region of the communication iron tower is converted, is built according to the three-dimensional of the communication iron tower intelligent patrol detection
Mould method generates the threedimensional model of the communication iron tower under new image acquisition region；
Comparison module: for comparing the characteristic area of the threedimensional model of two communication iron towers, the similar of the characteristic area is calculated
Degree, the characteristic area that the similarity meets preset condition is screened, the threedimensional model as determining communication iron tower
Characteristic area.
In the embodiment of the present invention, the UAV Attitude parameter includes that ginseng is moved determined by the sensor of unmanned plane
Number and the acquisition parameters determined by the shooting mould group of unmanned plane.
In another embodiment, the present invention provides a kind of computer readable storage medium, computer-readable storage mediums
Computer program is stored in matter, which realizes when being executed by processor is applied to communication iron tower intelligence described in above-described embodiment
The three-dimensional modeling method of energy inspection.Wherein, the computer readable storage medium include but is not limited to any kind of disk (including
Floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM(Read-Only Memory, read-only memory), RAM(Random
AcceSS Memory, immediately memory), EPROM(EraSable Programmable Read-Only Memory, it is erasable
Programmable read only memory), EEPROM(Electrically EraSable Programmable Read-Only Memory,
Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card.It is, storage equipment includes by equipment (example
Such as, computer, mobile phone) with any medium for the form storage or transmission information that can be read, can be read-only memory, disk or
CD etc..
A kind of computer readable storage medium provided in an embodiment of the present invention, it can be achieved that according to the longitude and latitude of communication iron tower and
Highly, the image acquisition region of the communication iron tower is determined in the controls；
According to the image acquisition region of the communication iron tower, the flight boat that unmanned plane acquires the communication iron tower image data is generated
Line, the line of flight include around the flight broken line of the communication iron tower and hovering in the hovering boat in the communication iron tower overhead
Line；Control unmanned plane flies along the line of flight, successively reaches the flight broken line and the hovering course line, flies described
The communication iron tower image data that the predetermined angular on the flight broken line is hovered and shot on row broken line, on the hovering course line
Hover and shoot the communication iron tower image data of the predetermined angular on the hovering course line；By each flight broken line and course line of hovering
The communication iron tower image data is converted into point cloud data, and UAV Attitude parameter when being shot according to image data is by the point
Under the unification to world coordinate system of cloud data, the threedimensional model of the communication iron tower is generated.It is a kind of applied to communication iron by providing
The three-dimensional modeling method of tower intelligent patrol detection, the longitude and latitude and height of communication iron tower determine the communication iron tower in the controls
Image acquisition region is extended then along described image pickup area, is generated unmanned plane and is acquired the communication iron tower image data
The line of flight, and the line of flight include around the communication iron tower flight broken line and hovering on the communication iron tower
Then empty hovering course line controls unmanned plane in the communication iron tower image data of line of flight photographs predetermined angular, makes nobody
Machine can 360 ° omni-directional take the image data of communication iron tower, and consider each time shooting when unmanned plane locating for position
Set height, the route goodness of fit, environment temperature may be different, according to UAV Attitude parameter when shooting each time by image data
The coordinate being eventually converted under objective world coordinate system generates the threedimensional model of communication iron tower in objective world with this, can
360 ° of shapes for watching the communication iron tower under world coordinate system.
Computer readable storage medium provided in an embodiment of the present invention may be implemented the above-mentioned communication iron tower that is applied to and intelligently patrol
The embodiment of the three-dimensional modeling method of inspection, concrete function realize the explanation referred in embodiment of the method, and details are not described herein.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of three-dimensional modeling method applied to communication iron tower intelligent patrol detection, which comprises the steps of:
According to the longitude and latitude and height of communication iron tower, the image acquisition region of the communication iron tower is determined in the controls；
According to the image acquisition region of the communication iron tower, the flight boat that unmanned plane acquires the communication iron tower image data is generated
Line, the line of flight include around the flight broken line of the communication iron tower and hovering in the hovering boat in the communication iron tower overhead
Line；
Control unmanned plane flies along the line of flight, the flight broken line and the hovering course line is successively reached, described
The communication iron tower image data that the predetermined angular on the flight broken line is hovered and shot on flight broken line, in the hovering course line
Upper hovering and the communication iron tower image data for shooting the predetermined angular on the hovering course line；
Point cloud data is converted by the communication iron tower image data of each flight broken line and course line of hovering, is clapped according to image data
UAV Attitude parameter when taking the photograph generates the three-dimensional mould of the communication iron tower under point cloud data unification to world coordinate system
Type.
2. the method according to claim 1, wherein described image pickup area is quadrangular image acquisition zone
Domain, the flight navigation includes the polygon flight broken line around the quadrangular image pickup area, and hovering is in described four
The hovering course line in side shape image acquisition region overhead.
3. the method according to claim 1, wherein after the threedimensional model for generating the communication iron tower,
Further include:
The image acquisition region for converting the communication iron tower, it is raw according to the three-dimensional modeling method of the communication iron tower intelligent patrol detection
The threedimensional model of communication iron tower under the image acquisition region of Cheng Xin；
The characteristic area for comparing the threedimensional model of two communication iron towers calculates the similarity of the characteristic area, will be described similar
The characteristic area that degree meets preset condition screens, the characteristic area of the threedimensional model as determining communication iron tower.
4. the method according to claim 1, wherein the UAV Attitude parameter includes the sensing by unmanned plane
Kinematic parameter determined by device and the acquisition parameters determined by the shooting mould group of unmanned plane.
5. a kind of three-dimensional modeling apparatus applied to communication iron tower intelligent patrol detection characterized by comprising
Pickup area determining module: for the longitude and latitude and height according to communication iron tower, the communication is determined in the controls
The image acquisition region of steel tower；
Airline generation module: it for the image acquisition region according to the communication iron tower, generates unmanned plane and acquires the communication iron
The line of flight of tower image data, the line of flight include around the flight broken line of the communication iron tower and hovering in described logical
Believe the hovering course line in steel tower overhead；
Image capture module: flying for controlling unmanned plane along the line of flight, successively reaches the flight broken line and institute
Hovering course line is stated, the communication iron tower picture number of the predetermined angular on the flight broken line is hovered and shot on the flight broken line
According to, it is described hovering course line on hover and shoot it is described hovering course line on predetermined angular communication iron tower image data；
Threedimensional model generation module: for converting the communication iron tower image data of each flight broken line and course line of hovering to a little
Cloud data, UAV Attitude parameter when being shot according to image data unifies the point cloud data under world coordinate system, raw
At the threedimensional model of the communication iron tower.
6. device according to claim 5, which is characterized in that described image pickup area is quadrangular image acquisition zone
Domain, the flight navigation includes the polygon flight broken line around the quadrangular image pickup area, and hovering is in described four
The hovering course line in side shape image acquisition region overhead.
7. device according to claim 5, which is characterized in that described device further include:
Variation module: the image acquisition region of the communication iron tower is converted, is built according to the three-dimensional of the communication iron tower intelligent patrol detection
Mould method generates the threedimensional model of the communication iron tower under new image acquisition region；
Comparison module: for comparing the characteristic area of the threedimensional model of two communication iron towers, the similar of the characteristic area is calculated
Degree, the characteristic area that the similarity meets preset condition is screened, the threedimensional model as determining communication iron tower
Characteristic area.
8. device according to claim 5, which is characterized in that the UAV Attitude parameter includes the sensing by unmanned plane
Kinematic parameter determined by device and the acquisition parameters determined by the shooting mould group of unmanned plane.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes that Claims 1-4 is described in any item applied to communication iron tower intelligent patrol detection when the program is executed by processor
Three-dimensional modeling method.
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| CN110645963A (en) * | 2019-09-10 | 2020-01-03 | 中铁大桥局第七工程有限公司 | Method and system for acquiring three-dimensional coordinates of unknown point at top of high tower |
| CN111179413A (en) * | 2019-12-19 | 2020-05-19 | 中建科技有限公司深圳分公司 | Three-dimensional reconstruction method and device, terminal equipment and readable storage medium |
| CN111179413B (en) * | 2019-12-19 | 2023-10-31 | 中建科技有限公司深圳分公司 | Three-dimensional reconstruction method, device, terminal equipment and readable storage medium |
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