CN109737924A - Three-dimensional mapping system based on unmanned plane - Google Patents
Three-dimensional mapping system based on unmanned plane Download PDFInfo
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- CN109737924A CN109737924A CN201910151348.3A CN201910151348A CN109737924A CN 109737924 A CN109737924 A CN 109737924A CN 201910151348 A CN201910151348 A CN 201910151348A CN 109737924 A CN109737924 A CN 109737924A
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Abstract
The invention discloses a kind of three-dimensional mapping systems based on unmanned plane, comprising: acquisition module, the acquisition module are arranged on unmanned plane, obtain mine terrain graph data for being acquired to predetermined landform；Locating module, for triggering Location Request when acquisition module acquires image data, synchronous to obtain location information data, the locating module is connect with the acquisition module；Attitude orientation module, for when acquisition module acquires image data, triggering current pose acquisition request, synchronous three angle element datas for obtaining current unmanned plane current pose, the attitude orientation module is connect with the acquisition module；And model generation module, for the mine terrain graph data, the location information data and the angle element data according to acquisition, generation obtains the 3-dimensional digital elevation model dem data of the predetermined landform；The model generation module is connected with the acquisition module, the locating module, the attitude orientation module respectively.
Description
Technical field
The present invention relates to mapping field more particularly to a kind of three-dimensional mapping systems based on unmanned plane.
Background technique
Existing Mine construction engineering predominantly passes through man-hour manually hand-held total station or scale obtains terrain data, then will measurement
Data carry out artificial drafting two dimensional terrain figure using CAD isovector Autocad, and use contour elevation notation methods
It indicates lineament, finally draws mining equiment on two dimensional terrain figure by designer and lay element；But due to using artificial
Terrain elevation data can only be reflected by drawing two dimensional terrain figure, high to drawing professional skill requirement, obtain large-scale terrain environment
When data collection efficiency it is low, can not precisely restore and the above vegetation of reflection mine soil layer and ground object situation.
Summary of the invention
The present invention provides a kind of three-dimensional mapping systems based on unmanned plane, to solve traditional artificial can not precisely draw also
The technical issues of former topographic map, to carry out three-dimensional mapping to mine landform based on unmanned plane, and then is realized and precisely draws reduction
The function of topographic map.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of three-dimensional mapping system based on unmanned plane,
Include:
Acquisition module, the acquisition module are arranged on unmanned plane, for being acquired with obtaining mine to predetermined landform
Shape image data；
Locating module, it is synchronous to obtain location information number for triggering Location Request when acquisition module acquires image data
According to the locating module is connect with the acquisition module；
Attitude orientation module, for triggering current pose acquisition request, synchronizing and obtain when acquisition module acquires image data
Three angle element datas of current unmanned plane current pose are taken, the attitude orientation module is connect with the acquisition module；And
Model generation module, for the mine terrain graph data, the location information data and the institute according to acquisition
Angle element data is stated, generation obtains the 3-dimensional digital elevation model dem data of the predetermined landform；The model generation module point
It is not connected with the acquisition module, the locating module, the attitude orientation module.
Preferably, described pair of predetermined landform, which is acquired, obtains mine terrain graph data, comprising: judgement is current
Whether flying height reaches preset value, whether judgement currently reaches preset value to the resolution ratio on ground and judge present physical member ruler
It is very little whether to reach preset value；When the condition that the judging submodule is judged all meets, triggering collection movement, to pre-
Determine landform and is acquired acquisition mine terrain graph data.
Preferably, the acquisition module includes 5 groups of cameras, and the magazine camera imaging unit is Exmor
APS HD CMOS image sensor.
Preferably, it is individual data of two-dimentional multi-angle of view image that five groups of cameras, which obtain information,.
Preferably, the locating module includes GPS positioning device.
Preferably, the GPS positioning device is used to obtain three line elements of the acquisition module acquisition moment
x、y、z。
Preferably, information acquired in the GPS positioning device and attitude positioning system is divided into POS data.
Preferably, the system further includes storage module, for storing the two-dimentional multi-angle of view image of the acquisition
Individual data and the POS data.
Preferably, the storage module includes external SD card.
Preferably, all data of the storage module storage are filed is saved for GIS data.
Compared with the prior art, the embodiment of the present invention has the following beneficial effects:
Three-dimensional mapping is carried out to mine landform based on unmanned plane, by acquisition module, locating module, attitude orientation module and
The combined use of module generation module solves traditional artificial the technical issues of can not precisely drawing reduction topographic map, realizes accurate
Draw the function of reduction topographic map.
Detailed description of the invention
Fig. 1: for the system structure diagram in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, the preferred embodiment of the present invention provides a kind of three-dimensional mapping system based on unmanned plane, comprising:
Acquisition module, the acquisition module are arranged on unmanned plane, for being acquired with obtaining mine to predetermined landform
Shape image data；
Locating module, it is synchronous to obtain location information number for triggering Location Request when acquisition module acquires image data
According to the locating module is connect with the acquisition module；
Attitude orientation module, for triggering current pose acquisition request, synchronizing and obtain when acquisition module acquires image data
Three angle element datas of current unmanned plane current pose are taken, the attitude orientation module is connect with the acquisition module；And
Model generation module, for the mine terrain graph data, the location information data and the institute according to acquisition
Angle element data is stated, generation obtains the 3-dimensional digital elevation model dem data of the predetermined landform；The model generation module point
It is not connected with the acquisition module, the locating module, the attitude orientation module.
In the present embodiment, described pair of predetermined landform, which is acquired, obtains mine terrain graph data, comprising: judgement is current
Whether flying height reaches preset value, whether judgement currently reaches preset value to the resolution ratio on ground and judge present physical member ruler
It is very little whether to reach preset value；When the condition that the judging submodule is judged all meets, triggering collection movement, to pre-
Determine landform and is acquired acquisition mine terrain graph data.
In the present embodiment, the acquisition module includes 5 groups of cameras, and the magazine camera imaging unit is Exmor
APS HD CMOS image sensor.
In the present embodiment, it is individual data of two-dimentional multi-angle of view image that five groups of cameras, which obtain information,.
In the present embodiment, the locating module includes GPS positioning device.
In the present embodiment, the GPS positioning device is used to obtain three line elements of the acquisition module acquisition moment
x、y、z。
In the present embodiment, information acquired in the GPS positioning device and attitude positioning system is divided into POS data.
In the present embodiment, the system further includes storage module, for storing the two-dimentional multi-angle of view image of the acquisition
Individual data and the POS data.
In the present embodiment, the storage module includes external SD card.
In the present embodiment, all data of the storage module storage are filed is saved for GIS data.
Combined with specific embodiments below, the present invention is described in detail.
1, using UAV flight mine terrain data acquisition device (multiple groups camera, GPS positioning device, attitude orientation system
System) from the different angles acquisition mining area landform image such as vertical, inclination, obtain the information of ground object complete and accurate.
2, the mine terrain data acquisition device is by the dedicated route design software of unmanned plane, to meet terrain clearance,
Ground resolution and physics elemental size triangle proportionate relationship, setting sidelapping degree be 60%, longitudinal overlap degree be 80% fly
Row course line, and Auto-matching trigger data acquisition timing node is required according to degree of overlapping, obtain mine terrain data.
3, it is in other distributing installations of horse in image collection on unmanned machine head that the multiple groups camera, which is 5 groups of difference camera lenses directions,
Device, camera imaging unit are Exmor APS HD CMOS image sensor, can effectively obtain ground object about 2430 and distinguish very much
Rate image.
4, the GPS positioning device is to obtain three line element x, y, z of camera exposure moment.
5, the attitude positioning system is three angles element φ, ω, κ for recording the posture of camera exposure moment.
6, it is individual data of two-dimentional multi-angle of view image that the multiple groups camera, which obtains information,.
7, information acquired in the GPS positioning device and attitude positioning system is divided into POS data.
8, two-dimentional individual data of multi-angle of view image and POS data of above-mentioned acquisition are stored in mine terrain data acquisition dress
It sets in external SD card, and filing is GIS data.
9, the GIS data is uploaded to WebGIS Platform Server by http transport protocol by browser.
10, raw according to the mine terrain graph data, the location information data and the angle element data of acquisition
At obtaining the 3-dimensional digital elevation model dem data of the predetermined landform.
The system also includes radar detected module, the radar detected module includes laser radar detection device；
Generating process specifically includes:
Detection time information and detection angle information are resolved according to mapping command information；
The laser radar detection device is controlled according to the detection time information of resolving and the detection angle information to refer to
To the intended ground region starting sensing point and be directed toward by desired trajectory all target acquisitions in the intended ground region
Point；
The laser radar detection device is controlled according to the detection time information of resolving to send to all target acquisition points
First laser detectable signal, and receive the second laser detectable signal that the target acquisition point reflection is returned；
The three-dimensional position of the detection time information, the detection angle information and the laser radar detection device is sat
Mark, which is added after the first laser detectable signal and the second laser detectable signal, to be carried out coding and forms the surveying and mapping data to return
Return the model generation module.
The present invention is based on unmanned planes to carry out three-dimensional mapping to mine landform, passes through acquisition module, locating module, attitude orientation
The combined use of module and module generation module solves traditional artificial the technical issues of can not precisely drawing reduction topographic map, real
Now precisely draw the function of reduction topographic map.
Particular embodiments described above has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that the above is only a specific embodiment of the present invention, the protection being not intended to limit the present invention
Range.It particularly points out, to those skilled in the art, all within the spirits and principles of the present invention, that is done any repairs
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of three-dimensional mapping system based on unmanned plane characterized by comprising
Acquisition module, the acquisition module are arranged on unmanned plane, obtain mine topographic map for being acquired to predetermined landform
As data；
Locating module, it is synchronous to obtain location information data for triggering Location Request when acquisition module acquires image data,
The locating module is connect with the acquisition module；
Attitude orientation module, for when acquisition module acquires image data, triggering current pose acquisition request, synchronous obtain is worked as
Three angle element datas of preceding unmanned plane current pose, the attitude orientation module are connect with the acquisition module；And
Model generation module, for the mine terrain graph data, the location information data and the angle according to acquisition
Element data, generation obtain the 3-dimensional digital elevation model dem data of the predetermined landform；The model generation module respectively with
The acquisition module, the locating module, the attitude orientation module are connected.
2. the system as claimed in claim 1, which is characterized in that described pair of predetermined landform, which is acquired, obtains mine terrain graph
Data, comprising: judge whether current flying height reaches preset value, whether judgement currently reaches preset value to the resolution ratio on ground
With judge whether present physical elemental size reaches preset value；When the condition that the judging submodule is judged all meets
When, triggering collection movement is acquired predetermined landform and obtains mine terrain graph data.
3. the system as claimed in claim 1, which is characterized in that the acquisition module includes 5 groups of cameras, the magazine phase
Machine imaging unit is Exmor APS HD CMOS image sensor.
4. system as claimed in claim 3, which is characterized in that it is two-dimentional multi-angle of view image list that five groups of cameras, which obtain information,
Open data.
5. system as claimed in claim 4, which is characterized in that the locating module includes GPS positioning device.
6. system as claimed in claim 5, which is characterized in that the GPS positioning device is adopted for obtaining the acquisition module
Collect three line element x, y, z of moment.
7. system as claimed in claim 6, which is characterized in that the GPS positioning device and the acquired letter of attitude positioning system
Breath is divided into POS data.
8. system as claimed in claim 7, which is characterized in that the system further includes storage module, for storing described obtain
Two-dimentional individual data of multi-angle of view image taken and the POS data.
9. system as claimed in claim 8, which is characterized in that the storage module includes external SD card.
10. system as claimed in claim 8, which is characterized in that all data of the storage module storage are filed for GIS
Data are saved.
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| CN114877872A (en) * | 2022-07-01 | 2022-08-09 | 北京今日蓝天科技有限公司 | Unmanned aerial vehicle, operating system thereof, method, medium and equipment for generating map |
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Application publication date: 20190510 |