CN111959803A - Unmanned aerial vehicle slope shooting platform and slope shooting unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle slope shooting platform and slope shooting unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to an unmanned aerial vehicle oblique shooting platform and an unmanned aerial vehicle for oblique shooting, belongs to the technical field of unmanned aerial vehicle aerial shooting, and solves the problem that model errors obtained by existing oblique shooting equipment for irregular aerial shooting objects are large. The unmanned aerial vehicle inclined shooting platform comprises a base plate, a leveling device, a horizontal plate, a first shooting assembly and a second shooting assembly; the horizontal plate is arranged on the base plate through the leveling device; the leveling device adjusts the horizontal plate to be in a horizontal state; the first shooting assembly is fixedly arranged on the bottom surface of the horizontal plate, and the shooting direction is vertical downward; the second shooting assembly is rotatably arranged on the bottom surface of the horizontal plate, and the shooting direction is inclined downwards relative to the vertical direction; the second photographing assembly rotates around the first photographing assembly. Continuous oblique shooting in different horizontal directions is carried out through the second shooting assembly rotating around the first shooting assembly, so that a more accurate model of an irregular shooting object can be obtained through images shot in a continuous oblique mode.
Description
Technical Field
The invention relates to the technical field of aerial photography of unmanned aerial vehicles, in particular to an unmanned aerial vehicle oblique shooting platform and an oblique shooting unmanned aerial vehicle.
Background
Geological area operations such as regional geological survey, exploration or mapping, traditional mode relies on staff's manual work, including using walking carrier, climbing equipment etc. to carry out ground operation, and open-air map filling operation often need face complicated topography and adverse circumstances, has brought a great deal of inconvenience for ground operation. Unmanned aerial vehicle is as an aircraft platform, can overcome the obstacle that needs in the ground operation effectively, and unmanned aerial vehicle begins to show prominently in the application advantage in geology, survey and drawing field, especially in high height and the inconvenient plateau area of traffic, uses unmanned aerial vehicle to carry out the map filling operation, and then accomplishes the demand of operations such as geological survey, exploration or map survey more urgent.
Oblique photography is an important technology which has recently emerged, and on an unmanned aerial vehicle platform, an oblique photography system generally adopts a plurality of sensor devices, and is different from other orthographic imaging systems in that the oblique photography system comprises four cameras with different directions besides a vertical camera, data is collected in five directions of a shot object, and the data is used for synthesizing a three-dimensional model of an entity. The oblique photography system can observe an object from multiple directions, and can record the height, length, gradient and angle of the object. The traditional 3D modeling adopts software such as 3DMax and the like to carry out manual modeling, and the precision and the efficiency are low. The oblique photography technology adopts professional data processing software and flow, and the generated entity three-dimensional model has high resolution and large range and is more similar to the result of an entity. Support is provided for the accuracy of the mapping level and the effect of being more intuitive and realistic. However, the existing oblique shooting equipment is generally suitable for shooting objects with regular shapes such as buildings, and when field geological mapping is carried out in high-altitude regions of Tibet, accurate models are often difficult to obtain for irregular field aerial shooting objects such as mountains, rocks and lands.
In addition, the use of drones in plateau areas can face several problems: firstly, the air density of the plateau area is low, so that the power and the stability of the unmanned aerial vehicle are influenced; secondly, the highland area is bad in climate, and the weather of wind, rain and snow is big in proportion, influences unmanned aerial vehicle's operation and airborne equipment's stability. Therefore, the use problem of the plateau area has adverse influence on the imaging of the platform and airborne equipment of the unmanned aerial vehicle, the quality of a three-dimensional solid model generated by the mapping of the unmanned aerial vehicle is easily influenced, and the accuracy and the reference of operation are reduced.
Disclosure of Invention
In view of the foregoing analysis, the present invention aims to provide an unmanned aerial vehicle oblique shooting platform and an oblique shooting unmanned aerial vehicle, so as to solve the problem that the model error obtained by the existing oblique shooting device for an irregular aerial object is large.
The purpose of the invention is mainly realized by the following technical scheme:
in one aspect, an unmanned aerial vehicle inclined shooting platform is provided, including: the device comprises a base plate, a leveling device, a horizontal plate, a first shooting assembly and a second shooting assembly; the horizontal plate is arranged on the base plate through the leveling device; the leveling device adjusts the horizontal plate to be in a horizontal state; the first shooting assembly is fixedly arranged on the bottom surface of the horizontal plate, and the shooting direction is vertical downward; the second shooting assembly is rotatably arranged on the bottom surface of the horizontal plate, and the shooting direction is inclined downwards relative to the vertical direction; the second photographing assembly rotates around the first photographing assembly.
In one set of technical scheme, a circular sliding rail is arranged on the bottom surface of a horizontal plate, and a first shooting assembly is positioned at the circle center of the circular sliding rail; the second shoots the subassembly setting on the slider, and the slider rotates around first shooting subassembly in circular slide rail.
In one set of technical scheme of the invention, the inner side wall of the circular slide rail is provided with a gear ring, and the part of the slide block positioned in the circular slide rail is provided with a gear; the gear and the gear ring are meshed through the planetary gear set, and the second shooting assembly inclines outwards in the radial direction far away from the circular sliding rail.
According to the technical scheme, the horizontal plate is provided with the gear set motor, and the gear set motor controls the sliding block to rotate around the first shooting assembly.
In one set of technical scheme of the invention, the leveling device is provided with at least 3 leveling components and 1 calibration hinge; the leveling assemblies are telescopic rods and are circumferentially and uniformly distributed on the horizontal plate relative to the positions of the first shooting assembly; the calibration hinge is a spherical hinge which directly connects the base plate and the horizontal plate.
In one set of technical scheme of the invention, the fixed end of the telescopic rod is hinged with the horizontal plate ball, and the telescopic end of the telescopic rod is hinged with the base plate ball; the horizontal plate is provided with a gyroscope, the gyroscope is electrically connected with a controller of the leveling device, and the controller controls the telescopic length of the leveling component.
In one set of technical scheme of the invention, the first shooting component comprises a first camera, and the shooting direction of the first camera is vertically downward;
the second shooting assembly comprises a second camera and an inclination adjusting assembly, and the inclination adjusting assembly adjusts an included angle between the shooting direction of the second camera and the vertical direction.
In one set of technical scheme of the invention, a public shooting area is arranged between the shooting range of the second camera and the shooting range of the first camera.
In one set of technical scheme of the invention, the horizontal plate and the base plate are both circular plates;
the base plate is provided with a plurality of mounting through holes which are uniformly distributed in the circumferential direction.
On the other hand, the invention provides an unmanned aerial vehicle for oblique shooting, wherein the bottom of the unmanned aerial vehicle for oblique shooting is provided with the unmanned aerial vehicle oblique shooting platform in the technical scheme of the invention;
the unmanned aerial vehicle is shot in the slope and is fixed wing unmanned aerial vehicle or rotor unmanned aerial vehicle.
In one set of technical scheme of the invention, the oblique shooting unmanned aerial vehicle is also provided with infrared distance measuring equipment and a height controller;
the infrared distance measuring equipment is used for measuring the vertical height of the oblique shooting unmanned aerial vehicle from the ground;
the height controller is used for adjusting the vertical height of the oblique shooting unmanned aerial vehicle from the ground.
In another aspect, an unmanned aerial vehicle mapping method is also provided, which includes the following steps:
acquiring first image data of an airborne device of an unmanned aerial vehicle for aerial photography of a target area;
performing imaging detection on the first image data to obtain a correction parameter of the first image data;
correcting the redundant and miscellaneous information in the first image data according to the correction parameters to obtain second image data;
eliminating distortion difference in the second image data to obtain third image data;
acquiring fourth image data of an unmanned aerial vehicle, wherein the fourth image data is used for aerial photography of a preset calibration point in a target area by airborne equipment of the unmanned aerial vehicle;
obtaining three-dimensional calibration data according to a preset three-dimensional model corresponding to the preset calibration point and the fourth image data;
and obtaining a target image map or a target digital model according to the three-dimensional calibration data and the third image data to finish map filling.
In one set of technical scheme of the invention, before the process of acquiring the first image data of the target area aerial-photographed by the airborne equipment of the unmanned aerial vehicle, the method further comprises the following steps:
and calibrating a camera of the airborne equipment to eliminate imaging distortion of the airborne equipment in a target area.
In one set of technical solutions of the present invention, a process of eliminating distortion in second image data includes the steps of:
and correcting distortion in the second image data according to a preset identification report corresponding to the airborne equipment.
In one set of technical solution of the present invention, the process of performing imaging detection on the first image data to obtain the correction parameter of the first image data includes the steps of:
detecting an actual signal-to-noise ratio of the first image data;
comparing an original interference area corresponding to the first image data with an actual signal-to-noise ratio to obtain a contrast measurement value;
and taking the measured value of the contrast ratio and the actual signal-to-noise ratio as correction parameters.
In one set of technical solution of the present invention, a process of correcting redundant information in first image data according to a correction parameter includes the steps of:
and removing the image area which is larger than the correction parameter in the original interference area in the first image data.
In one set of technical solution of the present invention, the process of converting the third image data into the map filling result includes the steps of:
and performing space-three processing on the third image data to obtain a space-three processing result.
In one set of technical solution of the present invention, the process of converting the third image data into the map filling result includes the steps of:
and extracting a digital elevation model based on the third image data.
Compared with the prior art, the technical scheme of the invention can at least realize one of the following beneficial effects:
1) according to the invention, the second shooting assembly rotating around the first shooting assembly is used for carrying out continuous inclined shooting in different horizontal directions, so that a more accurate model of the irregular shooting object can be obtained through images shot in a continuous inclined mode.
2) According to the unmanned aerial vehicle inclined shooting platform, the horizontal plate and the leveling device are arranged, so that the second shooting assembly is always positioned on the same horizontal plane when the second shooting assembly carries out continuous inclined shooting around the first shooting assembly, the images continuously shot in an inclined mode cannot have displacement difference in height, and an image synthesis model can be conveniently passed;
3) according to the invention, the height adjusting device is arranged on the unmanned aerial vehicle, so that the height of the unmanned aerial vehicle relative to the bottom surface is kept unchanged when continuous inclined shooting is carried out, the unmanned aerial vehicle can adapt to complicated and changeable mountain winds in a field mountain area, and the height difference of continuously shot images caused by the mountain winds is prevented.
4) According to the unmanned aerial vehicle image filling method, negative effects of plateau environment on unmanned aerial vehicle imaging are reduced through correction parameter correction and distortion elimination, so that the quality of image filling results is improved.
Drawings
Fig. 1 is a schematic structural view of an unmanned aerial vehicle inclined shooting platform according to an embodiment of embodiment 1;
fig. 2 is a schematic structural view of an oblique shooting drone according to an embodiment of embodiment 2;
fig. 3 is a flowchart of a method for mapping a drone according to an embodiment of example 3;
fig. 4 is a flowchart of a recording and playing control method according to another embodiment in example 3;
FIG. 5 is a recording and broadcasting display interface diagram according to an embodiment of example 4;
FIG. 6 is a flowchart of a handover method according to an embodiment of embodiment 4;
fig. 7 is a block diagram of an unmanned aerial vehicle mapping apparatus according to an embodiment of example 4;
fig. 8 is a schematic structural diagram of a map filling system according to an embodiment of example 6.
Reference numerals:
1-a substrate; 2-horizontal plate; 3-leveling components; 4-a first camera; 5-a second camera; 6-a circular slide rail; 7-a slide block; 8-a tilt adjustment assembly; 1001-unmanned plane.
Detailed Description
For better understanding of the objects, technical solutions and effects of the present invention, the present invention will be further explained with reference to the accompanying drawings and examples. Meanwhile, the following described examples are only for explaining the present invention, and are not intended to limit the present invention.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, which may be a mechanical connection, an electrical connection, which may be a direct connection, or an indirect connection via an intermediate medium. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.
Example 1
As shown in fig. 1 and 2, an embodiment of the invention provides an unmanned aerial vehicle oblique shooting platform, which is used for unmanned aerial vehicle oblique shooting. Unmanned aerial vehicle slope shooting platform includes: base plate 1, levelling device, horizontal plate 2, first shooting subassembly and second shooting subassembly. The base plate 1 is fixedly connected with the unmanned aerial vehicle and serves as an installation carrier of the whole unmanned aerial vehicle inclined shooting platform; the horizontal plate 2 is arranged on the base plate 1 through a leveling device, and the leveling device adjusts the horizontal plate 2 to be in a horizontal state; the first shooting assembly is fixedly arranged on the bottom surface of the horizontal plate 2, and the shooting direction is vertical downwards; the second shooting component is rotatably arranged on the bottom surface of the horizontal plate 2, and the shooting direction is inclined downwards relative to the vertical direction and is used for acquiring direct shooting images; the second shooting assembly rotates around the first shooting assembly and is used for acquiring continuous oblique shooting images. Because the embodiment of the invention is mainly used for field geological exploration or disaster assessment in mountainous areas and the like, the inclination of the unmanned aerial vehicle can be caused by the field complex airflow, when the unmanned aerial vehicle inclines, the leveling device can adjust the horizontal plate 2 to be in a horizontal state, so that when the second shooting component carries out continuous inclined shooting, the difference of the height and/or angle of continuous inclined shooting images caused by the inclination of the unmanned aerial vehicle can be avoided, and the three-dimensional model error generated thereby can be avoided.
When the second shooting component is used for shooting in an inclined mode, the shooting direction of the second shooting component is always outward along the radial direction of the circular motion track of the second shooting component, so that the angle of continuous inclined shooting is kept unchanged, and the three-dimensional model is conveniently synthesized. Specifically, a circular slide rail 6 is arranged on the bottom surface of the horizontal plate 2, and the first shooting assembly is located at the circle center of the circular slide rail; the subassembly setting is shot on slider 7 to the second, and slider 7 rotates around first shooting subassembly in circular slide rail 6, and the subassembly is shot to the second and radially outwards inclines far away from circular slide rail 6. When continuous inclined shooting is carried out, the slide block 7 rotates at a uniform angular speed in the circular slide rail 6, the shorter the shooting step length of the continuous shooting is, the more the continuously inclined shot images are, the better the continuity between each frame of image is, and the more the synthesis of the three-dimensional model is fit to the actual shooting object, but if the shooting step length is too short, the too many shot images can greatly increase the data amount of the images and the calculation amount of model synthesis, in the embodiment of the invention, the slide block 7 rotates for one circle, and the number of the continuously inclined shot images is 8-60, preferably 24.
In the embodiment of the invention, the movement of the sliding block 7 in the circular sliding rail 6 is realized in a planetary gear set mode, specifically, a gear ring is arranged on the inner side wall of the circular sliding rail 6, and a gear is arranged on the part, positioned in the circular sliding rail 6, of the sliding block 7; the gears mesh with the ring gear through a planetary gear set.
In order to enable the sliding block 7 to rotate around the first shooting component in the circular sliding rail 6 at a constant speed, in the embodiment of the invention, the horizontal plate 2 is provided with the gear set motor, the gear set motor controls the sliding block 7 to rotate around the first shooting component, and because the rotating angular speed of the gear set motor determines the rotating angular speed of the sliding block 7 around the first shooting component in the circular sliding rail 6, and the rotating angular speed of the sliding block 7 around the first shooting component in the circular sliding rail 6 determines the time interval of shooting images in the continuous inclined shooting process of the second shooting component, therefore, in order to facilitate the control of the rotating speed of the gear set motor, the gear set motor in the embodiment of the invention adopts a stepping motor, so as to simplify the control algorithm of the motor.
In the embodiment of the invention, the leveling device adjusts the horizontal plate 2 to be in a horizontal state, and specifically, the leveling device is provided with at least 3 leveling components 3 and 1 calibration hinge; the leveling assemblies 3 are telescopic rods and are circumferentially and uniformly distributed on the horizontal plate 2 relative to the first shooting assembly; the calibration hinge is a spherical hinge which directly connects the base plate 1 and the horizontal plate 2; the fixed end of the telescopic rod is in ball joint with the horizontal plate 2, and the telescopic end of the telescopic rod is in ball joint with the base plate 1. Leveling subassembly 3 adjusts the distance that base plate 1 and horizontal plate 2 correspond position department through flexible for when base plate 1 takes place to incline along with unmanned aerial vehicle, horizontal plate 2 can guarantee to be in the horizontality. In addition, because leveling subassembly 3 is all not telescopic pole, the setting of calibration hinge can prevent that leveling subassembly 3 from causing horizontal plate 2 to keep away from or be close to unmanned aerial vehicle, as long as unmanned aerial vehicle can keep relative earth's surface altitude unchangeable, can realize that horizontal plate 2 is relative earth's surface altitude unchangeable, and keep the level, and then make the second shoot the difference in height that the image can not appear when carrying out continuous slope shooting, avoid the three-dimensional modeling error that consequently produces, it can simulate actual topography more accurately to be three-dimensional model. In order to simplify the complexity of the control algorithm of the leveling component 3, in the embodiment of the invention, the connection position of the calibration hinge and the horizontal plate 2 coincides with the installation position of the first shooting component on the horizontal plate 2, and the connection position is respectively positioned on the top surface and the bottom surface of the horizontal plate 2 and at the center of a circle of the circular slide rail 6.
In order to reflect whether the horizontal plate 2 is in a horizontal state, a gyroscope is used as feedback of the horizontal degree of the horizontal plate 2 in the embodiment of the invention, specifically, the horizontal plate 2 is provided with the gyroscope, the gyroscope is electrically connected with a controller of the leveling device, and the controller controls the telescopic length of the leveling component 3. The gyroscope is used for reflecting the state of the horizontal plate 2 and providing a feedback signal which is used as a basis for adjusting the telescopic length of the leveling knot component.
In the embodiment of the invention, the first shooting component comprises the first camera 4, the shooting direction of the first camera 4 is vertical downward, and the first camera 4 acquires direct images which can be used as a synthesis position basis when continuously obliquely shooting images to generate a three-dimensional model, so that obvious position dislocation among the images is avoided during image synthesis.
The second shooting assembly comprises a second camera 5 and an inclination adjusting assembly 8, and the inclination adjusting assembly 8 adjusts an included angle between the shooting direction of the second camera 5 and the vertical direction. According to the embodiment of the invention, the second camera 5 is rotated around the first camera 4 to perform continuous inclined shooting, and continuous inclined shooting images are obtained to synthesize the three-dimensional model, only one camera is used as a camera for inclined shooting in the whole process, compared with the existing 4 inclined cameras in different directions, the weight of an inclined shooting platform can be simplified, the load of an unmanned aerial vehicle is reduced, and the actual endurance time of the unmanned aerial vehicle is prolonged. In addition, the tilt adjusting unit 8 can adjust the pitch angle of the second camera 5 with respect to the horizontal plane, and before the second camera 5 is used for continuous tilt shooting, the pitch angle of the second camera 5 can be set according to the mountain tendency, the tilt degree, and the like of the shooting object, so that the image continuously tilt-shot by the second camera 5 can contain more information such as the feature, the shape, and the like of the shooting object, and the three-dimensional model synthesized by the images continuously tilt-shot can simulate the shooting object more realistically.
Since the direct image of the first camera 4 is used as a position calibration basis for the composition of the continuously inclined shot images, a common shooting area is provided between the shooting range of the second camera 5 and the shooting range of the first camera 4.
In order to facilitate the production and processing of the embodiment of the invention, in the embodiment of the invention, the horizontal plate 2 and the base plate 1 are both circular plates, so that the arrangement of the circular slide rails 6, the circumferential uniform arrangement of the leveling assemblies 3 and the position arrangement of the first shooting assembly on the horizontal plate 2 are facilitated. The base plate 1 is provided with a plurality of mounting through holes which are uniformly distributed in the circumferential direction and used for being fixedly connected with the unmanned aerial vehicle, and the circumferential uniform distribution is favorable for enabling the base plate 1 to uniformly distribute acting force on the unmanned aerial vehicle in the circumferential direction, so that the problem that the unmanned aerial vehicle is unbalanced in weight due to the fact that the unmanned aerial vehicle is mounted in the embodiment of the invention is solved.
Example 2
The embodiment of the invention provides an unmanned aerial vehicle for oblique shooting, which is used for realizing oblique shooting of irregular shooting objects such as outdoor mountainous regions and the like by the unmanned aerial vehicle by installing the unmanned aerial vehicle oblique shooting platform in the embodiment 1 on the unmanned aerial vehicle. The unmanned aerial vehicle is a fixed-wing unmanned aerial vehicle or a rotor unmanned aerial vehicle; fixed wing unmanned aerial vehicle cost is lower, the portability is stronger, and the size becomes littleer and smaller, and weight is lighter and lighter more and more, by original oil engine, develops present oil-electricity mixture, pure electric drive's unmanned aerial vehicle, is applicable to geological area investigation project. Rotor unmanned aerial vehicle can be for four rotor unmanned aerial vehicle, the bigger twelve rotor unmanned aerial vehicle of eight rotor unmanned aerial vehicle loads of lift, sixteen rotor unmanned aerial vehicle, according to the size of complicacy, the complexity degree of shooting the environment is confirmed.
The unmanned aerial vehicle slope in embodiment 1 shoots the platform and can guarantee that the second shoots the subassembly relative with base plate 1's difference in height unchangeable, the subassembly is shot to the second promptly and is relative unchangeable with unmanned aerial vehicle's difference in height, and the height of the relative earth's surface of unmanned aerial vehicle is unchangeable, can guarantee that the second shoots the height unchangeable of the relative earth's surface of subassembly to there is not difference in height between the image that the messenger shoots in continuous slope. It is more convenient to synthesize the three-dimensional model by continuously tilting the photographed images. In the embodiment of the invention, the oblique shooting unmanned aerial vehicle is also provided with infrared distance measuring equipment and a height controller; the infrared distance measuring equipment measures the vertical height of the oblique shooting unmanned aerial vehicle from the ground; the height controller adjusts the vertical height of the inclined shooting unmanned aerial vehicle from the ground by adjusting the flying or hovering state of the unmanned aerial vehicle.
When the embodiment of the invention is used for geological exploration or disaster assessment, the base plate 1 is connected with the bottom of the unmanned aerial vehicle, the bolts penetrate through the mounting through holes of the base plate 1 and the bottom of the unmanned aerial vehicle, the base plate 1 is fixedly connected with the unmanned aerial vehicle, and the unmanned aerial vehicle inclined shooting platform are mounted.
And roughly evaluating the mountain to be aerial-photographed in advance, determining parameters such as the aerial-photographing height of the unmanned aerial vehicle, the pitching angle of the second camera 5, the photographing times of the second camera 5 for continuously obliquely photographing for 360 degrees and the like, and finishing the presetting of the parameters for continuously obliquely photographing by the unmanned aerial vehicle.
Flying the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly above a target shooting area, and adjusting the height of the unmanned aerial vehicle to the target height; starting a first camera 4, shooting a target area directly, and taking an obtained direct image as a synthetic basis of a continuous oblique shooting image; and starting the sliding block 7, driving the second camera 5 to rotate around the first camera 4 at a constant speed by the sliding block 7, and continuously obliquely shooting the second camera 5 to obtain continuously obliquely shot images in the process that the second camera 5 rotates around the first camera 4 at a constant speed for synthesizing the three-dimensional space model of the target area.
In the shooting process: when the unmanned aerial vehicle inclines due to external force (airflow in mountainous areas and the like), the horizontal plate 2 inclines, the gyroscope sends out a signal that the horizontal plate 2 inclines, and the telescopic length of each leveling component 3 is adjusted through the controller of the leveling device, so that the horizontal plate 2 is in a horizontal state again; when the unmanned aerial vehicle changes in height due to external force (airflow in mountainous areas, etc.), the infrared distance measuring equipment on the unmanned aerial vehicle detects that the height of the unmanned aerial vehicle relative to the bottom surface changes, and the hovering height or the flying height of the unmanned aerial vehicle is adjusted to the initial height through the control device of the unmanned aerial vehicle. Through the adjustment, the embodiment of the invention can ensure that the height difference and the angle difference of the obtained continuous shooting images can not occur when the second camera 5 carries out continuous inclined shooting, and simultaneously, the three-dimensional model of the target area can be more accurately synthesized by combining the direct image. It should be noted that the direct image and the continuous oblique-shot image may be stored in a storage device of the drone, or may be transmitted to a controller of the drone by a wireless or wired manner.
After the completion was taken photo by plane to the target area, retrieve unmanned aerial vehicle, with the unmanned aerial vehicle slope shooting platform of embodiment 1 follow unmanned aerial vehicle pull down can.
In summary, the embodiment of the invention provides an unmanned aerial vehicle inclined shooting platform and an inclined shooting unmanned aerial vehicle; according to the invention, continuous inclined shooting in different horizontal directions is carried out through the second shooting assembly rotating around the first shooting assembly, so that a more accurate model of an irregular shooting object can be obtained through images shot in a continuous inclined mode; the horizontal plate and the leveling device are arranged, so that the second shooting assembly is always positioned on the same horizontal plane when the second shooting assembly carries out continuous inclined shooting around the first shooting assembly, the images continuously shot in an inclined mode cannot have displacement difference in height, and the images can be conveniently combined into a model; according to the invention, the height adjusting device is arranged on the unmanned aerial vehicle, so that the height of the unmanned aerial vehicle relative to the bottom surface is kept unchanged when continuous inclined shooting is carried out, the unmanned aerial vehicle can adapt to complicated and changeable mountain winds in a field mountain area, and the height difference of continuously shot images caused by the mountain winds is prevented.
Example 3
The embodiment of the invention provides an unmanned aerial vehicle map filling method.
The unmanned aerial vehicle map filling method can be applied to the oblique shooting unmanned aerial vehicle in any one of the embodiments.
Fig. 3 is a flowchart illustrating a method for filling a map of a drone according to an embodiment, and as shown in fig. 3, the method for filling a map of a drone according to an embodiment includes steps S100 to S104:
s100, acquiring first image data of aerial photography of a target area by airborne equipment of an unmanned aerial vehicle;
the unmanned aerial vehicle adopts the slope of embodiment 2 to shoot unmanned aerial vehicle, and airborne equipment adopts but not limited to the unmanned aerial vehicle slope shooting platform of embodiment 1. The unmanned aerial vehicle is shot in an inclined mode to carry out aerial shooting on the target area, a direct image and a continuous inclined shooting image of the target area are obtained, and the target area is a surveying area for the unmanned aerial vehicle to carry out image filling. In the shooting process, aerial shooting of the target area can be completed according to the control of workers or automatic planning of a flight route. The unmanned aerial vehicle inclines to shoot the platform and can follow a plurality of directions and observe the object, can acquire direct image and continuous slope and shoot the image, can also realize the data record to the height, length, slope, the angle of shooting the object.
Based on the above, the first image data comprises the direct image and the continuous oblique shooting image shot by the unmanned aerial vehicle oblique shooting platform and the relevant parameters of the aerial image.
In one embodiment, fig. 3 is a flowchart of a method for mapping an unmanned aerial vehicle according to another embodiment, and as shown in fig. 3, before the process of acquiring first image data of a target area aerial-photographed by an onboard device of the unmanned aerial vehicle in step S100, the method further includes step S200:
s200, calibrating the camera of the airborne equipment, and eliminating imaging distortion of the airborne equipment in a target area.
The first image data acquired based on the airborne equipment are mainly used for three-dimensional reconstruction. Taking an airborne device as a CCD camera as an example, the CCD digital camera carries out three-dimensional reconstruction on a physical world, the storage image format corresponding to the first image data is carried out by taking a pixel as a unit, and the calibration work of the camera mainly determines the corresponding relation between a two-dimensional image and a three-dimensional image. The camera needs to set a three-dimensional model in advance, and determine the relationship between the data points of the three-dimensional model and the corresponding points in the image to be used as the parameters of the camera. It should be noted that, for calibrating the camera of the onboard device, different calibration methods may be selected according to the type of the camera selected by the onboard device and the application scene, including but not limited to an active visual camera calibration method or a camera self-calibration method. When the unmanned aerial vehicle oblique shooting platform of embodiment 1 is adopted in the embodiment of the invention, the first mapping data comprises the direct image and the continuous oblique shooting image, and the direct image and the continuous oblique shooting image have an overlapping area of shooting ranges, so that the direct image can be used as an image reference basis when the continuous oblique shooting image is synthesized into the three-dimensional model. Each continuous inclined shooting image corresponds to a shooting direction on a horizontal plane, a coordinate system can be established according to the shooting direction and position of the corresponding second camera, model images under the coordinate system can be obtained according to the continuous inclined shooting images, then the model images under the respective coordinate systems corresponding to the continuous inclined shooting images are converted into model images of a space reference coordinate system established at the first camera through coordinate system conversion, finally the direct image is compared with the model images of the space reference coordinate system corresponding to each continuous inclined shooting image to obtain a corresponding public area, and the model images of the space reference coordinate systems corresponding to all the continuous inclined shooting images are spliced into a three-dimensional model according to the position relation of each public area in the direct image.
S101, imaging detection is carried out on the first image data, and correction parameters of the first image data are obtained;
the acquired first image data is data received from airborne equipment for aerial photography, and the quality of the first image data depends on the performance of the airborne equipment. When the image data is applied to the plateau area, adverse factors of the plateau area can affect the imaging level of the airborne equipment, and interference data is introduced into the first image data. And performing imaging detection on the first image data, including detecting noise, contrast, brightness and the like in the first image data, to obtain an imaging detection result. And taking the difference value of the imaging detection result and a preset reference value as a correction parameter.
In one embodiment, the imaging detection of the first image data may be performed according to a priori criterion, a difference between the first image data and the priori criterion is detected, and the difference value is used as the correction parameter.
In one embodiment, as shown in fig. 3, the process of performing imaging detection on the first image data in step S101 to obtain the correction parameter of the first image data includes steps S300 to S302:
s300, detecting the actual signal-to-noise ratio of the first image data;
after the first image data is acquired, the actual signal-to-noise ratio of the first image data is detected. In one embodiment, the image corresponding to the first image data is subjected to region division, and signal-to-noise ratio detection is performed on each divided region to obtain an actual signal-to-noise ratio.
S301, comparing an original interference area corresponding to the first image data with an actual signal-to-noise ratio to obtain a contrast measurement value;
the division of the original interference region can be determined according to a priori standard. And determining the signal-to-noise ratio of each image division region through a priori standard, and determining the region with the signal-to-noise ratio larger than a set threshold value as an original interference region. And comparing the original interference area with the actual signal-to-noise ratio to obtain a contrast measurement value.
And S302, taking the contrast ratio measured value and the actual signal-to-noise ratio as correction parameters.
In one embodiment, the contrast measure may also be determined from the luminance values of the original interference regions.
S102, correcting the redundant and miscellaneous information in the first image data according to the correction parameters to obtain second image data;
after determining the correction factor, a parameter interval may be determined based on the correction factor. And adjusting or deleting the image area of which the corresponding parameter exceeds the parameter interval in the selected area in the first image data so as to correct the first image data to obtain second image data.
In one embodiment, as shown in fig. 3, the process of modifying the redundant information in the first image data according to the modification parameter in step S102 to obtain the second image data includes step S400:
s400, removing the image area which is larger than the correction parameter in the original interference area in the first image data.
Wherein, through removing some image areas in the first image data to reduce the interference data that unmanned aerial vehicle was introduced at the plateau operation.
S103, eliminating distortion difference in the second image data to obtain third image data;
in the above embodiment, the distortion of the onboard device is eliminated by the camera calibration in step S200. In step S103, after the second video data is acquired, distortion in the second video data is eliminated by a data processing method. In one embodiment, the distortion difference in the second image data can be eliminated by pre-storing the camera calibration result in step S200 and performing data processing according to the camera calibration result. In another embodiment, the distortion of the second image data can be corrected using the identification report of the onboard equipment and using the small image module in the distortion correction.
S104, converting the third image data into a map filling result.
After the third image data is acquired, map filling conversion is carried out on the third image data after data preprocessing, the third image data is converted into a three-dimensional data model or a three-dimensional live-action map, and the map filling operation on the target area is completed.
In one embodiment, as shown in fig. 3, the process of converting the third image data into the map filling result in step S104 includes step S500:
and S500, performing space-three processing on the third image data to obtain a space-three processing result.
And performing aerial triangulation on the third image data, namely performing aerial triangulation on aerial photography of the airborne equipment based on the third image data to obtain a measurement result.
The traditional air-to-air processing mode mainly includes that the image data is combined with control point data to obtain the coordinates of the points of interest, when the unmanned aerial vehicle works in a plateau area, the image data volume is large, the processing amount of encryption points, control points and connecting points in the air-to-air processing is large, and the traditional manual interpretation and thorn transferring operation mode is difficult to process the large data volume. Based on this, in one embodiment, the process of performing the null-triplet processing on the third image data in step S500 includes the following steps a1 to A3:
a1, performing a space-three solution on the third image data.
And acquiring control point data and camera calibration data corresponding to the third image data of the target area. And judging and reading the control point data to determine the image where each control point is located and the position on the image, wherein the camera calibration file is used for correcting the optical distortion of the image in the early stage of the space-time three-resolution and providing an initial value for the adjustment of the self-checking beam method in the later stage. The specific process is as follows:
first, the image and the position of each control point on the image are determined. In a preferred embodiment, when determining the position of the image of the control point, the image of the control point located at the middle position is selected. Secondly, feature point extraction and matching are completed. And during the extraction of the characteristic points, operators with rotation invariance and scale invariance and insensitivity to image gray level change are selected. As a preferred embodiment, SIFT (Scale-invariant feature transform) is used as an operator. And thirdly, constructing a regional network in a relatively oriented manner, namely, constructing the regional network by obtaining relative external orientation elements among the images and unifying the relative external orientation elements among the images to an image space auxiliary coordinate system. Fourthly, obtaining absolute orientation parameters according to the coordinates of the control points in the ground measurement coordinate system and the coordinates of the control points in the camera space coordinate system corresponding to the control points, and then replacing the whole area network to the ground measurement coordinate system according to the absolute orientation indexes. And fifthly, obtaining the approximate coordinates of the approximate absolute external orientation element and the connecting point of each image in the ground measurement coordinate system based on the steps through self-checking and beam adjustment optimization. And obtaining accurate absolute exterior orientation elements and connection point ground measurement coordinates through self-checking and beam adjustment optimization.
And A2, generating point cloud data.
On the basis of the space-three calculation result of the step A1, dense point clouds are obtained through dense matching or expansion of the sparse point clouds and the like, and a data source is provided for obtaining a digital earth surface model.
And A3, obtaining a map filling result.
In one embodiment, a visible stereopair model can be formed according to the absolute exterior orientation elements of the image, and the coordinates of the ground object points are collected in a three-dimensional environment to obtain a digital line drawing; a digital earth surface model can be obtained from the generated point cloud data, and a real projective image can be obtained according to the digital earth surface model.
In another embodiment, an irregular triangulation network is generated from the point cloud data, and a three-dimensional model of the survey area is obtained by texture mapping.
In one embodiment, fig. 5 is a flowchart of a method for unmanned aerial vehicle mapping according to yet another embodiment, and as shown in fig. 5, a process of converting the third image data into a mapping result in step S104 includes step S600:
and S600, extracting a digital elevation model based on the third image data.
The first image data comprise unmanned aerial vehicle remote sensing images and accurate orientation parameters thereof, three types of matching units including feature lines, feature points and grid points can be obtained through image preprocessing and multi-level pyramid image generation, coarse-to-fine extraction and low-to-high extraction are carried out from generated low-scale pyramid images, and finally, results on original resolution images can be obtained. After registration is completed based on the step-by-step pyramid images, all matched characteristics form an irregular triangular mesh type digital elevation model result, the higher-level image matching is performed on the premise of adjusting matching parameters and the lower-level pyramid image matching initial value, then all successfully matched image characteristics can be accurately registered based on a multi-image least square matching algorithm, and after all matched characteristic units are fused, a final digital elevation model is formed through interpolation after gross errors are eliminated.
In this embodiment, the unmanned aerial vehicle mapping method of yet another embodiment further includes the following steps:
when the airborne equipment selects the panoramic camera, the orthoscopic image splicing is completed.
After the early-stage data acquisition, the preprocessing, the picture registration, the picture fusion and the like are completed, the orthoimage splicing is completed according to the two splicing methods of the space domain and the frequency domain. Comprising steps B1 to B3:
and B1, performing image preprocessing on aerial images of the airborne equipment through image coordinate transformation and resampling. The image left transformation adopts a polynomial method, and the aerial image is processed by stretching, scaling, rotating and translating.
B2, performing image registration on the aerial data. And finding out characteristic points and templates in the images in the reference image to determine corresponding positions and determine a transformation relation between the two images. Determining the transformation relation between the two images is an important factor for ensuring the image splicing quality. The algorithm of registration includes the following parts: 1) finding characteristic information points for registration in the image; 2) finding matching feature pairs between the images; 3) establishing a matching relation between unmanned aerial vehicle images and parameters of a model; 4) and establishing a unified plane for global splicing.
And B3, performing image fusion on the aerial photography data. And fusing the images according to the image registration result. Image fusion is mainly achieved by eliminating splicing traces caused by light, registration errors and jitter. In the process of splicing aerial images of airborne equipment, control points in the images are selected as known characteristic points, or the characteristic points can be selected manually, and fusion is carried out by adopting a least square method according to a certain transformation rule.
In one embodiment, the unmanned aerial vehicle mapping method of the further embodiment further includes the following steps:
and performing geometric correction on the image corresponding to the first image data, the second image data or the third image data.
And performing geometric correction by taking the existing large-scale drawing as a reference. The coordinates and the elevation of the control points can be obtained, and geometric correction is performed through matching between the same-name points.
In an embodiment, fig. 6 is a flowchart of a diagram filling method for a drone according to yet another embodiment, and as shown in fig. 6, the diagram filling method for a drone according to yet another embodiment further includes steps S700 to S702:
s700, acquiring fourth image data of an airborne device of the unmanned aerial vehicle for aerial photography of a preset calibration point in a target area;
a plurality of preset calibration points are preset in the target area, and the unmanned aerial vehicle carries out aerial photography on the preset calibration points during operation in the target area. In one embodiment, the predetermined calibration point may be clearly visualized within the image corresponding to the fourth influence data.
S701, obtaining three-dimensional calibration data according to a preset three-dimensional model corresponding to a preset calibration point and fourth image data;
the preset calibration point can form a preset three-dimensional model, and the preset three-dimensional coordinates of the preset calibration point in the preset three-dimensional model are determined. According to the fourth image data, the image pixel coordinates of the preset coordinate point in the fourth image data can be determined. And determining three-dimensional calibration data according to the mapping relation among the image pixel coordinates, the preset three-dimensional coordinates and the preset three-dimensional model.
S702, obtaining a target image map or a target digital model according to the three-dimensional calibration data and the third image data to finish map filling.
The third image data can also determine the image pixel coordinates of the preset calibration point, and the proportional relation between the preset three-dimensional model to which the preset calibration point belongs and the actual image of the target area is obtained and determined according to the three-dimensional calibration data when the image pixel coordinates of the preset calibration point corresponding to the third image data are determined. And when the target image or the target digital model is obtained by performing filling conversion according to the third image data, correcting the target image or the target digital model according to the proportional relation.
In the unmanned aerial vehicle image filling method according to any embodiment, after first image data of an aerial photograph of a target area by an airborne device of an unmanned aerial vehicle is acquired, imaging detection is performed on the first image data, a correction parameter of the first image data is acquired, redundant information in the first image data is corrected according to the correction parameter to obtain second image data, distortion in the second image data is further eliminated to obtain third image data, and the third image data is converted into an image filling result. Based on this, through correction parameter correction and distortion elimination, reduce the adverse effect of plateau environment to unmanned aerial vehicle formation of image to improve the quality of filling out the picture result.
Example 4
The embodiment of the invention also provides an unmanned aerial vehicle map filling device.
Fig. 7 is a block diagram of an embodiment of a drone mapping device, and as shown in fig. 7, the drone mapping device of an embodiment includes modules 100 to 104:
the aerial photography acquiring module 100 is used for acquiring first image data of aerial photography of a target area by airborne equipment of the unmanned aerial vehicle;
a parameter obtaining module 101, configured to perform imaging detection on the first image data, and obtain a correction parameter of the first image data;
the correction module 102 is configured to correct the redundant information in the first image data according to the correction parameter to obtain second image data;
a correction module 103, configured to eliminate distortion difference in the second image data to obtain third image data;
the image conversion module 104 is configured to convert the third image data into a map filling result.
In the unmanned aerial vehicle image filling device according to any of the embodiments, after the first image data of the target area aerial-photographed by the airborne equipment of the unmanned aerial vehicle is acquired, imaging detection is performed on the first image data, the correction parameter of the first image data is acquired, redundant information in the first image data is corrected according to the correction parameter, the second image data is acquired, distortion in the second image data is further eliminated, the third image data is acquired, and the third image data is converted into the image filling result. Based on this, through correction parameter correction and distortion elimination, reduce the adverse effect of plateau environment to unmanned aerial vehicle formation of image to improve the quality of filling out the picture result.
Example 5
The embodiment of the invention also provides a computer storage medium, wherein computer instructions are stored on the computer storage medium, and when the instructions are executed by a processor, the recording and broadcasting control method of any embodiment is realized.
Those skilled in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Random Access Memory (RAM), a Read-Only Memory (ROM), a magnetic disk, and an optical disk.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a RAM, a ROM, a magnetic or optical disk, or various other media that can store program code.
Corresponding to the computer storage medium, in one embodiment, there is also provided a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any one of the above-described unmanned aerial vehicle mapping methods.
According to the computer equipment, after the first image data of the target area aerial photographed by the airborne equipment of the unmanned aerial vehicle is obtained, imaging detection is carried out on the first image data, the correction parameter of the first image data is obtained, redundant information in the first image data is corrected according to the correction parameter, the second image data is obtained, distortion in the second image data is further eliminated, the third image data is obtained, and the third image data is converted into the map filling result. Based on this, through correction parameter correction and distortion elimination, reduce the adverse effect of plateau environment to unmanned aerial vehicle formation of image to improve the quality of filling out the picture result.
Example 6
The embodiment of the invention also provides a map filling system.
Fig. 8 is a schematic structural diagram of a mapping system according to an embodiment, and as shown in fig. 8, the mapping system according to an embodiment includes an image processing apparatus 1000 and a drone 1001;
the image processing apparatus 1000 is configured to:
acquiring first image data of an airborne device of an unmanned aerial vehicle 1001 for aerial photography of a target area;
performing imaging detection on the first image data to obtain a correction parameter of the first image data;
correcting the redundant and miscellaneous information in the first image data according to the correction parameters to obtain second image data;
eliminating distortion difference in the second image data to obtain third image data;
and converting the third image data into a map filling result.
The unmanned aerial vehicle 1001 completes aerial photography of the target area according to control of workers or automatic planning of a flight route, wirelessly transmits aerial photography data including first image data and the like to the image processing device 1000, and the image processing device 1000 executes steps of the unmanned aerial vehicle image filling method according to any one of the embodiments.
In the above mapping system, after the first image data obtained by the airborne equipment of the unmanned aerial vehicle 1001 performing aerial photography on the target area is obtained, imaging detection is performed on the first image data, the correction parameter of the first image data is obtained, and the redundant information in the first image data is corrected according to the correction parameter to obtain the second image data, so that distortion in the second image data is further eliminated to obtain the third image data, and the third image data is converted into the mapping result. Based on this, through correction parameter correction and distortion elimination, reduce the adverse effect of plateau environment to unmanned aerial vehicle formation of image to improve the quality of filling out the picture result.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An unmanned aerial vehicle inclined shooting platform is characterized by comprising a base plate (1), a leveling device, a horizontal plate (2), a first shooting assembly and a second shooting assembly;
the horizontal plate (2) is arranged on the base plate (1) through a leveling device; the leveling device is used for adjusting the horizontal plate (2) to be in a horizontal state; the first shooting assembly is fixedly arranged on the bottom surface of the horizontal plate (2), and the shooting direction is vertical downward; the second shooting assembly is rotatably arranged on the bottom surface of the horizontal plate (2), and the shooting direction is inclined downwards relative to the vertical direction; the second camera assembly is rotatable about the first camera assembly.
2. The unmanned aerial vehicle inclined shooting platform of claim 1, wherein a circular slide rail (6) is arranged on the bottom surface of the horizontal plate (2), and the first shooting assembly is positioned at the center of the circular slide rail; the second shooting component is arranged on a sliding block (7), and the sliding block (7) rotates around the first shooting component in the circular sliding rail (6).
3. The unmanned aerial vehicle oblique photography platform of claim 1 or 2, wherein the leveling device is provided with at least 3 leveling components (3) and 1 calibration hinge; the leveling assemblies (3) are telescopic rods and are circumferentially and uniformly distributed on the horizontal plate (2) relative to the first shooting assembly; the calibration hinge is a spherical hinge which directly connects the base plate (1) and the horizontal plate (2).
4. The unmanned aerial vehicle inclined shooting platform of claim 3, wherein the fixed end of the telescopic rod is in ball joint with the horizontal plate (2), and the telescopic end of the telescopic rod is in ball joint with the base plate (1).
5. The unmanned aerial vehicle oblique shooting platform of claim 4, wherein the horizontal plate (2) is provided with a gyroscope, the gyroscope is electrically connected with a controller of the leveling device, and the controller controls the telescopic length of the leveling component (3).
6. The unmanned aerial vehicle inclined shooting platform of claim 5, characterized in that the first shooting assembly comprises a first camera (4), the shooting direction of the first camera (4) is vertically downward;
the second shooting component comprises a second camera (5) and an inclination adjusting component (8), and the inclination adjusting component (8) adjusts the included angle between the shooting direction of the second camera (5) and the vertical direction.
7. The unmanned aerial vehicle inclined shooting platform of claim 6, wherein a common shooting area is provided between the shooting range of the second camera (5) and the shooting range of the first camera (4).
8. The unmanned aerial vehicle inclined shooting platform of claim 1, characterized in that the horizontal plate (2) and the base plate (1) are both circular plates;
the base plate (1) is provided with a plurality of installation through holes which are uniformly distributed in the circumferential direction.
9. An oblique shooting unmanned aerial vehicle, characterized in that the bottom of the oblique shooting unmanned aerial vehicle is provided with the unmanned aerial vehicle oblique shooting platform of any one of claims 1 to 8;
the inclination shooting unmanned aerial vehicle is a fixed-wing unmanned aerial vehicle or a rotor unmanned aerial vehicle.
10. An unmanned aerial vehicle map filling method is characterized by comprising the following steps:
acquiring first image data of an airborne device of an unmanned aerial vehicle for aerial photography of a target area;
imaging detection is carried out on the first image data, and correction parameters of the first image data are obtained;
correcting the redundant and miscellaneous information in the first image data according to the correction parameters to obtain second image data;
eliminating distortion difference in the second image data to obtain third image data;
acquiring fourth image data of an unmanned aerial vehicle, wherein the fourth image data is used for aerial photography of a preset calibration point in a target area by airborne equipment of the unmanned aerial vehicle;
obtaining three-dimensional calibration data according to a preset three-dimensional model corresponding to the preset calibration point and the fourth image data;
and obtaining a target image map or a target digital model according to the three-dimensional calibration data and the third image data to finish map filling.
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| PCT/CN2020/134789 WO2022032942A1 (en) | 2020-08-11 | 2020-12-09 | Unmanned aerial vehicle mapping method, apparatus and system |
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