CN113485425B - Unmanned aerial vehicle photographing path automatic planning and flying method for homeland investigation and evidence - Google Patents
Unmanned aerial vehicle photographing path automatic planning and flying method for homeland investigation and evidence Download PDFInfo
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- CN113485425B CN113485425B CN202110831070.1A CN202110831070A CN113485425B CN 113485425 B CN113485425 B CN 113485425B CN 202110831070 A CN202110831070 A CN 202110831070A CN 113485425 B CN113485425 B CN 113485425B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention relates to the technical field of homeland investigation and evidence-providing, and discloses a method for automatically planning and flying a photographing path of an unmanned aerial vehicle for homeland investigation and evidence-providing, which comprises the following steps: according to the pattern spot distribution of the operation area, a manual interaction mode is adopted, pattern spots are firstly selected and evidence-held, and then pattern spot evidence-held sequences are designated; the program automatically extracts the pattern spot evidence-lifting photographing point; program refers to DEM data and flight height setting, automatically calculates the flight height of each image spot evidence photographing point, and automatically generates an unmanned aerial vehicle photographing path; one-key flying is performed on a investigation and evidence-providing operation site; the unmanned aerial vehicle carries out automatic flight evidence-lifting photographing on the evidence-lifting photographing point along the flight route, and transmits the posture and photographing information of the unmanned aerial vehicle back in an encrypted mode; after the field evidence is finished, the vehicle automatically returns. The invention not only can well exert the capability of human intervention, but also can automatically complete regular work such as setting up positive shooting points, oblique shooting points and the like, thereby effectively improving the working efficiency of shooting path planning and field evidence.
Description
Technical Field
The invention belongs to the technical field of homeland investigation and evidence-providing, and particularly relates to a method for automatically planning and flying a photographing path of an unmanned aerial vehicle for homeland investigation and evidence-providing.
Background
In order to strengthen land investigation, monitoring and statistics system, strengthen land resource informatization service, meet the needs of economic and social development and homeland resource management work, the field investigation needs to identify the pattern spots of which the field class is inconsistent with the industry interpretation class, and the image cannot be reflected, the newly added ground features of the field supplementary investigation need to be fully and locally proved, and the acquisition of real and accurate field investigation data such as pattern spot class, pattern spot boundary and the like is an important source and key link of acquiring data by homeland investigation.
The field investigation and evidence collection are carried out, and the traditional evidence collection generally adopts a manual investigation and evidence collection mode, so that the defects of difficulty in investigation and evidence collection work, poor visual angle of manual evidence collection and incomplete shooting are brought to the areas which are inconvenient in traffic and difficult to reach manually in investigation. The dilemma can be solved by using unmanned aerial vehicle technology, but unmanned aerial vehicles have some defects in the process of proving.
The photo path planning of unmanned aerial vehicle territory investigation evidence is different from traditional aviation operation, and the pattern spot distribution is comparatively scattered, and topography fluctuation is comparatively great between the pattern spot, probably has the signal source of interference flight control such as power line tower, communication tower. Meanwhile, aiming at pattern spots with different sizes, pattern spots with special shapes, such as strip pattern spots of traffic lands, water areas and the like, have different route settings. In the actual operation verification process, it has also been found that it is sometimes necessary to fly around densely populated areas such as villages and towns. Therefore, we propose a method for automatically planning and flying the photographing path of unmanned aerial vehicle for homeland investigation and demonstration.
Disclosure of Invention
The invention aims to solve the defects that in the prior art, pattern spots are scattered, manual work is difficult to reach, topography fluctuation among pattern spots is large, interference of a power line tower, a communication tower and the like to a flight control signal source and the like possibly exist, and provides an unmanned aerial vehicle photographing path automatic planning and flight method for investigation and demonstration in China. According to the pattern spot distribution of the operation area, a manual interaction mode is adopted, the pattern spot verification sequence is designated by manually selecting verification pattern spots, the program automatically extracts pattern spot shooting points according to the position, the size and the shape of the pattern spots, the pattern spot verification shooting height is automatically calculated by referring to DEM data, and the verification shooting points of all pattern spots are sequentially connected in series to generate an unmanned aerial vehicle shooting path, so that the working efficiency of shooting path planning is improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the method for automatically planning and flying the photographing path of the unmanned aerial vehicle for the investigation and the proof of the homeland comprises the following steps:
The method comprises the following steps:
firstly, setting flying spots of an unmanned aerial vehicle, selecting and checking pattern spots according to pattern spot distribution of an operation area in a manual interaction mode, and then designating pattern spot checking sequence;
step two, the program automatically extracts pattern spots to evidence and photograph according to the position, the size and the shape of the pattern spots;
Step three, the program refers to DEM data and flight height setting, automatically calculates the flight height of each pattern spot evidence shooting point, and automatically and sequentially connects all pattern spot evidence shooting points in series to generate an unmanned aerial vehicle route;
Step four, after the photographing path is planned, the route can be downloaded into investigation and evidence-providing software in an off-line or on-line mode, and unmanned aerial vehicle flight evidence-providing work is carried out on an investigation and evidence-providing operation site by one key;
Fifthly, the unmanned aerial vehicle carries out automatic flight evidence-lifting photographing on the evidence-lifting photographing point set in the step three along the flight route, and the gesture of the unmanned aerial vehicle and photographing information are transmitted back in an encrypted mode;
And step six, automatically returning the unmanned aerial vehicle after finishing field evidence.
Further, in the second step, at least one positive beat point and two oblique beat points are added to each image spot.
Further, in the fifth step, the unmanned aerial vehicle performs information transmission through a 4G/5G wireless transmission technology.
In the fifth step, the automatic photographing adopts a photographing interface in the SDK to photograph, the resolution of the photographed picture is more than 500 ten thousand pixels, the pixels are 1-3cm, and the current situation of the field investigation can be clearly fed back.
Further, in the fifth step, the image data is transmitted by adopting an asymmetric photograph encryption mode in the encryption mode of photographing information, and the asymmetric photograph encryption method comprises the following steps:
a. Firstly, generating 128-bit MD5 code from photo contents shot by an unmanned aerial vehicle, and then forming a character string with seven-element information of shooting, wherein the seven elements comprise: personnel, time, location, direction, height, pitch angle, and photo content;
b. the public key is used for acquiring the check code by adopting an RSA algorithm, and meanwhile, the check requirement is met for multi-level check of the country-province-city-county;
And c, decrypting the evidence-providing results by using a private key when submitting provincial or national grade checks in local natural resource departments, and checking, wherein the evidence-providing photos passing the check can be used for the check.
Compared with the prior art, the unmanned aerial vehicle photographing path automatic planning and flying method for homeland investigation and evidence holding has the beneficial effects that:
(1) The unmanned aerial vehicle provided by the invention has the advantages that the visual angle of the photographed picture is wide, the range is large, the positioning spot is accurate, the defects of poor visual angle and incomplete photographing of the manually-proven picture are effectively overcome, the overall land utilization condition of the spot can be comprehensively reflected, the field type of the spot can be accurately and intuitively judged by the internal staff, the randomness of manual photographing is overcome, and the standardization and effectiveness of the proving result are ensured.
(2) The invention can not only well exert the capability of human intervention, but also automatically complete the regular work of setting the positive shooting point, the oblique shooting point and the like, and greatly improves the field evidence work efficiency in actual work.
The unmanned aerial vehicle investigation and verification software is characterized in that the unmanned aerial vehicle investigation and verification software is used for setting the navigation height information according to the manually set pattern spot sequence, automatically adding pattern spot photographing points, guaranteeing that each pattern spot has at least one positive photographing point and two oblique photographing point information, automatically calculating the navigation height, sequentially connecting the photographing points of all pattern spots in series, generating an unmanned aerial vehicle photographing path, and effectively improving the working efficiency of photographing path planning.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic illustration of the present invention with respect to automatically planning heading for a drone;
FIG. 2 is a schematic diagram of the present invention with respect to unmanned ground-engaging flight pattern generation.
Detailed Description
The invention will be further illustrated with reference to specific examples. These examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
The structural features of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1-2, a method for automatically planning and flying a photographing path of an unmanned aerial vehicle for homeland investigation and demonstration adopts a large-scale eidolon 4 or an unmanned aerial vehicle flight platform of Royal 2.
The method comprises the following steps:
(1) And setting flying spots of the unmanned aerial vehicle, and manually selecting and proving the pattern spots and designating the pattern spot proving sequence according to pattern spot distribution of the operation area by adopting a manual interaction mode.
(2) And automatically adding image spot photographing points according to the positions, the sizes and the shapes of the image spots by a program, automatically calculating the heights of the image spot photographing points by referring to DEM data and height settings, and sequentially connecting the photographing points of all the image spots in series to generate an unmanned aerial vehicle photographing path, wherein at least one positive photographing point and two oblique photographing points are added to each image spot. By taking the forward shot and oblique shot photos, the periphery of the survey pattern spot can be read in an auxiliary manner, the boundary of the pattern spot can be sketched, high-precision photos are provided for survey and evidence, and the image information of the pattern spot is enriched.
(3) And in unmanned aerial vehicle investigation and evidence-providing software, importing DEM data, performing terrain matching on a flight area along a photographing path of the unmanned aerial vehicle, and automatically setting the relative flight height of the unmanned aerial vehicle relative to the flying point according to the elevation of each flying point to generate a ground-imitating flight route.
(4) After the photographing path is planned, the route can be downloaded to unmanned aerial vehicle investigation and evidence-providing software in an off-line or on-line mode, and unmanned aerial vehicle automatic flight evidence-providing work can be carried out on investigation and evidence-providing operation sites in a one-key mode.
(5) And the unmanned aerial vehicle flies along the route, and the set photographing point is automatically photographed, and the attitude information and photographing information of the unmanned aerial vehicle are transmitted back in an encrypted mode. The unmanned aerial vehicle transmits information through a 4G/5G wireless transmission technology, the automatic photographing adopts a photographing interface in the SDK to photograph, the resolution of the photographed picture is more than 500 ten thousand pixels, the pixels are 1-3cm, and the current situation of the field investigation can be fed back clearly.
The encryption mode of the photographing information adopts an asymmetric photograph encryption mode to transmit image data, and the asymmetric photograph encryption method comprises the following steps:
a. Firstly, generating 128-bit MD5 code from photo contents shot by an unmanned aerial vehicle, and then forming a character string with seven-element information of shooting, wherein the seven elements comprise: personnel, time, location, direction, height, pitch angle, and photo content;
b. the public key is used for acquiring the check code by adopting an RSA algorithm, and meanwhile, the check requirement is met for multi-level check of the country-province-city-county;
And c, decrypting the evidence-providing results by using a private key when submitting provincial or national grade checks in local natural resource departments, and checking, wherein the evidence-providing photos passing the check can be used for the check.
(6) After the field evidence is finished, the unmanned aerial vehicle automatically returns.
The unmanned aerial vehicle investigation and evidence-lifting automatic recording evidence-lifting information has the advantages of wide visual angle, large range and accurate positioning of the image spots, effectively overcomes the defects of poor visual angle and incomplete shooting of manual evidence-lifting, can more comprehensively reflect the whole land utilization condition of the image spots, and is convenient for inner industry personnel to accurately and intuitively judge the land types of the image spots. Unmanned aerial vehicle investigation and verification is that the labor and time cost are greatly saved because the restriction of topography and traffic is smaller while the working intensity of field personnel is greatly reduced, and the work efficiency is particularly obviously improved for investigation and verification in mountain areas and hilly areas. The system program is preset with one positive shooting point and two oblique shooting points, so that the randomness of manual shooting is overcome, and the standardization and effectiveness of the evidence result are ensured. The device can well exert the capability of human intervention, automatically complete regular work such as setting positive shooting points, oblique shooting points and the like, and greatly improve the field evidence work efficiency in actual work.
20-50 Pattern spots can be acquired by the unmanned aerial vehicle in an area with relatively dense pattern spot distribution by using an intelligent investigation and evidence-providing system, the whole process only needs 20 minutes, the efficiency of a plain area is 5-10 times of that of manual evidence-providing, the efficiency of mountain areas and inconvenient traffic areas is more than 10 times of that of manual investigation and evidence-providing, and investigation cost sections are saved.
The foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The method for automatically planning and flying the photographing path of the unmanned aerial vehicle for the investigation and the proof of the homeland is characterized by comprising the following steps:
firstly, setting flying spots of an unmanned aerial vehicle, selecting and checking pattern spots according to pattern spot distribution of an operation area in a manual interaction mode, and then designating pattern spot checking sequence;
step two, the program automatically extracts pattern spots to evidence and photograph according to the position, the size and the shape of the pattern spots;
Step three, the program refers to DEM data and flight height setting, automatically calculates the flight height of each image spot evidence shooting point, and automatically and sequentially connects all the image spot evidence shooting points in series to generate an unmanned aerial vehicle shooting path;
Step four, after the photographing path is planned, the route can be downloaded into investigation and evidence-providing software in an off-line or on-line mode, and unmanned aerial vehicle flight evidence-providing work is carried out on an investigation and evidence-providing operation site by one key;
Fifthly, the unmanned aerial vehicle carries out automatic flight evidence-lifting photographing on the evidence-lifting photographing point set in the step three along the flight route, and the gesture of the unmanned aerial vehicle and photographing information are transmitted back in an encrypted mode;
The encryption mode of the photographing information adopts an asymmetric photograph encryption method to transmit image data, and the asymmetric photograph encryption method comprises the following steps:
a. Firstly, generating 128-bit MD5 code from photo contents shot by an unmanned aerial vehicle, and then forming a character string with seven-element information of shooting, wherein the seven elements comprise: personnel, time, location, direction, height, pitch angle, and photo content;
b. the public key is used for acquiring the check code by adopting an RSA algorithm, and meanwhile, the check requirement is met for multi-level check of the country-province-city-county;
c, decrypting the evidence-providing results by using a private key when submitting provincial or national grade verification in local natural resource departments, and checking, wherein the evidence-providing photos passing the verification can be used for verification;
And step six, automatically returning the unmanned aerial vehicle after finishing field evidence.
2. The method for automatically planning and flying a photo path of an unmanned aerial vehicle for territorial investigation and demonstration according to claim 1, wherein in the second step, at least one positive shooting point and two oblique shooting points are added to each pattern spot.
3. The method for automatically planning and flying the unmanned aerial vehicle photographing path for the homeland investigation and verification according to claim 1, wherein in the fifth step, the automatic photographing adopts a photographing interface of an SDK to photograph, the resolution of the photographed picture is more than 500 ten thousand pixels, the pixels are 1-3cm, and the current situation of the field investigation can be clearly fed back.
4. The method for automatically planning and flying a photographing path of an unmanned aerial vehicle for homeland investigation and demonstration according to claim 1, wherein in the fifth step, the unmanned aerial vehicle performs information transmission through a 4G/5G wireless transmission technology.
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| CN114650353B (en) * | 2022-03-14 | 2024-03-19 | 杭州今奥信息科技股份有限公司 | Shooting method and system for evidence-holding image |
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| CN111479057A (en) * | 2020-04-13 | 2020-07-31 | 杭州今奥信息科技股份有限公司 | Intelligent pattern spot evidence-demonstrating method based on unmanned aerial vehicle |
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