CN201133815Y - Aviation close shot displacement measuring device based on unmanned plane - Google Patents
Aviation close shot displacement measuring device based on unmanned plane Download PDFInfo
- Publication number
- CN201133815Y CN201133815Y CNU200720088816XU CN200720088816U CN201133815Y CN 201133815 Y CN201133815 Y CN 201133815Y CN U200720088816X U CNU200720088816X U CN U200720088816XU CN 200720088816 U CN200720088816 U CN 200720088816U CN 201133815 Y CN201133815 Y CN 201133815Y
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- control station
- displacement
- ground control
- aviation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses an aviation close shot photographing displacement measuring device based on an unmanned aerial vehicles and relates to an aerial close shot photographing displacement measuring device. The utility model includes a an unmanned vehicle (1), a digital camera (2), a ground control station (3), a micro-wave emitter (4), a micro-wave receiving antenna (5), a data line (6) and a calculation software (7); the digital camera (2) and the micro-wave emitter (4) are arranged on the unmanned vehicle (1) which are connected by the fly control plate (1.1) of the micro-model unmanned vehicles (1); the data line (6) is connected with a computer gorge (3.3) on the ground control station (3) and the micro-wave receiving antenna (5); the calculation software (7) is mounted on the notebook computer (3.1) of the ground control station (3). As the utility model can avoid a plurality of problems of the traditional displacement measuring device, the utility model is suitable for measuring the displacement of a large displacement and large range project, in particular to the displacement measurement on a project of an area that is hard to walk through or is dangerous to work.
Description
Technical field
The utility model relates to a kind of aviation Avigation close range photography displacement measurement mechanism, relates in particular to a kind of aviation Avigation close range photography displacement measurement mechanism based on unmanned plane (miniature model unmanned plane); Specifically, the non-cpntact measurement device that relates to big displacement engineerings such as current difficulty of people or operation dangerous area.
Background technology
Displacement measurement is the important means of Geotechnical Engineering safety evaluatio, Construction control and validity check.In the place of current difficulty or operation danger, such as: high gradient slope, subsidence area, mine, rubble flow generation area etc., existing most of displacement measurement technology take time and effort, even can't implement.Though and technology such as satellite remote sensing, photogrammetric measurement are not limited by site condition, measuring accuracy is lower, and the latter also is subjected to the influence of air traffic control.
The unmanned plane technology develops rapidly in recent years, and has applied to the civilian production field.The existing at present UAS that is applied to land resources survey, forest fire investigation, but Shang Weiyou is the displacement measurement system of platform with the unmanned plane.
Close-range photogrammetry just is applied to the monitoring field of Geotechnical Engineering as far back as the eighties in 20th century.Through years of development, at present, for engineering among a small circle, measuring accuracy has reached engine request; But, for large-scale engineering, the engineering of particularly current difficulty or operation hazardous location, it uses and just has been subjected to certain restriction, and hand-held taking pictures tends to produce some shooting blind angle amounts.
Not restricted by site condition in order developing, degree of precision to be arranged again and be not subjected to efficient, the low-cost displacement measurement technology of air traffic control, and utilize the unmanned plane carrier, proposed a kind of notion of the aviation Avigation close range photography displacement measurement mechanism based on unmanned plane.
Summary of the invention
The purpose of this utility model is to overcome the above-mentioned shortcoming and defect that prior art exists, and realizes the requirement of existing engineering, and a kind of aviation Avigation close range photography displacement measurement mechanism based on unmanned plane is provided.This device is applicable to the displacement measurement of large deformation engineering, is specially adapted to the displacement measurement of the engineering of current difficulty or operation danger, simultaneously can also be as the supplementary means of geologic hazard investigation, geologic examination.
The purpose of this utility model is achieved in that
As Fig. 1, the utility model comprises unmanned plane (1), digital camera (2), ground control station (3), microwave emitter (4), microwave antenna (5), data line (6) and software for calculation (7);
Going up device at unmanned plane (1) has digital camera (2) and microwave emitter (4), flies to control plate (1.1) connection by unmanned plane (1); Data line (6) connects computer serial ports (3.3) and the microwave antenna (5) on the ground control station (3), and software for calculation (7) is installed on the notebook computer (3.1) of ground control station (3).
Principle of work of the present utility model is:
Unmanned plane (1) is under the remote control of ground control station (3), according to the hedgehopping of predefined course line realization apart from about 50 meters on ground.Under the situation of existing ground surface or terrain, unmanned plane (1) flying height can be mated with ground, makes the unmanned plane (1) and the distance on ground be consistent substantially.Monitor that image transmits by microwave emitter (4) and microwave antenna (5) and reception is shown on the display screen (3.2) of ground control station (3) in real time.Can manually or automatically take pictures to the target area.Utilize part known point coordinate, the photo of taking is handled calculating according to the theory of close-range photogrammetry, obtain the three-dimensional coordinate of target area unknown point.The three-dimensional coordinate of the photo gained of different times is compared, just can obtain the displacement of this point, the method by difference and then obtain the surface displacement of target area.
The utlity model has following advantage and good effect:
1, need not special-purpose landing runway, not retrained by air traffic control, place adaptability is strong, is specially adapted to the displacement measurement of complicated topographical conditions zone engineering.
2, this system save time, laborsaving and take pictures and do not have the dead angle.
3, displacement measurement efficient height, the monitored area is big.
4, prototype is small and exquisite flexibly, can realize terrain match.
5, use unmanned plane safer, the personnel that can not cause injure.
In a word,, be applicable to the big displacement displacement measurement of engineering on a large scale, the displacement measurement of particularly current difficulty or operation hazardous location engineering because the utility model can be avoided some problems of traditional bit shift measurement technology.
Description of drawings
Fig. 1 is that this device is formed synoptic diagram;
Fig. 2 is the ground control station synoptic diagram;
Fig. 3 is the connection diagram of digital camera and unmanned plane;
Fig. 4 is that software for calculation is formed and process flow diagram.
Wherein:
1-unmanned plane, 1.1-fly to control plate, 1.2-GPS, and 1.3-is from steady equilibristat;
The 2-digital camera, the 2.1-camera lens;
The 3-ground control station, 3.1-notebook computer, 3.2-display screen, 3.3-computer serial ports;
The 4-microwave emitter;
The 5-microwave antenna;
The 6-data line;
The 7-software for calculation;
The A-surface level;
The angle of B-camera plane and surface level, 0≤B≤60 degree.
Embodiment
Below in conjunction with accompanying drawing and exemplifying embodiment the utility model is further specified:
One, this apparatus structure
1, unmanned plane (1)
As Fig. 1, flight utility appliance and microwave emitters (4) such as flying to control plate (1.1), GPS (1.2) and certainly steady equilibristat (1.3) are installed on unmanned plane (1); The course line imports unmanned plane (1) by land station (3).
This unmanned plane (1) is electronic, and cruising time is more than 30 minutes.
2, ground control station (3)
As Fig. 2, the box-shaped of ground control station (3) for folding is provided with notebook computer (3.1) below, and the top is display screen (3.2), and computer serial ports (3.3) is set.
3, digital camera (2) and unmanned plane (1) is connected
As Fig. 3, digital camera (2) is by being connected with unmanned plane (1) at the head of unmanned plane (1) or the fixing mode of fuselage perforate, the camera lens (2.1) of digital camera (2) or vertically down, or 0～60 angle of spending is arranged with surface level.Digital camera (2) is connected with microwave emitter (4) by flying to control plate (1.1), and monitoring picture sends to ground control station (3) and is presented on the display screen (3.2) through microwave emitter (4).
Described to fly to control plate (1.1) be the supporting electronics integrated chip of a kind of unmanned plane, realizes the automatic flight and the functions such as data acquisition and transfer of unmanned plane.
4, microwave emitter (4) and microwave antenna (5)
Microwave emitter (4) frequency of operation is from 1040～1400MHz, can be wireless, synchronous transmission one tunnel picture signal and a circuit-switched data signal.Transmission range can reach more than the 10Km.
Microwave antenna (5) is microwave emitter (a 4) support equipment.
Microwave emitter (4) and microwave antenna (5) have the listing product.
Two, this device using method
The three-dimensional coordinate of the natural mark that the 1. topography and geomorphology situation of survey target area, and measure portion is apparent in view (local coordinate and terrestrial coordinate all can).
2. according to the topography and landform character of this target area, and the focus measurement target, in advance by ground control station (2) in indoor setting course line, the course line realizes that by setting destination destination information be three-dimensional, comprises longitude, latitude and elevation.The back is set by computer serial ports (3.3) input unmanned plane (1) in the course line.
3. execute-in-place is checked cell voltage, and startup self-detection is carried out initialization after self check is normal, reads in the course line after finishing.Open camera, adjust communication channel, check watch circle as if abnormal, if all normally can take off.The mode that aircraft adopts throwing to take off, the incipient stage is controlled with remote control, and after waiting to have a smooth flight, GPS (1.2) navigates according to airline operation, guarantees that from steady equilibristat (1.3) aircraft is steady.The course line can manually be adjusted according to actual conditions in flight course in real time.Flight path is preserved automatically, after the task termination, can be in the notebook computer (3.1) of ground control station (2) the playback flight path.Unmanned plane (1) but in site condition area downhill race preferably, available parachuting under place inclement condition, environment with a varied topography.
4. unmanned plane (1) hedgehopping on prebriefed pattern (minimum can apart from ground 50m) can manually be taken pictures by telepilot, perhaps takes pictures according to Automatic Program, and photo is stored in the camera card.Take pictures simultaneously can records photographing point information such as longitude, latitude, elevation, aircraft pitch angle, aircraft deflection angle.
Data messages such as 5. aloft longitude, latitude, elevation, aircraft pitch angle, aircraft deflection angle are by microwave emitter (4), microwave antenna (5) and data bus connection (6), be shown in real time on the display screen (3.2) and notebook computer (3.1) of ground control station (2), so that in time adjust aspect.
6. the camera monitoring picture is shown on the display screen (3.2) and notebook computer (3.1) of ground control station (2) in real time by microwave emitter (4), microwave antenna (5) and data bus connection (6).Can record a video to monitoring picture simultaneously, to avoid the discontinuous information dropout of taking pictures and causing.
7. different times is taken pictures according to the close-range photogrammetry theory, handle and calculate relatively, just can calculate the displacement of target area.
Three, this measurement device method
As Fig. 4, this measuring method is that carrier is realized hedgehopping with unmanned plane (1), with digital camera (2) is the information acquisition device, with software for calculation (7) according to the method logarithmic code camera (2) of close-range photogrammetry thus the photo of taking handle to calculate and obtain the target area surface displacement.
Software for calculation (7) comprises that photo pre-processing module (7.1), position coordinate measure module (7.2), image matching module (7.3), controlled condition load module (7.4), photo parameter calculation module (7.5), light beam method of adjustment and separate object coordinates module (7.6), Displacement Analysis module (7.7), error analysis module (7.8).
1. the main comparison film of photo pre-processing module (7.1) carries out processing such as filtering and noise reduction, image rectification (with the conditions of streaking of eliminating or the minimizing motion is taken pictures and produced), image enhancement.
2. position coordinate measurement module (7.2) mainly is to measure and extract reference mark and the coordinate of impact point in the photographic plane coordinate system.
3. video matching module (7.3) carries out Classification Management to the photo that reference mark of the same name occurs.
4. controlled condition load module (7.4) mainly is input reference mark known coordinate and other controlled condition equation.
5. photo parameter calculation module (7.5) is utilized sorted photo and controlled condition, resolves the elements of interior orientation and the elements of exterior orientation of every photo with direct linear transformation's solution, and calculates the initial value of unknown point object coordinates.
6. the light beam method of adjustment is separated the inside and outside element of orientation that object coordinates module (7.6) utilizes object coordinates initial value and photo calculates the target area unknown point according to the light shafts method of adjustment three-dimensional coordinate.
7. Displacement Analysis module (7.7) mainly is that the three-dimensional coordinate that calculates is managed, and according to the variation of different times three-dimensional coordinate that photo obtains, determines the displacement of unknown point; Obtain the surface displacement and the modeling of target area simultaneously with the method for difference.
8. error analysis module (7.8) considers that mainly computation processes such as photographic quality, coordinate measure, photo calculation of parameter, light beam method of adjustment determine the precision of this time measurement.
This measurement device method comprises the following steps:
1. photo pre-processing module (7.1), position coordinate measure module (7.2) and are connected successively and obtain data message picpointed coordinate (7.9);
2. the execution of photo parameter calculation module (7.5) also needs the result of image matching module (7.3) and (7.4) two independent operation modules of controlled condition load module except needs picpointed coordinate (7.9) data message;
3. the light beam method of adjustment is separated object coordinates module (7.6) and is connected with photo parameter calculation module (7.5), and its subsequent step is Displacement Analysis module (7.7) and error analysis module (7.8).
Specifically:
After photo pre-processing module (7.1) comparison film is handled, inlet point position coordinate measure module (7.2), measurement control point and impact point obtain picpointed coordinate (7.9) data message at the coordinate figure of photographic plane coordinate system; Image matching module (7.3) comparison film carries out match classifying according to reference mark of the same name, controlled condition load module (7.4) the input of reference mark object coordinates and other controlled condition after, photo parameter calculation module (7.5) is calculated the s internal and external orientation of photo according to direct linear transformation's solution, and the initial value of impact point object coordinates, the light beam method of adjustment separate object coordinates module (7.6) utilize photo in, elements of exterior orientation and reference mark coordinate, impact point object coordinates initial value is according to the object coordinates of light shafts method of adjustment calculating impact point, the just three-dimensional coordinate of impact point; The difference of the object coordinates of the same impact point that Displacement Analysis module (7.7) is calculated according to the different times photo is determined the displacement of this point, and obtains the displacement on ground, target area with the method for difference; Computation processes such as error analysis module (7.8) consideration photographic quality, coordinate measure, photo calculation of parameter, light beam method of adjustment are determined the precision of this time measurement.
Claims (3)
1, a kind of aviation Avigation close range photography displacement measurement mechanism based on unmanned plane is characterized in that:
Comprise unmanned plane (1), digital camera (2), ground control station (3), microwave emitter (4), microwave antenna (5), data line (6) and software for calculation (7);
Going up device at unmanned plane (1) has digital camera (2) and microwave emitter (4), flies to control plate (1.1) connection by miniature model unmanned plane (1); Data line (6) connects computer serial ports (3.3) and the microwave antenna (5) on the ground control station (3), and software for calculation (7) is installed on the notebook computer (3.1) of ground control station (3).
2, by the described a kind of aviation Avigation close range photography displacement measurement mechanism of claim 1, it is characterized in that based on unmanned plane:
The box-shaped of ground control station (3) for folding is provided with notebook computer (3.1) below, and the top is display screen (3.2), and computer serial ports (3.3) is set.
3, by the described a kind of aviation Avigation close range photography displacement measurement mechanism of claim 1, it is characterized in that based on unmanned plane:
Digital camera (2) is by being connected with unmanned plane (1) at the head of miniature model unmanned plane (1) or the fixing mode of fuselage perforate, the camera lens (2.1) of digital camera (2) or vertically down, or 0～60 angle of spending is arranged with surface level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720088816XU CN201133815Y (en) | 2007-12-07 | 2007-12-07 | Aviation close shot displacement measuring device based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720088816XU CN201133815Y (en) | 2007-12-07 | 2007-12-07 | Aviation close shot displacement measuring device based on unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201133815Y true CN201133815Y (en) | 2008-10-15 |
Family
ID=40062086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU200720088816XU Expired - Fee Related CN201133815Y (en) | 2007-12-07 | 2007-12-07 | Aviation close shot displacement measuring device based on unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201133815Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101979961A (en) * | 2010-05-18 | 2011-02-23 | 中国地震局地球物理研究所 | Disaster condition acquisition system |
| CN102005104A (en) * | 2009-09-02 | 2011-04-06 | 吴立新 | Remote and rapid monitoring and alarming device and method for displacement and gesture of sliding mass |
| CN102798635A (en) * | 2011-05-25 | 2012-11-28 | 西门子公司 | Method to inspect components of wind turbine |
| CN103795930A (en) * | 2014-02-14 | 2014-05-14 | 李伟 | Aerial camera control system |
| CN104698084A (en) * | 2015-02-01 | 2015-06-10 | 山东科技大学 | Quick investigation method for geological disaster tendency |
| CN104698085A (en) * | 2015-02-01 | 2015-06-10 | 山东科技大学 | Constant micro technology-based holding rockfall investigation method |
| CN104992174A (en) * | 2015-07-23 | 2015-10-21 | 杨珊珊 | Automatically maintained image updating system and method therefor |
| CN110453731A (en) * | 2019-08-15 | 2019-11-15 | 中国水利水电科学研究院 | A kind of dam deformation of slope monitoring system and method |
-
2007
- 2007-12-07 CN CNU200720088816XU patent/CN201133815Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102005104A (en) * | 2009-09-02 | 2011-04-06 | 吴立新 | Remote and rapid monitoring and alarming device and method for displacement and gesture of sliding mass |
| CN102005104B (en) * | 2009-09-02 | 2013-05-01 | 吴立新 | Remote and rapid monitoring and alarming device and method for displacement and gesture of sliding mass |
| CN101979961A (en) * | 2010-05-18 | 2011-02-23 | 中国地震局地球物理研究所 | Disaster condition acquisition system |
| CN102798635A (en) * | 2011-05-25 | 2012-11-28 | 西门子公司 | Method to inspect components of wind turbine |
| CN103795930A (en) * | 2014-02-14 | 2014-05-14 | 李伟 | Aerial camera control system |
| CN104698084A (en) * | 2015-02-01 | 2015-06-10 | 山东科技大学 | Quick investigation method for geological disaster tendency |
| CN104698085A (en) * | 2015-02-01 | 2015-06-10 | 山东科技大学 | Constant micro technology-based holding rockfall investigation method |
| CN104992174A (en) * | 2015-07-23 | 2015-10-21 | 杨珊珊 | Automatically maintained image updating system and method therefor |
| CN110453731A (en) * | 2019-08-15 | 2019-11-15 | 中国水利水电科学研究院 | A kind of dam deformation of slope monitoring system and method |
| CN110453731B (en) * | 2019-08-15 | 2020-06-30 | 中国水利水电科学研究院 | Dam slope deformation monitoring system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101201248B (en) | Aviation close range photography displacement measurement system based on unmanned aerial vehicle as well as measurement method thereof | |
| CN201133815Y (en) | Aviation close shot displacement measuring device based on unmanned plane | |
| US12007761B2 (en) | Unmanned aerial vehicle inspection system | |
| Eisenbeiss | A mini unmanned aerial vehicle (UAV): system overview and image acquisition | |
| KR101793509B1 (en) | Remote observation method and system by calculating automatic route of unmanned aerial vehicle for monitoring crops | |
| WO2017123358A2 (en) | Unmanned aerial system based thermal imaging and aggregation systems and methods | |
| WO2016140985A1 (en) | Flight planning for unmanned aerial tower inspection | |
| Madawalagama et al. | Low cost aerial mapping with consumer-grade drones | |
| Haarbrink et al. | Helicopter UAV for photogrammetry and rapid response | |
| CN105388908A (en) | Machine vision-based unmanned aerial vehicle positioned landing method and system | |
| JP2023041675A (en) | Drone-work support system and drone-work support method | |
| CN111006643A (en) | Unmanned aerial vehicle remote sensing information monitoring method | |
| CN201517925U (en) | Unmanned aerial vehicle remote sensing detector | |
| Laliberte et al. | Unmanned aerial vehicles for rangeland mapping and monitoring: A comparison of two systems | |
| CN102706331B (en) | Correction method for aerial surveying and mapping images | |
| Sze et al. | High resolution DEM generation using small drone for interferometry SAR | |
| KR100560699B1 (en) | Method for producing 3-dimensional virtual realistic digital map using model plane aerial photographing system and gps/ins system | |
| CN114001715A (en) | Environment geological survey method of high-altitude remote sensing and low-altitude unmanned oblique photography | |
| CN206469882U (en) | A kind of quick inspection system of Land-use based on unmanned plane image | |
| Simon et al. | 3D MAPPING OF A VILLAGE WITH A WINGTRAONE VTOL TAILSITER DRONE USING PIX4D MAPPER. | |
| CN113063401A (en) | Unmanned aerial vehicle aerial survey system | |
| CN205176663U (en) | System of falling is being fixed a position to unmanned aerial vehicle power line based on machine vision | |
| Nisi et al. | EGNSS high accuracy system improving photovoltaic plant maintenance using RPAS integrated with low-cost RTK receiver | |
| Tahar et al. | A new approach on production of slope map using autonomous unmanned aerial vehicle | |
| CN113640848B (en) | Ground laser footprint data acquisition method, system, medium and equipment of unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081015 Termination date: 20101207 |