CN201133815Y - UAV-based aerial close-range photography displacement measurement device - Google Patents

Abstract

The utility model discloses an aerial close-range photography displacement measurement device based on an unmanned aerial vehicle, and relates to an aerial close-range photography displacement measurement device. The utility model comprises a drone (1), a digital camera (2), a ground control station (3), a microwave transmitter (4), a microwave receiving antenna (5), a data line (6) and a calculation software (7); A digital camera (2) and a microwave transmitter (4) are installed on the unmanned aerial vehicle (1), which are connected through the flight control board (1.1) of the miniature model unmanned aerial vehicle (1); the data line (6) is connected to the ground control station (3) on the computer serial port (3.3) and microwave receiving antenna (5), computing software (7) is installed on the notebook computer (3.1) of ground control station (3). Because the utility model can avoid some problems of traditional displacement measurement, it is suitable for displacement measurement of large-displacement and large-scale projects, especially displacement measurement of projects in areas where traffic is difficult or operation is dangerous.

Description

UAV-based aerial close-range photography displacement measurement device

technical field

The utility model relates to an aerial close-range photographic displacement measuring device, in particular to an aerial close-range photographic displacement measuring device based on an unmanned aerial vehicle (miniature model unmanned aerial vehicle); Non-contact measuring device for displacement engineering.

Background technique

Displacement measurement is an important means for safety evaluation, construction control and effect inspection of geotechnical engineering. In places with difficult access or dangerous operations, such as high and steep slopes, mine subsidence areas, and areas where debris flows occur, most existing displacement measurement technologies are time-consuming and labor-intensive, or even impossible to implement. Although technologies such as satellite remote sensing and aerial photogrammetry are not limited by site conditions, their measurement accuracy is low, and the latter is also affected by air traffic control.

UAV technology has developed rapidly in recent years and has been applied to the field of civilian production. At present, there are UAV systems used in land resource surveys and forest fire investigations, but there is no displacement measurement system based on UAVs.

Close-range photogrammetry has been applied in the monitoring field of geotechnical engineering as early as the 1980s. After years of development, at present, for small-scale projects, the measurement accuracy has reached the engineering requirements; however, for large-scale projects, especially projects in difficult-to-pass or dangerous areas, its use has been limited, and handheld photography There are often some shooting dead angles.

In order to develop a high-efficiency, low-cost displacement measurement technology that is not restricted by site conditions, has high precision and is not subject to aviation control, and utilizes the UAV carrier, a UAV-based aerial close-range photography displacement measurement device is proposed. concept.

Contents of the invention

The purpose of the utility model is to overcome the above-mentioned shortcomings and deficiencies in the prior art, realize the requirements of existing projects, and provide an aerial close-range photography displacement measurement device based on an unmanned aerial vehicle. The device is suitable for displacement measurement of large deformation projects, especially for displacement measurement of projects with difficult traffic or dangerous operations, and can also be used as an auxiliary means for geological disaster investigation and geological survey.

The purpose of this utility model is achieved in that:

As shown in Fig. 1, the utility model comprises unmanned aerial vehicle (1), digital camera (2), ground control station (3), microwave transmitter (4), microwave receiving antenna (5), data line (6) and calculation software (7);

A digital camera (2) and a microwave transmitter (4) are installed on the unmanned aerial vehicle (1), which are connected by the flight control board (1.1) of the unmanned aerial vehicle (1); the data line (6) is connected to the ground control station (3 ) on the computer serial port (3.3) and the microwave receiving antenna (5), and the computing software (7) is installed on the notebook computer (3.1) of the ground control station (3).

The working principle of the utility model is:

Under the remote control of the ground control station (3), the unmanned aerial vehicle (1) realizes the ultra-low-altitude flight about 50 meters away from the ground according to the preset route. In the case of the existing ground terrain, the flight height of the UAV (1) can be matched with the ground, so that the distance between the UAV (1) and the ground is basically consistent. The monitoring image is transmitted and received by the microwave transmitter (4) and the microwave receiving antenna (5) and displayed in real time on the display screen (3.2) of the ground control station (3). The target area can be photographed manually or automatically. Using the coordinates of some known points, the photos taken are processed and calculated according to the theory of close-range photogrammetry, and the three-dimensional coordinates of unknown points in the target area are obtained. The displacement of the point can be obtained by comparing the three-dimensional coordinates obtained from the photos of different periods, and the surface displacement of the target area can be obtained through the method of difference.

The utility model has the following advantages and positive effects:

1. No special take-off and landing runway is required, and it is not subject to aviation control restrictions. It has strong site adaptability, and is especially suitable for displacement measurement of projects in areas with complex terrain conditions.

2. The system saves time and effort, and there is no dead angle for taking pictures.

3. High displacement measurement efficiency and large monitoring area.

4. The model machine is small and flexible, and can realize terrain matching.

5. The use of drones is relatively safe and will not cause personal injury.

In a word, because the utility model can avoid some problems of the traditional displacement measurement technology, it is suitable for the displacement measurement of large-displacement and large-scale projects, especially the displacement measurement of projects in areas where traffic is difficult or operation is dangerous.

Description of drawings

Fig. 1 is the composition schematic diagram of this device;

Figure 2 is a schematic diagram of the ground control station;

Figure 3 is a schematic diagram of the connection between the digital camera and the drone;

Figure 4 is the composition of the computing software and its flow chart.

in:

1-UAV, 1.1-flight control board, 1.2-GPS, 1.3-self-stabilizing balancer;

2-digital camera, 2.1-lens;

3-ground control station, 3.1-laptop computer, 3.2-display screen, 3.3-computer serial port;

4 - microwave transmitter;

5-Microwave receiving antenna;

6- data line;

7- Calculation software;

A-horizontal plane;

B-The angle between the camera plane and the horizontal plane, 0≤B≤60 degrees.

Detailed ways

Below in conjunction with accompanying drawing and implementation example the utility model is further described:

1. The structure of the device

1. UAV (1)

As shown in Figure 1, flight auxiliary equipment such as flight control board (1.1), GPS (1.2) and self-stabilizing balancer (1.3) and microwave transmitters (4) are installed on the unmanned aerial vehicle (1); the route passes through the ground station ( 3) Import the drone (1).

The unmanned aerial vehicle (1) is electric and has a battery life of more than 30 minutes.

2. Ground Control Station (3)

As shown in Fig. 2, the ground control station (3) is a foldable box shape, a notebook computer (3.1) is arranged below, a display screen (3.2) is arranged above, and a computer serial port (3.3) is set.

3. Connection between digital camera (2) and drone (1)

As shown in Figure 3, the digital camera (2) is connected to the drone (1) by fixing the hole in the nose or fuselage of the drone (1), and the lens (2.1) of the digital camera (2) or vertical Downward, or at an angle of 0 to 60 degrees with the horizontal plane. The digital camera (2) is connected with the microwave transmitter (4) through the flight control board (1.1), and the monitoring image is sent to the ground control station (3) through the microwave transmitter (4) and displayed on the display screen (3.2).

The flight control board (1.1) is an electronic integrated chip supporting the drone, which realizes functions such as automatic flight of the drone and data collection and transfer.

4. Microwave transmitter (4) and microwave receiving antenna (5)

The microwave transmitter (4) has an operating frequency of 1040-1400 MHz, and can transmit one image signal and one data signal wirelessly and synchronously. The transmission distance can reach more than 10Km.

The microwave receiving antenna (5) is a supporting equipment for the microwave transmitter (4).

The microwave transmitter (4) and the microwave receiving antenna (5) have listed products.

2. How to use this device

① Investigate the topography of the target area, and measure the three-dimensional coordinates of some obvious natural marks (local coordinates and geodetic coordinates are acceptable).

②According to the topographic features of the target area and key measurement targets, the route is set indoors through the ground control station (2) in advance. The route is realized by setting waypoints. The waypoint information is three-dimensional, including longitude and latitude and elevation. After the route is set, input the UAV (1) through the computer serial port (3.3).

③On-site operation, check the battery voltage, start self-test, initialize after the self-test is normal, and read the route after completion. Turn on the camera, adjust the communication channel, check whether the surveillance images are normal, and take off if everything is normal. The aircraft adopts the mode of throwing and taking off, and the initial stage is controlled by remote control. After the flight is stable, the GPS (1.2) guides to fly according to the route, and the self-stabilizing balancer (1.3) ensures that the aircraft is stable. The route can be manually adjusted in real time during the flight according to the actual situation. The track is automatically saved, and after the mission is over, the track can be played back in the laptop (3.1) of the ground control station (2). The unmanned aerial vehicle (1) can glide down in areas with good site conditions, and can parachute in environments with poor site conditions and complex terrain.

④ The UAV (1) flies at an ultra-low altitude on a predetermined route (minimum 50m from the ground), and can take pictures manually through the remote control, or automatically take pictures according to the program, and store the pictures in the camera card. Taking pictures can also record the longitude, latitude, elevation, aircraft pitch angle, aircraft deflection angle and other information of the shooting point.

⑤ The longitude, latitude, altitude, aircraft pitch angle, aircraft deflection angle and other data information in flight are displayed on the ground control station (2) in real time through the microwave transmitter (4), microwave receiving antenna (5) and data connection line (6). ) on the display screen (3.2) and the notebook computer (3.1), so as to adjust the attitude of the aircraft in time.

⑥The camera monitoring image is displayed in real time on the display screen (3.2) and notebook computer (3.1) of the ground control station (2) through the microwave transmitter (4), microwave receiving antenna (5) and data connection (6). At the same time, the monitoring image can be recorded to avoid information loss caused by discontinuous photography.

⑦ According to the close-range photogrammetry theory, the photos taken in different periods are processed, calculated and compared, and the displacement of the target area can be calculated.

3. The measurement method of this device

As shown in Figure 4, this measurement method uses the unmanned aerial vehicle (1) as the carrier to realize ultra-low altitude flight, uses the digital camera (2) as the information collection device, and uses the calculation software (7) to measure the digital camera (2) according to the method of close-range photogrammetry The captured photos are processed and calculated to obtain the surface displacement of the target area.

The calculation software (7) includes a photo preprocessing module (7.1), a point coordinate measurement module (7.2), an image matching module (7.3), a control condition input module (7.4), a photo parameter calculation module (7.5), a beam level Difference method solution object-space coordinate module (7.6), displacement analysis module (7.7), error analysis module (7.8).

① The photo pre-processing module (7.1) mainly performs filtering and denoising, image correction (to eliminate or reduce the smearing phenomenon caused by moving pictures), image enhancement and other processing on the photo.

②The point coordinate measurement module (7.2) mainly measures and extracts the coordinates of control points and target points in the photo plane coordinate system.

③The image matching module (7.3) classifies and manages the photos with the control points with the same name.

④ The control condition input module (7.4) mainly inputs the known coordinates of control points and other control condition equations.

⑤ The photo parameter calculation module (7.5) uses the classified photos and control conditions to solve the inner and outer orientation elements of each photo with the direct linear transformation solution, and calculates the initial value of the object space coordinates of unknown points.

⑥ Bundle adjustment method to solve object space coordinates module (7.6) uses the initial value of object space coordinates and the inner and outer orientation elements of the photo to calculate the three-dimensional coordinates of unknown points in the target area according to the ray beam adjustment method.

⑦The displacement analysis module (7.7) mainly manages the calculated three-dimensional coordinates, and determines the displacement of unknown points according to the changes in the three-dimensional coordinates obtained from photos in different periods; at the same time, the surface displacement of the target area is obtained and modeled by the differential method .

⑧The error analysis module (7.8) mainly considers the calculation process such as photo quality, coordinate measurement, photo parameter calculation, and beam adjustment method to determine the accuracy of the measurement.

The measuring method of this device comprises the following steps:

① Photo pre-processing module (7.1) and point coordinate measurement module (7.2) are sequentially connected to obtain data information image point coordinates (7.9);

②The execution of the photo parameter calculation module (7.5) requires not only the data information of the image point coordinates (7.9), but also the results of the two independent operation modules of the image matching module (7.3) and the control condition input module (7.4);

③ The object space coordinate module (7.6) of the beam adjustment method is connected with the photo parameter calculation module (7.5), and its subsequent steps are the displacement analysis module (7.7) and the error analysis module (7.8).

Specifically:

After the photo preprocessing module (7.1) processes the photo, enter the point coordinate measurement module (7.2), measure the coordinate values of the control point and the target point in the photo plane coordinate system, and obtain the image point coordinate (7.9) data information; The image matching module (7.3) matches and classifies the photos according to the control points of the same name. After the control condition input module (7.4) inputs the object space coordinates of the control points and other control conditions, the photo parameter calculation module (7.5) calculates according to the direct linear transformation solution The internal and external orientation elements of the photo, and the initial value of the object coordinates of the target point, the beam adjustment method to solve the object coordinate module (7.6) uses the internal and external orientation elements of the photo, the coordinates of the control points, and the initial value of the object coordinates of the target point according to the light The wire harness adjustment method calculates the object space coordinates of the target point, that is, the three-dimensional coordinates of the target point; the displacement analysis module (7.7) determines the displacement of the point according to the difference of the object space coordinates of the same target point calculated by photos in different periods, And use the method of difference to obtain the displacement of the ground in the target area; the error analysis module (7.8) considers the calculation processes such as photo quality, coordinate measurement, photo parameter calculation, and beam adjustment method to determine the accuracy of the 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.

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