CN107172404A - A kind of unmanned plane image-pickup method and system - Google Patents
A kind of unmanned plane image-pickup method and system Download PDFInfo
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- CN107172404A CN107172404A CN201710597648.5A CN201710597648A CN107172404A CN 107172404 A CN107172404 A CN 107172404A CN 201710597648 A CN201710597648 A CN 201710597648A CN 107172404 A CN107172404 A CN 107172404A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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Abstract
A kind of unmanned plane image-pickup method and system, this method comprise the following steps：1) during unmanned plane during flying, the locating module of unmanned plane receives satellite positioning signal, and transmits a signal to the central processing unit progress data parsing of unmanned plane；2) central processing unit parses positional information and temporal information；3) central processing unit is initialized according to the temporal information parsed；4) default triggering pattern is based on, central processing unit generates trigger signal according to the information parsed；5) the image capture module work of trigger signal triggering unmanned plane, and the image information of collection is passed back into central processing unit in real time；7) central processing unit is handled image, including：I. the positional information for gathering image is write in the attribute information of image；And/or, ii. writes the temporal information for gathering image in the attribute information of image；8) memory module is arrived in the information storage after handling.This method and system are suitable to the need for meeting acquisition accurate geographic position and a wide range of three-dimensional image information.
Description
Technical field
The present invention relates to a kind of unmanned plane image-pickup method and system.
Background technology
With the fast development in epoch, the accuracy requirement of the quick acquisition to real time information and data is more and more now
Height, this just not only require information collecting device it is accurate, clear, more to require that it has had ageing.At present, unmanned plane has been
Through being widely applied to all trades and professions, such as video display take photo by plane photography, accidental pollution event rescue.It is different by UAV flight
Sensing system to obtain a variety of data, disclosure satisfy that take photo by plane, power-line patrolling, the differentiated demand of the every profession and trade such as modeling.Cause
Single sensor once captured scope, limited angle, in order to expand coverage, reflect the feelings of shooting area in all directions
Condition, now begins to shoot ground by the way of multisensor is once carried, increases the coverage shot, realization pair
The information gathering of same target area multi-angle.
The content of the invention
It is a primary object of the present invention to overcome the deficiencies in the prior art there is provided a kind of unmanned plane image-pickup method and be
System, the need for meeting acquisition accurate geographic position and a wide range of multi-view image information.
To achieve the above object, the present invention uses following technical scheme：
A kind of unmanned plane image-pickup method, comprises the following steps：
1) during unmanned plane during flying, the locating module of unmanned plane receives satellite positioning signal, and transmits a signal to nothing
Man-machine central processing unit carries out data parsing；
2) central processing unit parses positional information and temporal information；
3) central processing unit is initialized according to the temporal information parsed；
4) default triggering pattern is based on, central processing unit generates trigger signal according to the information parsed；
5) the image capture module work of trigger signal triggering unmanned plane, and the image information of collection passed back in real time
Central processor；
7) central processing unit is handled image, including：I., the positional information for gathering image is write to the attribute of image
In information；And/or, ii. writes the temporal information for gathering image in the attribute information of image；
8) memory module being connected with central processing unit is arrived in the information storage after handling.
Further：
The default triggering pattern includes ad-hoc location and triggers pattern, under ad-hoc location triggering pattern, in step 4)
In, central processing unit is according to default one or more specific location points, using each specific location point as the center of circle, using Δ D to be straight
The shooting area of each specific location point of footpath generation correspondence, wherein Δ D is not less than unmanned plane when time maximum of flight plan setting
The product of the sampling time interval of speed and locating module；In step 5) in, when entering shooting area, central processing unit is touched
Send out image capture module and carry out continuous IMAQ, until leaving shooting area；In step 7) in, central processing unit, which is chosen, to be clapped
Take the photograph place a width or one group image nearest with specific location point.
The default triggering pattern includes ad-hoc location interval and triggers pattern, under ad-hoc location interval triggering pattern,
In step 4) in, the nearest camera site that central processing unit is sent back using locating module is as the center of circle, between default ad-hoc location
Radius is divided into, the circle where target camera site is determined, and determine that an annulus concentric with the circle is used as shooting area, institute
State annulus periphery and inner circumferential and the circle circumference it is equidistant, and the difference of the interior outer radius of the annulus is Δ D, and wherein Δ D is not
Less than unmanned plane when time maximal rate of flight plan setting and the product of the sampling time interval of locating module；In step 5)
In, when entering shooting area, central processing unit triggering image capture module carries out continuous IMAQ, until leaving bat
Take the photograph region；In step 7) in, central processing unit chooses a spot for photography width or one group image nearest with target camera site.
The default triggering pattern includes particular moment triggering pattern, under particular moment triggering pattern, in step 4)
In, central processing unit judges whether the current time is identical with default particular point in time, in step 5) in, when the current time
When identical with default particular point in time, central processing unit triggering image capture module carries out IMAQ.
The default triggering pattern includes specified time interval and triggers pattern, under specified time interval triggering pattern,
In step 4) in, central processing unit judges whether current time and the time interval of nearest shooting time point reach special time
Interval, in step 5) in, when the time interval of current time and nearest shooting time point reach specified time interval, center
Processor triggering image capture module carries out IMAQ.
A kind of unmanned plane image capturing system, including CPU module and be connected with the CPU module
Image capture module, locating module, memory module and passback module, and be the power supply supplying module of system power supply, using institute
The unmanned plane image-pickup method stated carries out IMAQ.
Further：
The CPU module includes computing module, signal amplification module and control module, the memory module
The computing module is connected, the computing module connects the signal amplification module, and the signal amplification module connects the control
Molding block.
Described image acquisition module includes the multiple images sensor set according to multiple shooting angle.
The passback module is wireless backhaul module.
Beneficial effects of the present invention：
The present invention proposes a kind of unmanned plane image-pickup method and system, wherein, central processing unit using positional information and
Temporal information is parsed and shot triggering, support position triggering collection mode and time triggered acquisition mode, and wherein position is touched
The positional information that hair is applied to set according to user gathers to trigger imaging sensor, and time triggered collection is applied to according to user
The temporal information of setting gathers to trigger imaging sensor.When the information of collection is simultaneous with accurate spatial position information and collection
Between information, lift the efficiency of the work such as data processing in later stage.
In a particular embodiment, the present invention results in advantages below：
1. the power supply of the system is independently from unmanned plane with control, it can individually be mounted on unmanned plane and use, independence
It is good, independent of other products, in the equipment that any low-latitude flying can be mounted in.
2. triggering pattern and ad-hoc location interval triggering pattern using ad-hoc location, calculated without installing accelerator module
Real-time speed, and can preferably determine that region is shot, in the case where not increasing additional modules, make shooting point as close possible to pre-
If camera site.
3. central processing unit handles and deletes useless redundant image information in time, memory space is less taken.
4. modularized design can be used, installed for production and hardware replacement is quite convenient to.
5. consider it is unstable in trigger signal transmitting procedure, in the transmission between add signal amplification module, ensure
Effective control of the processor to imaging sensor.
6. the arrangement of multiple images sensor can realize the multi-angled shooting for meeting certain Duplication requirement.
7. positional information writes in the image information of imaging sensor collection in real time, the three-dimensional modeling in later stage etc. is facilitated to handle
With use.
8. using wireless backhaul module, the image of shooting is returned in real time, more effectively handled in real time.
Brief description of the drawings
Fig. 1 is the system global structure figure of an embodiment of the present invention；
Fig. 2 is the central processing unit pie graph in an embodiment of the present invention；
Fig. 3 is the system power supply supply structure figure in an embodiment of the present invention；
Fig. 4 is the information gathering flow chart in an embodiment of the present invention.
Embodiment
Embodiments of the present invention are elaborated below.It is emphasized that what the description below was merely exemplary,
The scope being not intended to be limiting of the invention and its application.
Refering to Fig. 1 to Fig. 4, in one embodiment, a kind of unmanned plane image-pickup method comprises the following steps：
1) during unmanned plane during flying, the locating module of unmanned plane receives satellite positioning signal, and transmits a signal to nothing
Man-machine central processing unit carries out data parsing；
2) central processing unit parses positional information and temporal information；
3) central processing unit is initialized according to the temporal information parsed；
4) default triggering pattern is based on, central processing unit generates trigger signal according to the information parsed；
5) the image capture module work of trigger signal triggering unmanned plane, and the image information of collection passed back in real time
Central processor；
7) central processing unit is handled image, including：I., the positional information for gathering image is write to the attribute of image
In information；And/or, ii. writes the temporal information for gathering image in the attribute information of image；
8) memory module being connected with central processing unit is arrived in the information storage after handling.
In a preferred embodiment, the default triggering pattern includes ad-hoc location triggering pattern, is touched in ad-hoc location
Under hair pattern, in step 4) in, central processing unit is according to default one or more specific location points, with each specific location point
The shooting area of each specific location point of correspondence is generated for the center of circle, by diameter of Δ D, wherein Δ D flies not less than unmanned plane when secondary
The product of the maximal rate of row plan configuration and the sampling time interval of locating module；In step 5) in, shoot area when entering
During domain, central processing unit triggering image capture module carries out continuous IMAQ, until leaving shooting area；In step 7)
In, central processing unit chooses a spot for photography width or one group photo nearest with specific location point.
In a preferred embodiment, the default triggering pattern includes ad-hoc location interval triggering pattern, in certain bits
Put under the triggering pattern of interval, in step 4) in, the nearest camera site that central processing unit is sent back using locating module as the center of circle, with
Default ad-hoc location determines the circle where target camera site, and determine a circle concentric with the circle at intervals of radius
Ring is as shooting area, and the periphery of the annulus and inner circumferential and the circumference of the circle are equidistant, and the annulus interior outer radius it
Difference is Δ D, and wherein Δ D is not less than unmanned plane when time maximal rate of flight plan setting and the sampling time interval of locating module
Product；In step 5) in, when entering shooting area, central processing unit triggering image capture module carries out continuous image
Collection, until leaving shooting area；In step 7) in, central processing unit chooses one nearest with target camera site of spot for photography
Width or one group of photo.
Under ad-hoc location interval triggering pattern, first camera site can according to specific location point or particular point in time or
Unmanned plane comes self-defined when secondary flight time etc..
In various embodiments, ad-hoc location interval can be during flight between changeless position
Every or flight during the location interval that is changed according to rule set in advance.For example, can be by between 10 meters
Every repeating to take pictures or be repeated in taking pictures according to 10 meters, 20 meters, 30 meters of three kinds of intervals, etc..In preferred embodiment
In, the default triggering pattern includes particular moment triggering pattern, under particular moment triggering pattern, in step 4) in, in
Central processor judges whether the current time is identical with default particular point in time, in step 5) in, when the current time and in advance
If particular point in time it is identical when, central processing unit triggering image capture module carry out IMAQ.
In a preferred embodiment, the default triggering pattern includes specified time interval and triggers pattern, when specific
Between under the triggering pattern of interval, in step 4) in, central processing unit was judged between the time of current time and nearest shooting time point
Every whether reaching specified time interval, in step 5) in, when current time and the time interval of nearest shooting time point reach
During specified time interval, central processing unit triggering image capture module carries out IMAQ.
Under specified time interval triggering pattern, shooting time point can be according to specific location point or particular point in time first
Or unmanned plane comes self-defined when secondary flight time etc..
In various embodiments, specified time interval can be changeless time interval during flight,
It can also be the time interval changed according to rule set in advance during flight.For example, can be by 1 second interval weight
Take pictures again or be repeated in taking pictures according to 1 second, 2 seconds, 3 seconds three kinds of intervals, etc..Below in conjunction with specific embodiment
Further describe the features and advantages of the present invention.
Refering to Fig. 4, in a particular embodiment, default triggering pattern can be time triggered drainage pattern and location triggered
Drainage pattern.
Refering to Fig. 4, in a particular embodiment, time triggered drainage pattern includes particular moment triggering and specified time interval
Trigger both of which.
Particular moment triggering pattern (is applicable to the occasion that special time gathers image information)：
A) user can set one or more particular point in times, and time point information is stored in central processing unit；
B) identical with default particular point in time when the central processing unit current time, the one or more images of system trigger are passed
Sensor is shot；
C) image message is passed back into central processing unit after shooting；
D) central processing unit is by the positional information write-in collection image attributes information of shooting time；
E) central processing unit is by the temporal information write-in collection image attributes information for gathering image；
F) memory module is arrived into the image information storage after processing.
Specified time interval triggering pattern (situation for being applicable to delay collection image information)：
A) user can set arbitrary time span, and user sets and is stored in central processing unit；
B) central processing unit gathers locating module information and extracts temporal information therein；
C) when the time interval twice of extraction meets the time interval of user's setting, system synchronization triggering multiple images sensing
Device is shot；
D) image message is passed back into central processing unit after shooting；
E) central processing unit is by the positional information write-in collection image attributes information of shooting time；
F) central processing unit is by the temporal information write-in collection image attributes information for gathering image；
G) memory module is arrived into the image information storage after processing.
Refering to Fig. 4, in a particular embodiment, location triggered screening-mode includes ad-hoc location triggering and ad-hoc location interval
Trigger both of which：
Ad-hoc location triggering pattern (is applicable to the occasion that ad-hoc location gathers image information)：
A) user sets one or more specific location points, and location point information is stored in central processing unit
B) user sets a general regional diameter Δ D, and Δ D setting principle is when time flight meter more than unmanned plane
Delineate the sampling interval that fixed maximal rate is multiplied by locating module.
C) central processing unit generates shooting area according to Δ D values near objective
D) after the positional information of real time parsing enters shooting area, imaging sensor is continuous under position signalling triggering
Collection
E) leave after shooting area, the nearest photo in distance objective place is found according to calculating, and the image of redundancy is believed
Breath is deleted
F) writing position information and temporal information in the attribute information of the image screened
G) memory module is arrived into the image information storage after processing.
Ad-hoc location interval triggering pattern (situation for being applicable to interval collection image information)
A) user can set optional position interval, and user sets and is stored in central processing unit
B) user sets a general regional diameter Δ D, and Δ D setting principle is when time flight meter more than unmanned plane
Delineate the sampling interval that fixed maximal rate is multiplied by locating module.
C) central processing unit is sent back according to locating module real-time position information and predeterminated position interval, determine that target is clapped
The circle acted as regent where putting
D) central processing unit generates annular shooting area according to Δ D values near target circle
E) after the positional information of real time parsing enters shooting area, imaging sensor is continuous under position signalling triggering
Collection
F) leave after shooting area, choose camera site photo nearest at default location interval, and to redundancy
Image information deleted
G) writing position information and temporal information in the attribute information of the image screened
H) memory module is arrived into the image information storage after processing.
Refering to Fig. 1 to Fig. 3, a kind of unmanned plane image capturing system, including CPU module and with the centre
The connected image capture module of device module, locating module, memory module and passback module are managed, and is supplied for the power supply of system power supply
To module, IMAQ is carried out using described unmanned plane image-pickup method.
In a preferred embodiment, the CPU module includes computing module, signal amplification module and control
Module, the memory module connects the computing module, and the computing module connects the signal amplification module, and the signal is put
Big module connects the control module.
In a preferred embodiment, the multiple images that described image acquisition module includes setting according to multiple shooting angle are passed
Sensor.
In a preferred embodiment, the passback module is wireless backhaul module.
In a preferred embodiment, the camera of the system shoots triggering by central processing unit control.To ensure trigger signal
Effectively triggering multiple image sensor is shot simultaneously, and signal amplification module is added between central processing unit and imaging sensor.
Imaging sensor is multiple image sensor system, can carry out meeting certain Duplication requirement under rational position display case
Multi-angled shooting.All modules take unified power supply mode, the power-supply system independent of unmanned plane.Imaging sensor is gathered
After after image, after being handled by central processing unit, unified storage is carried out.The image of storage can be selected by nothings such as WiFi, 4G
Gauze network passes back to ground base station in real time.
In a preferred embodiment, memory module is used for required for storing program and presupposed information, and center is handled
Information after device processing is preserved.Computing module analysis calculates information, and the temporal information that locating module is returned is believed with position
Breath is parsed, controls passback module, generation trigger signal etc..The trigger signal of generation is amplified by amplification module, it is ensured that
Reliably triggering imaging sensor work.Trigger signal is converted into controlling the signal of imaging sensor collection, control by control module
Multiple image sensor synchronous photo taking processed.Locating module by satellite positioning information (such as：Gps signal, Big Dipper signal etc.) reality
When receive and parse, the information format of generation international standard is transferred to central processing unit and is further processed.Return module
It is responsible for the image information after processing passing back to ground (being applied to the emergent occasion higher to time requirement) in real time.Multiple images
Sensor can under the control of control module sync pulse jamming, pass through the different figures for completing imaging sensors of exhaust position and angle
As collecting work.
All modules can be more flexible so during subsequent use and processing, more using unified powering mode
It is convenient.
Refering to Fig. 4, system can be touched from particular moment triggering pattern, specified time interval triggering pattern, ad-hoc location
Hair pattern, ad-hoc location interval triggering pattern.It is introduced below by taking specified time interval triggering pattern as an example.
1) locating module receives signal, and signal is constantly transferred to central processing unit carries out data parsing.
2) the data parsing of central processing unit, two parts information, respectively positional information and time letter are parsed by main
Breath.
3) central processing unit is initialized according to the temporal information parsed, prover time.
4) default triggering schema creation trigger signal is combined according to the information parsed.
5) trigger signal triggering multiple image sensor work simultaneously, and by control line transport module by take come image
Information passes back to central processing unit in real time.
6) image is further processed central processing unit, predominantly：
I. it will be write with corresponding GPS information in the attribute information of image.
Ii. real-time gps time is write in the attribute information of image.
7) information after handling stores the data memory module into system.
8) judge whether to need to carry out data passback in real time according to presupposed information, it is necessary to when return.
Above content is to combine specific/preferred embodiment made for the present invention be further described, it is impossible to recognized
The specific implementation of the fixed present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Without departing from the inventive concept of the premise, it can also make some replacements or modification to the embodiment that these have been described,
And these are substituted or variant should all be considered as belonging to protection scope of the present invention.
Claims (9)
1. a kind of unmanned plane image-pickup method, it is characterised in that comprise the following steps：
1) during unmanned plane during flying, the locating module of unmanned plane receives satellite positioning signal, and transmits a signal to unmanned plane
Central processing unit carry out data parsing；
2) central processing unit parses positional information and temporal information；
3) central processing unit is initialized according to the temporal information parsed；
4) default triggering pattern is based on, central processing unit generates trigger signal according to the information parsed；
5) the image capture module work of trigger signal triggering unmanned plane, and the image information of collection is passed back into centre in real time
Manage device；
7) central processing unit is handled image, including：I., the positional information for gathering image is write to the attribute information of image
In；And/or, ii. writes the temporal information for gathering image in the attribute information of image；
8) memory module being connected with central processing unit is arrived in the information storage after handling.
2. unmanned plane image-pickup method as claimed in claim 1, it is characterised in that the default triggering pattern includes spy
Triggering pattern is put in positioning, under ad-hoc location triggering pattern, in step 4) in, central processing unit is according to default one or more
Specific location point, the shooting area of each specific location point of correspondence is generated using each specific location point as the center of circle, by diameter of Δ D
Domain, wherein Δ D the multiplying when the maximal rate and the sampling time interval of locating module that time flight plan is set not less than unmanned plane
Product；In step 5) in, when entering shooting area, central processing unit triggering image capture module carries out continuous image and adopted
Collection, until leaving shooting area；In step 7) in, central processing unit choose the nearest width of spot for photography and specific location point or
One group of image, it is preferable that also delete other redundant image informations.
3. unmanned plane image-pickup method as claimed in claim 1 or 2, it is characterised in that the default triggering pattern bag
Ad-hoc location interval triggering pattern is included, under ad-hoc location interval triggering pattern, in step 4) in, central processing unit is with positioning mould
The nearest camera site that block is sent back, at intervals of radius, determines target camera site place for the center of circle, with default ad-hoc location
Circle, and determine that an annulus concentric with the circle is used as shooting area, the periphery of the annulus and inner circumferential and the circle
Circumference is equidistant, and the difference of the interior outer radius of the annulus is Δ D, and wherein Δ D is not less than unmanned plane when time flight plan setting
The product of the sampling time interval of maximal rate and locating module；In step 5) in, when entering shooting area, center processing
Device triggering image capture module carries out continuous IMAQ, until leaving shooting area；In step 7) in, central processing unit choosing
The width or one group of image for taking spot for photography nearest with target camera site, it is preferable that also delete other redundant image informations.
4. the unmanned plane image-pickup method as described in any one of claims 1 to 3, it is characterised in that the default triggering
Pattern includes particular moment triggering pattern, under particular moment triggering pattern, in step 4) in, central processing unit judges current
Whether the time is identical with default particular point in time, in step 5) in, it is identical with default particular point in time when the current time
When, central processing unit triggering image capture module carries out IMAQ.
5. the unmanned plane image-pickup method as described in any one of Claims 1-4, it is characterised in that the default triggering
Pattern includes specified time interval and triggers pattern, under specified time interval triggering pattern, in step 4) in, central processing unit is sentenced
Whether disconnected current time and the time interval of nearest shooting time point reach specified time interval, in step 5) in, when current
The time interval of time and nearest shooting time point when reaching specified time interval, central processing unit triggering image capture module
Carry out IMAQ.
6. a kind of unmanned plane image capturing system, including CPU module and the figure that is connected with the CPU module
As acquisition module, locating module, memory module and passback module, and it is the power supply supplying module of system power supply, its feature exists
In using the unmanned plane image-pickup method progress IMAQ as described in any one of claim 1 to 5.
7. unmanned plane image capturing system as claimed in claim 6, it is characterised in that the CPU module includes meter
Module, signal amplification module and control module are calculated, the memory module connects the computing module, the computing module connection
The signal amplification module, the signal amplification module connects the control module.
8. unmanned plane image capturing system as claimed in claims 6 or 7, it is characterised in that described image acquisition module includes
The multiple images sensor set according to multiple shooting angle.
9. the unmanned plane image capturing system as described in any one of claim 6 to 9, it is characterised in that the passback module is
Wireless backhaul module.
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