CN114442129A - Dynamic adjustment method for improving unmanned aerial vehicle survey precision of complex slope rock mass - Google Patents
Dynamic adjustment method for improving unmanned aerial vehicle survey precision of complex slope rock mass Download PDFInfo
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- CN114442129A CN114442129A CN202111617160.7A CN202111617160A CN114442129A CN 114442129 A CN114442129 A CN 114442129A CN 202111617160 A CN202111617160 A CN 202111617160A CN 114442129 A CN114442129 A CN 114442129A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a dynamic adjustment method and a dynamic adjustment device for improving the survey precision of an unmanned aerial vehicle for rock masses with complex slopes, which comprise the following steps: the method comprises the following steps: selecting an unmanned aerial vehicle with an RTK function for photogrammetry to acquire low-precision DEM data; step two: setting an unmanned aerial vehicle route close to the scene to be detected at the height h from the scene to be detected on the basis of the DEM data acquired in the step one; step three: arranging a laser ranging device to obtain geometric information of a scene to be measured, and adjusting the orientation of a lens to a vertical region to be measured and then taking a picture of the scene; step four: and repeating the operations in the unmanned aerial vehicle air route to obtain all aerial photos of the area to be detected. According to the dynamic adjustment method and device for improving the investigation precision of the unmanned aerial vehicle for the complex slope rock mass, the attitude and the lens orientation of the unmanned aerial vehicle are automatically adjusted according to the region to be measured, the lens orientation of the unmanned aerial vehicle is guaranteed to be always vertical to the region to be measured, the lens of the unmanned aerial vehicle is shot in a mode of being parallel to a normal vector of a measurement scene and without a deviation angle, and the precision of three-dimensional modeling is improved.
Description
Technical Field
The invention relates to the technical field of automatic adjustment of an unmanned aerial vehicle photographic lens, in particular to a dynamic adjustment method and a dynamic adjustment device for improving the investigation precision of an unmanned aerial vehicle for a complex slope rock mass.
Background
In traditional geological investigation, the amount of manual labor is large; safety is difficult to ensure; the sampling has great limitation, the accuracy of the investigation result depends on the selected rock mass area and geological professional knowledge, and the method has strong subjectivity. Therefore, the digital geological survey, especially the unmanned aerial vehicle photogrammetry technology, has the advantages of low cost, simple operation, safety, reliability and the like, and is rapidly developed.
In order to further acquire ultrahigh-resolution images of close-range objects, the unmanned aerial vehicle aerial photography method is also improved. In recent years, an unmanned aerial vehicle aerial photography method close to photogrammetry is proposed and applied, and the precise coordinates and the fine shape of a shot object are acquired by taking a high-definition image obtained by photography close to the surface of the object, particularly the photographic distance is 5m to 50 m.
In proximity photogrammetry, the camera pose and lens orientation on the drone are important to obtain high resolution imagery. In the past route planning strategy, in order to find an angle of a high-definition camera facing a target area, after rough terrain information is calculated by carrying out primary unmanned plane photogrammetry, 1) an unmanned plane route is obtained at a certain height from the area to be measured, 2) the angle is manually judged and the camera attitude and the lens orientation are set, and 3) a corresponding route file (including the route, the unmanned plane attitude and the lens orientation) is generated.
However, for complex slope rock masses, the terrain information obtained by the first unmanned plane photogrammetry is not accurate enough, the complex slope can generate large angle change in a small range, and corresponding route files cannot be well generated through simple aerial photography and manual judgment.
Therefore, when the unmanned aerial vehicle surveys complex terrains such as slope rock mass, the current situation that the unmanned aerial vehicle lens is just facing the slope only by manually adjusting the posture and the lens pitch angle of the unmanned aerial vehicle in the prior art is changed, and how to automatically adjust the posture and the lens orientation of the unmanned aerial vehicle is realized so as to ensure that the lens orientation of the high-definition camera is always perpendicular to the area to be measured, and the improvement of the survey precision becomes a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The first purpose of the invention is to provide a dynamic adjustment method for improving the investigation precision of the unmanned aerial vehicle for improving the precision of complex slope rock mass unmanned aerial vehicle in order to automatically adjust the posture and the lens orientation of the unmanned aerial vehicle according to the region to be measured, ensure that the lens orientation of the unmanned aerial vehicle is always perpendicular to the region to be measured, achieve the purpose that the lens of the unmanned aerial vehicle is shot in a manner of being parallel to the normal vector of a measurement scene and without deviation angle, and improve the precision of three-dimensional modeling.
Therefore, the above purpose of the invention is realized by the following technical scheme:
a dynamic adjustment method for improving the unmanned aerial vehicle survey precision of complex slope rock masses comprises the following steps:
the method comprises the following steps: selecting an unmanned aerial vehicle with an RTK function for photogrammetry, carrying out primary unmanned aerial vehicle photography on a scene to be measured, and acquiring low-precision DEM data;
step two: setting an unmanned aerial vehicle route close to the scene to be detected at a height h away from the scene to be detected on the basis of the DEM data acquired in the first step, wherein h is 5-50 m;
step three: set up laser rangefinder, obtain the geometric information of the scene of awaiting measuring through laser rangefinder: setting three laser ranging devices by taking a high-definition camera of an unmanned aerial vehicle as a center, obtaining a deviation angle between a lens angle of the high-definition camera and a measured scene through the laser ranging devices, judging whether the orientation of the lens is vertical to the scene to be measured, and adjusting the orientation of the lens to a vertical region to be measured to take a picture of the scene;
step four: and repeating the operation on the whole scene to be detected in the unmanned aerial vehicle air route to obtain all aerial photos of the area to be detected, wherein the aerial photos are used for importing into professional software to generate a three-dimensional point cloud model.
While adopting the technical scheme, the invention can also adopt or combine the following technical scheme:
as a preferred technical scheme of the invention: in the third step, the deviation angle between the high-definition camera angle and the normal vector of the measured scene is obtained through the laser ranging device, and the method comprises the following steps:
s1, three laser ranging devices such as a first laser ranging device, a second laser ranging device and a third laser ranging device are arranged by taking the high-definition camera as a center, reverse extension lines of laser emitted by the three laser ranging devices are intersected at the position L behind the high-definition camera, and the accurate position of the position L of the reverse extension line of the laser is determined by the steps of obtaining longitude and latitude coordinates and altitude height information of the unmanned aerial vehicle and a lens angle through the RTK of the unmanned aerial vehicle in the first step; marking the intersection point of the laser reverse extension lines as a coordinate system origin O, taking the long side direction of the high-definition camera as an X axis, taking the short side direction of the high-definition camera as a Y axis, and taking the same direction as the lens of the high-definition camera as a Z axis, and establishing a coordinate system based on the high-definition camera; the XOY plane is vertical to the direction of a lens of the high-definition camera;
in S2, a first laser ranging device is installed in a YOZ plane, and the included angle between the first laser ranging device and the Z axis is theta; the second laser ranging device and the third laser ranging device are respectively rotated by 180 degrees clockwise and anticlockwise in the XOY plane by the first laser ranging device;
s3, when the unmanned aerial vehicle stays at the shooting point, the yaw angle alpha and the lens pitch angle beta of the unmanned aerial vehicle are recorded, and the distance values between the area to be measured and the origin of coordinates, which are measured by the three laser ranging devices, are respectively L1、L2、L3So as to calculate the intersection point P of the laser and the scene to be measured1、P2、P3Coordinate information in the coordinate system:
P1＝(0,L1 sinθ,L1 cosθ)；
according to the principle that three points determine a plane, calculating the normal vector of the scene fitting plane at the moment, as follows:
accordingly, the trend and the inclination angle of the scene to be detected are obtained:
and obtaining a deviation angle between the orientation of the high-definition camera and a normal vector of a measurement scene.
As a preferred technical scheme of the invention: in the third step, judging whether the lens orientation of the high-definition camera is vertical to the scene to be measured, adjusting the lens orientation of the high-definition camera to a vertical region to be measured, then taking a picture,
if the unmanned aerial vehicle is vertical, finishing the posture adjustment of the unmanned aerial vehicle and taking a picture; if the angle is not vertical, calculating a deviation angle between the orientation of the lens and a normal vector of the scene to be detected according to a plane equation, adjusting the yaw angle of the unmanned aerial vehicle to be parallel to the X axis and the trend, and enabling the pitch angle of the lens to be complementary to the inclination angle until the judgment of verticality is carried out.
As a preferred technical scheme of the invention: the area to be detected comprises geological disaster areas such as more complex rocky slopes, dangerous rock bodies, cliffs, landslides and the like.
The second purpose of the invention is to provide a dynamic adjusting device for improving the precision of the unmanned aerial vehicle investigation of the complex slope rock mass.
Therefore, the above purpose of the invention is realized by the following technical scheme:
a dynamic adjusting device for improving precision of investigating complex slope rock mass by an unmanned aerial vehicle comprises an unmanned aerial vehicle body, a high-definition camera carried by the unmanned aerial vehicle body and used for acquiring high-definition images of the slope rock mass, and a control system, wherein the high-definition camera is carried by the unmanned aerial vehicle body and used for aerial photography, the control system controls the unmanned aerial vehicle body to fly and the high-definition camera to acquire images, a laser ranging module is assembled on the high-definition camera and comprises three laser ranging devices, a plane formed by laser emitting points of the three laser ranging devices is perpendicular to the direction of a lens of the high-definition camera, laser reverse extension lines of the three laser ranging devices are intersected with the position L behind the lens of the high-definition camera, the position L is positioned on the rear extension line of the direction of the lens of the high-definition camera, and the intersection point of the laser reverse extension lines at the position L is used as an origin O of a coordinate system, the X-axis direction is parallel to the long side direction of the high-definition camera, the Y-axis direction is parallel to the short side direction of the high-definition camera, the Z-axis direction is the same as the lens direction of the high-definition camera, and the XOY plane is vertical to the lens direction of the high-definition camera; the unmanned aerial vehicle body, the high-definition camera and the laser ranging module are connected with the control system; control system includes the flight control to the unmanned aerial vehicle organism and to the control of high definition digtal camera's shooting angle, just control system sends the plane that the point formed and the planar parallel that three laser rangefinder point formed of the scene of awaiting measuring that three laser rangefinder obtained through the laser of controlling three laser rangefinder to through the camera lens perpendicular to scene of awaiting measuring of controlling these two planar parallel regulation high definition digtal camera, the high accuracy image transmission that the high definition digtal camera was shot the acquisition obtains and obtains the three-dimensional model of the scene of awaiting measuring through data processing.
While adopting the technical scheme, the invention can also adopt or combine the following technical scheme:
the preferred technical scheme of the invention is as follows: the laser ranging module comprises a first laser ranging device, a second laser ranging device and a third ranging device, wherein the first laser ranging device is installed on the YOZ plane, the second laser ranging device is installed on the XOY plane, and the third laser ranging device is installed on the XOY plane.
The preferred technical scheme of the invention is as follows: the periphery of the high-definition camera is a cube, the upper end and the lower end of the high-definition camera in the direction of the lens are long edges, and the two sides of the high-definition camera in the direction of the lens are short edges;
the first laser ranging device is arranged on the long edge of the high-definition camera and is arranged at the upper end of the high-definition camera in the vertical direction; and the second laser ranging device and the third laser ranging device are arranged on the long edge of the lower end of the high-definition camera and are respectively arranged on two sides of the lower end of the high-definition camera in the vertical direction.
The preferred technical scheme of the invention is as follows: the first laser ranging device is installed on the high-definition camera through a first support; and the second laser ranging device and the third laser ranging device are arranged on the high-definition camera through a second support.
The preferred technical scheme of the invention is as follows: the control system is provided with a face and face angle adjusting module, the high-definition camera is connected with the face and face angle adjusting module and the data acquisition and conversion module, the parallelism between planes formed by the three laser ranging devices and the three laser ranging points is adjusted through the face and face angle adjusting module, the lens of the high-definition camera is controlled to be perpendicular to a scene to be measured, and high-precision images obtained by aerial photography of the high-definition camera are converted into image conversion values through the data acquisition and conversion module.
The invention provides a dynamic adjustment method for improving the investigation precision of an unmanned aerial vehicle for a complex slope rock mass, wherein the unmanned aerial vehicle obtains the geometric information of a slope surface of a region to be measured through a laser ranging device in the close photogrammetry of the complex slope rock mass, automatically adjusts the posture and the lens orientation of the unmanned aerial vehicle, and dynamically adjusts the lens of the unmanned aerial vehicle to enable the unmanned aerial vehicle to look right at the slope surface, so that the dynamic adjustment of the investigation precision of the unmanned aerial vehicle for the complex slope rock mass is realized, a scheme for planning a three-dimensional flight path and the posture of the close photogrammetry of the complex slope rock mass is provided, the automatic acquisition of the close image of the complex slope rock mass can be realized, the precision of three-dimensional modeling is improved, and the precise three-dimensional modeling in the fields of geological disaster regions such as complex rock slopes, dangerous rock masses, scarps, landslides and collapse has wide application prospects.
Drawings
FIG. 1 is a schematic view of a route planning procedure for complex slope proximity photogrammetry;
FIG. 2 is a front view of the laser rangefinder installation;
FIG. 3 is a top view of a laser ranging device of the present invention in a mounted mode;
FIG. 4 is a schematic diagram of the process in operation;
FIG. 5 is a schematic diagram illustrating automatic lens orientation adjustment according to the present invention;
FIG. 6 is a flowchart illustrating the operation of the dynamic adjustment method according to the present invention;
FIG. 7 is a schematic structural diagram of a dynamic adjustment apparatus according to the present invention;
fig. 8 is a schematic structural diagram of a high-definition camera and a laser ranging module according to the present invention;
in the figure, an unmanned aerial vehicle 1; a high-definition camera 3; a first laser ranging device 201; a second laser ranging device 202; a third laser ranging device 203; a tripod head 4; an RTK differential positioning system 5; a first bracket 6; a second bracket 7.
Detailed Description
The invention is described in further detail with reference to the figures and specific embodiments.
As shown in fig. 1-6, the dynamic adjustment method for improving the unmanned aerial vehicle survey accuracy of the complex slope rock mass comprises the following steps:
the method comprises the following steps: firstly, carrying out primary rough unmanned aerial vehicle photographing work on a scene to be measured by using a conventional unmanned aerial vehicle photographing measurement method so as to obtain low-precision DEM data.
And step two, setting an unmanned aerial vehicle route close to the scene at a certain distance h, wherein h is 5-50 meters, based on the scene DEM data.
And thirdly, arranging 3 laser ranging devices by taking the lens as the center, further calculating the distance value calculated by laser ranging to obtain the deviation angle between the lens angle and the 'front-view' angle, and adjusting the rotation deviation angle and the pitch angle of the unmanned aerial vehicle to the 'front-view' angle.
And fourthly, repeating the operation on the whole scene to be detected to obtain all aerial photos of the scene to be detected, and importing the aerial photos into professional software to generate a three-dimensional point cloud model.
In the invention, the unmanned aerial vehicle selects 4 PRO RTK of Xinjiang spirit, and all aerial photos are imported into professional software such as PhotoSacan and ContextCapture to generate a three-dimensional point cloud model.
In the invention, the area to be detected in the first step comprises complicated geological disaster areas such as rocky slopes, dangerous rock bodies, cliffs, landslides, collapses and the like.
In the third step, the deviation angle between the orientation of the lens of the unmanned aerial vehicle and the normal vector of the measured scene is obtained through the laser ranging device, and the specific implementation mode is as follows:
for the unmanned aerial vehicle with the RTK function, longitude and latitude coordinates and altitude information of the unmanned aerial vehicle can be obtained. Three laser rangefinder is settled on the unmanned aerial vehicle camera lens, makes the reverse extension line of laser intersect in camera lens rear L department, according to camera lens angle, unmanned aerial vehicle longitude and latitude and altitude and L three this moment, confirms the accurate position of nodical. The intersection point of the laser reverse extension lines is taken as the origin of a coordinate system, the XOY plane is perpendicular to the direction of the lens, and the Z-axis direction is the same as the direction of the lens.
The mounting positions of the three laser ranging devices are as follows: the first laser ranging device is arranged in a YOZ plane, and the included angle between the first laser ranging device and the Y axis is theta; the second laser ranging device and the third laser ranging device rotate 180 degrees clockwise and anticlockwise respectively in the XOY plane.
When the aerial photography point stays, the yaw angle alpha and the lens pitch angle beta of the unmanned aerial vehicle are recorded, and the distance values between the area to be measured and the origin of coordinates measured by the three laser ranging devices are respectively L1、L2、L3So as to calculate the intersection point P of the laser and the scene1、P2、P3Coordinate information in coordinate system 1:
P1＝(0,L1 sinθ,L1 cosθ)；
according to the principle that a plane is determined by three points, calculating the normal vector of the scene fitting plane at the moment, as follows:
accordingly, the trend and the inclination angle of the scene to be detected are obtained:
and obtaining a deviation angle between the orientation of the lens of the unmanned aerial vehicle and a normal vector of a measurement scene.
In the invention, the third step is to judge whether the lens orientation is vertical to the scene to be measured, adjust the lens orientation to the vertical area to be measured and then take the picture, the specific implementation mode is as follows,
if the unmanned aerial vehicle is vertical, finishing the posture adjustment of the unmanned aerial vehicle and taking a picture; if the angle is not vertical, calculating the deviation angle between the orientation of the lens and the scene according to a plane equation, adjusting the yaw angle of the unmanned aerial vehicle until the camera is parallel to the slope direction, and keeping the pitch angle of the lens and the slope angle redundant until the judgment of verticality is carried out.
As shown in fig. 7, the dynamic adjustment device for improving the precision of the unmanned aerial vehicle for investigating the complex slope rock mass comprises an unmanned aerial vehicle body 1, a high-definition camera 3 carried by the unmanned aerial vehicle body 1 and a control system, wherein the high-definition camera 3 is carried by the unmanned aerial vehicle body 1 to take aerial photographs to obtain high-definition photographs of the slope rock mass, and the control system controls the unmanned aerial vehicle body 1 to fly and the high-definition camera to acquire images.
The high-definition camera 3 is provided with a laser ranging module, the laser ranging module comprises three laser ranging devices, a plane formed by laser emitting points of the three laser ranging devices is perpendicular to the direction of a lens of the high-definition camera, laser reverse extension lines of the three laser ranging devices are intersected with the position L behind the lens of the high-definition camera, the position L is positioned on a rear extension line of the direction of the lens of the high-definition camera, the intersection point of the laser reverse extension lines at the position L is taken as a coordinate system origin O, the X-axis direction is parallel to the long side direction of the high-definition camera, the Y-axis direction is parallel to the short side direction of the high-definition camera, the Z-axis direction is the same as the direction of the lens of the high-definition camera, and the XOY plane is perpendicular to the direction of the lens of the high-definition camera; the unmanned aerial vehicle body 1, the high-definition camera 3 and the laser ranging module are connected with a control system; control system is including the flight control to unmanned aerial vehicle organism 1 and the control to the shooting angle of high definition digtal camera, especially including the fly height and the yaw angle alpha of control unmanned aerial vehicle organism 1, controls high definition digtal camera's camera lens angle of pitch beta and high definition digtal camera and carries out image acquisition, just control system sends the plane that the point formed through the laser of three laser rangefinder of control and the plane parallel that three laser rangefinder point formed of the scene that awaits measuring that three laser rangefinder obtained to through the lens perpendicular to scene that awaits measuring of these two planar parallel regulation and control high definition digtal camera of control, high definition digtal camera aerial photograph the high accuracy image transmission who obtains and through data processing obtains the three-dimensional model of the scene that awaits measuring.
In the present invention, the laser ranging module includes a first laser ranging device 201, a second laser ranging device 202, and a third ranging device 203, the first laser ranging device 201 is installed in the YOZ plane, the second laser ranging device 202 is installed in the XOY plane, and the third laser ranging device is installed in the XOY plane.
In the invention, the periphery of the high-definition camera 3 is a cube, the upper end and the lower end of the high-definition camera 3 in the direction of the lens are long sides, and the two sides of the high-definition camera 3 in the direction of the lens are short sides;
the first laser ranging device 201 is arranged on the long side of the high-definition camera 3 and is arranged at the upper end of the high-definition camera 3 in the vertical direction; the second laser ranging devices 202 are disposed on the long side of the lower end of the high definition camera 3 and are disposed on two sides of the lower end of the high definition camera 3 in the vertical direction, respectively.
As shown in fig. 8, in the dynamic adjustment device for improving the precision of the unmanned aerial vehicle for investigating the rock mass with the complex slope, the first laser ranging device 201 is installed on the upper end surface of the high definition camera 3 through the first bracket 6; the second laser ranging device 202 and the third laser ranging device 203 are mounted on the lower end face of the high-definition camera 3 through the second bracket 7.
The distance between the laser ranging device and the point to be measured is measured in a high-directivity mode, the precision is high, the reliability is high, the non-contact remote measurement is achieved by the aid of the laser, the use and the operation are convenient, the installation is convenient, the popularization and the utilization are convenient, the three laser ranging devices and the three laser ranging points of the scene to be measured form a plane parallel to the lens direction of the high-definition camera 3, three planes formed by the laser ranging points of the scene to be measured are adjusted to be parallel to each other through the plane surface adjusting device, the laser camera 3 is perpendicular to the scene to be measured all the time, the picture precision obtained by aerial photography is improved, and a more accurate three-dimensional picture of the slope rock mass can be obtained through data conversion.
In the invention, the three laser ranging devices of the laser ranging module respectively comprise a laser emitting component, a laser receiving component, a laser signal processor and a laser ranging circuit, wherein the laser emitting component and the laser receiving component are connected with the laser signal processor and the laser ranging circuit. The laser emission component is used for emitting pulse laser to a target to be detected; the laser receiving component is used for receiving a pulse laser signal reflected by the target to be detected; the laser signal processor is used for calculating the time difference between the emission and the return of the pulse laser to obtain the distance between a laser emission point and a target to be detected; and the laser ranging circuit is connected with the transmitting component and the receiver component and is used for controlling the excitation of the pulse laser.
The control system is provided with a face and face angle adjusting module, the high-definition camera is connected with the face and face angle adjusting module and a data acquisition and conversion module through a signal transmission system, three laser ranging devices obtain the distance between each laser ranging device and a scene to be measured through a laser signal processor, the obtained distance data are transmitted to the control system through a signal transmission circuit by using a laser ranging circuit, the control system adjusts the parallelism between planes formed by the three laser ranging devices and three laser ranging points through the face and face angle adjusting module, a lens of the high-definition camera obtained through the laser signal processor in the laser ranging module is perpendicular to the scene to be measured, and a high-precision image obtained by aerial photography of the high-definition camera obtains an image conversion value through the data acquisition and conversion module.
The control system can be used for controlling the unmanned aerial vehicle to fly according to the instruction, make a video recording, adjust the high definition digtal camera angle of making a video recording and the laser scanning of laser rangefinder module. When the aerial camera point of unmanned aerial vehicle body 1 stops, record this moment unmanned aerial vehicle yaw angle alpha and high definition digtal camera 3's camera angle of pitch beta, the shooting area that three laser rangefinder measured respectively is L1, L2, L3 with the distance value of coordinate origin respectively to this calculates the crossing point P of laser and scene that awaits measuring P1、P2、P3And calculating normal vectors of the three point fitting planes according to the coordinate information in the coordinate system and the three coordinate information, thereby obtaining the trend and the inclination angle of the scene to be measured.
According to the control system, when the unmanned aerial vehicle stops at a navigation point during operation, the yaw angle alpha and the lens pitch angle beta of the unmanned aerial vehicle are recorded, the distance values between a shooting area and a coordinate origin measured by three laser ranging devices are respectively L1, L2 and L3, and the coordinate information of intersection points P1, P2 and P3 of laser and a scene in a coordinate system 1 is calculated. The method comprises the steps of utilizing a laser transmitter of a laser ranging device to shoot visible red laser to the surface of a detected scene, enabling the laser reflected by an object to pass through a receiver lens and be received by a CCD linear camera in the laser transmitter, enabling the CCD linear camera to measure light spots at different angles according to different distances, and utilizing a face-to-face angle adjusting module to calculate the included angle between two planes according to the angle and the distance between the known laser ranging device and the scene to be detected. According to the invention, the working surface of the scene to be measured is used as a reference surface, then a working surface formed by the laser ranging module is rotated by a corresponding angle according to the direction, so that the two working surfaces can be adjusted in parallel, the XOY plane is parallel to the working surface of the scene to be measured, the XOY plane is vertically fixed on the high-definition camera, the deflection angle of the unmanned aerial vehicle and the front and back pitching of the lens of the high-definition camera are adjusted, the small-angle motion of the working surface of the lens of the camera in any direction is realized by matching the swinging of the unmanned aerial vehicle and the pitching motion of the high-definition camera, the XOY plane is adjusted until the two working surfaces are parallel to each other by adjusting the deflection angle of the unmanned aerial vehicle and the front and back pitching motion of the high-definition camera, and the small-angle motion of the working surface of the lens of the high-definition camera is adjusted, and obtaining an image with small distortion until the optical axis of the high-definition camera is perpendicular to the scene to be detected in the aerial photography flight, and obtaining a high-precision three-dimensional model of the image acquisition area by using the data acquisition conversion module and combining the conventional three-dimensional modeling method.
The RTK differential positioning system 5 is installed at the top of the unmanned aerial vehicle body, the RTK differential positioning system 5 is connected with the high-definition camera 3 through the first support 6, the unmanned aerial vehicle with the RTK function can obtain longitude and latitude coordinates and altitude information of the unmanned aerial vehicle, and the accuracy is high.
The unmanned aerial vehicle body 1 with the RTK function can obtain longitude and latitude coordinates and altitude information of the unmanned aerial vehicle body. Therefore, the unmanned aerial vehicle selects the Xinjiang eidolon 4 PRO RTK.
The bottom of unmanned aerial vehicle body 1 sets up the cloud platform, cloud platform installation high definition digtal camera.
The invention discloses a dynamic adjusting device for improving the survey precision of a slope rock mass unmanned aerial vehicle, which further comprises an onboard wireless communication module, a ground operator control module, a ground operator display module and a ground wireless communication module; the on-board wireless communication module is connected with the control system and is arranged on the unmanned aerial vehicle body; the ground operator display module and the ground wireless communication module are connected with the ground operator control module; the onboard wireless communication module is communicated with the ground wireless communication module, so that remote operation and control are facilitated.
According to the dynamic adjusting device for improving the survey precision of the slope rock mass unmanned aerial vehicle, the direction of a lens of a high-definition camera is automatically adjusted to be vertical to a shooting area of a scene to be measured, a laser ranging module provides data for a control system to execute adjustment of the direction of the lens to the vertical shooting area and then shoot a photo of the scene, and if the direction is vertical, attitude adjustment of the unmanned aerial vehicle is finished and the photo is taken; if the angle is not vertical, calculating the deviation angle between the orientation of the lens and the scene according to a plane equation, adjusting the yaw angle of the unmanned aerial vehicle until the camera is parallel to the slope direction, and keeping the pitch angle of the lens and the slope angle redundant until the judgment of verticality is carried out.
The invention mainly solves the problem that the attitude and the lens angle of the unmanned aerial vehicle are required to be frequently adjusted for a complex slope in close photogrammetry so as to ensure that the lens orientation is vertical to an area to be measured. The invention provides a dynamic adjusting method and a device for improving the investigation precision of an unmanned aerial vehicle for a complex slope rock mass, wherein the unmanned aerial vehicle obtains the geometric information of a slope surface of a shooting area by utilizing a laser ranging module in the close photogrammetry of the complex slope rock mass, a coordinate system determined according to a scene to be measured is independently arranged for a lens of a high-definition camera by three laser ranging devices, the coordinate system is related to the shooting area and can be adjusted and controlled by a control system, so that the control system can automatically adjust the posture and the lens orientation of the unmanned aerial vehicle, the lens of the unmanned aerial vehicle is dynamically adjusted to be vertical to the scene to be measured, the data of the shooting area acquired by the high-definition camera is more accurate, the geometric information of the slope surface of the region to be measured is obtained by the laser ranging devices, the posture and the lens orientation of the unmanned aerial vehicle are automatically adjusted, the lens of the unmanned aerial vehicle is dynamically adjusted to be in front view the slope surface, and the investigation precision of the complex slope rock mass is dynamically adjusted, the scheme for planning the three-dimensional flight path and the attitude of the complex slope rock body close-up photography is provided, the automatic acquisition of the close-up image of the complex slope rock body can be realized, the accuracy of three-dimensional modeling is improved, and the accurate three-dimensional modeling in the fields of geological disaster areas such as complex rock slopes, dangerous rock bodies, scarps, landslides and the like has wide application prospects.
The above-described embodiments are intended to illustrate the present invention, but not to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit of the present invention and the scope of the claims fall within the scope of the present invention.
Claims (9)
1. A dynamic adjustment method for improving unmanned aerial vehicle survey accuracy of complex slope rock mass comprises the following steps:
the method comprises the following steps: selecting an unmanned aerial vehicle with an RTK function for photogrammetry, carrying out primary unmanned aerial vehicle photography on a scene to be measured, and acquiring low-precision DEM data;
step two: setting an unmanned aerial vehicle route close to the scene to be detected at a height h away from the scene to be detected on the basis of the DEM data acquired in the first step, wherein h is 5-50 m;
step three: set up laser rangefinder, obtain the geometric information of the scene that awaits measuring through laser rangefinder: setting three laser ranging devices by taking a high-definition camera of an unmanned aerial vehicle as a center, obtaining a deviation angle between a lens angle of the high-definition camera and a measured scene through the laser ranging devices, judging whether the orientation of the lens is vertical to the scene to be measured, and adjusting the orientation of the lens to a vertical region to be measured to take a picture of the scene;
step four: and repeating the operation on the whole scene to be detected in the unmanned aerial vehicle air route to obtain all aerial photos of the area to be detected, wherein the aerial photos are used for importing into professional software to generate a three-dimensional point cloud model.
2. The dynamic adjustment method for improving the unmanned aerial vehicle survey accuracy of the complex slope rock mass according to claim 1, characterized in that:
in the third step, the deviation angle between the high-definition camera angle and the normal vector of the measured scene is obtained through the laser ranging device, and the method comprises the following steps:
s1 three laser ranging devices such as a first laser ranging device, a second laser ranging device and a third laser ranging device are arranged by taking the high-definition camera as a center, reverse extension lines of laser emitted by the three laser ranging devices are intersected at the position L behind the high-definition camera, and the accurate position of the position L of the reverse extension line of the laser is determined by obtaining longitude and latitude coordinates and altitude information of the unmanned aerial vehicle and a lens angle through the RTK of the unmanned aerial vehicle in the step 1; marking the intersection point of the laser reverse extension lines as a coordinate system origin O, taking the long side direction of the high-definition camera as an X axis, taking the short side direction of the high-definition camera as a Y axis, and taking the same direction as the lens of the high-definition camera as a Z axis, and establishing a coordinate system based on the high-definition camera; the XOY plane is vertical to the direction of a lens of the high-definition camera;
in S2, the first laser ranging device is installed in the YOZ plane, and the included angle between the first laser ranging device and the Z axis is theta; the second laser ranging device and the third laser ranging device are respectively rotated by 180 degrees clockwise and anticlockwise in the XOY plane by the first laser ranging device;
s3, when the unmanned aerial vehicle stays at the shooting point, the yaw angle alpha and the lens pitch angle beta of the unmanned aerial vehicle are recorded, and the distance values between the area to be measured and the origin of coordinates, which are measured by the three laser ranging devices, are respectively L1、L2、L3So as to calculate the intersection point P of the laser and the scene to be measured1、P2、P3Coordinate information in the coordinate system:
P1＝(0,L1 sinθ,L1 cosθ)；
s4, calculating the normal vector of the fitting plane of the scene to be measured at the moment according to the principle that three points determine a plane, as follows:
accordingly, the trend and the inclination angle of the scene to be detected are obtained:
and obtaining a deviation angle between the orientation of the high-definition camera and a normal vector of a measurement scene.
3. The dynamic adjustment method for improving the unmanned aerial vehicle survey accuracy of the complex slope rock mass according to claim 1, characterized in that: in the third step, judging whether the lens orientation of the high-definition camera is vertical to the scene to be measured, adjusting the lens orientation of the high-definition camera to a vertical region to be measured, then taking a picture,
if the unmanned aerial vehicle is vertical, finishing the posture adjustment of the unmanned aerial vehicle and taking a picture; if the angle is not vertical, calculating a deviation angle between the orientation of the lens and a normal vector of the scene to be detected according to a plane equation, adjusting the yaw angle of the unmanned aerial vehicle to be parallel to the X axis and the trend, and enabling the pitch angle of the lens to be complementary to the inclination angle until the judgment of verticality is carried out.
4. The dynamic adjustment method for improving the unmanned aerial vehicle survey accuracy of the complex slope rock mass according to claim 1, characterized in that: the area to be detected comprises geological disaster areas such as more complex rocky slopes, dangerous rock bodies, cliffs, landslides and the like.
5. The dynamic adjusting device for improving the precision of the unmanned aerial vehicle investigation complex slope rock mass by adopting the adjusting method of any one of claims 1 to 4 comprises an unmanned aerial vehicle body, a high-definition camera carried by the unmanned aerial vehicle body and a control system, wherein the high-definition camera is carried by the unmanned aerial vehicle body to take aerial photographs to obtain the high-definition camera of the slope rock mass, and the control system controls the unmanned aerial vehicle body to fly and the high-definition camera to acquire images, and is characterized in that: the high-definition camera is provided with a laser ranging module, the laser ranging module comprises three laser ranging devices, a plane formed by laser emitting points of the three laser ranging devices is perpendicular to the direction of a lens of the high-definition camera, laser reverse extension lines of the three laser ranging devices are intersected with the position L behind the lens of the high-definition camera, the position L is located on the rear extension line of the direction of the lens of the high-definition camera, the intersection point of the laser reverse extension lines of the position L is taken as a coordinate system origin O, the X-axis direction is parallel to the long side direction of the high-definition camera, the Y-axis direction is parallel to the short side direction of the high-definition camera, the Z-axis direction is the same as the direction of the lens of the high-definition camera, and the XOY plane is perpendicular to the direction of the lens of the high-definition camera; the unmanned aerial vehicle body, the high-definition camera and the laser ranging module are connected with the control system; control system includes the flight control to the unmanned aerial vehicle organism and to the control of high definition digtal camera's shooting angle, just control system sends the plane that the point formed through the laser of controlling three laser rangefinder and the planar parallel that the three laser rangefinder point of the scene that awaits measuring that three laser rangefinder obtained formed to through the camera lens perpendicular to scene that awaits measuring of controlling these two planar parallel regulation and control high definition digtal camera, the high accuracy image transmission that the high definition digtal camera aerial photograph obtained obtains the three-dimensional model of the scene that awaits measuring through data processing.
6. The dynamic adjustment device for improving the precision of the unmanned aerial vehicle to investigate the complex slope rock mass according to claim 5, is characterized in that: the laser ranging module comprises a first laser ranging device, a second laser ranging device and a third ranging device, wherein the first laser ranging device is installed on the YOZ plane, the second laser ranging device is installed on the XOY plane, and the third laser ranging device is installed on the XOY plane.
7. The dynamic adjustment device for improving the precision of the unmanned aerial vehicle to investigate the complex slope rock mass according to claim 6, is characterized in that: the periphery of the high-definition camera is a cube, the upper end and the lower end of the high-definition camera in the direction of the lens are long edges, and the two sides of the high-definition camera in the direction of the lens are short edges;
the first laser ranging device is arranged on the long edge of the high-definition camera and is arranged at the upper end of the high-definition camera in the vertical direction; and the second laser ranging device and the third laser ranging device are arranged on the long edge of the lower end of the high-definition camera and are respectively arranged on two sides of the lower end of the high-definition camera in the vertical direction.
8. The dynamic adjustment device for improving the precision of the unmanned aerial vehicle to investigate the complex slope rock mass according to claim 6, is characterized in that: the first laser ranging device is installed on the high-definition camera through a first support; and the second laser ranging device and the third laser ranging device are arranged on the high-definition camera through a second support.
9. The dynamic adjustment device for improving the precision of the unmanned aerial vehicle to investigate the complex slope rock mass according to claim 5, is characterized in that: the control system is provided with a face and face angle adjusting module, the high-definition camera is connected with the face and face angle adjusting module and the data acquisition and conversion module, the parallelism between planes formed by the three laser ranging devices and the three laser ranging points is adjusted through the face and face angle adjusting module, the lens of the high-definition camera is controlled to be perpendicular to a scene to be measured, and high-precision images obtained by aerial photography of the high-definition camera are converted into image conversion values through the data acquisition and conversion module.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115167512A (en) * | 2022-07-25 | 2022-10-11 | 亿航智能设备（广州）有限公司 | Ground slope detection method and device and computer-readable storage medium |
| CN117007065A (en) * | 2023-06-01 | 2023-11-07 | 中南大学 | Unmanned aerial vehicle route planning method for planar slope wall-mounted flight |
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2021
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115167512A (en) * | 2022-07-25 | 2022-10-11 | 亿航智能设备（广州）有限公司 | Ground slope detection method and device and computer-readable storage medium |
| CN117007065A (en) * | 2023-06-01 | 2023-11-07 | 中南大学 | Unmanned aerial vehicle route planning method for planar slope wall-mounted flight |
| CN117007065B (en) * | 2023-06-01 | 2024-04-09 | 中南大学 | Unmanned aerial vehicle route planning method for planar slope wall-mounted flight |
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