CN104061905A - Aerial photographing device and ground target height measuring method based on unmanned helicopter - Google Patents
Aerial photographing device and ground target height measuring method based on unmanned helicopter Download PDFInfo
- Publication number
- CN104061905A CN104061905A CN201410264701.6A CN201410264701A CN104061905A CN 104061905 A CN104061905 A CN 104061905A CN 201410264701 A CN201410264701 A CN 201410264701A CN 104061905 A CN104061905 A CN 104061905A
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- China
- Prior art keywords
- stadimeter
- aerial device
- chamber
- device based
- rotation
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
Abstract
The invention relates to an aerial photographing device based on an unmanned helicopter. The aerial photographing device comprises a machine body and range finders, wherein communication connection is established at a ground control center of the aerial photographing device; the machine body is internally provided with a protection box; the protection box is a transparent glass chamber; the protection box comprises a first chamber and a second chamber; a rotation range finder is arranged in the first chamber; a fixed range finder is arranged in the second chamber; an included angle alpha is formed between a detection head of the rotation range finder and the horizontal plane; alpha is greater than or equal to 45 degrees; the detection head of the fixed range finder is perpendicular to the horizontal plane. When the unmanned helicopter is applied to aerial photographing plotting, the cost is low, large range measurement on the height of a ground target is rapidly performed, moreover due to adoption of the protection box, a damping device and a buffer structure, the aerial photographing range finder is comprehensively protected, the use period of the range finder is prolonged, the cost is lowered, and the efficiency is improved.
Description
Technical field
the present invention relates to the unmanned plane field of taking photo by plane, especially a kind of aerial device and ground object height measurement method based on depopulated helicopter.
Background technology
Take photo by plane and take photo in the sky or aeroplane photography, from the landforms that take a crane shot, obtain aerial view in the air.The technology of taking photo by plane at present has been applied to every field, for different fields, takes desired effect and is also not quite similar.At the survey field of taking photo by plane, Digital Video flight is installed on fixed-wing unmanned plane, by guaranteeing taking photo by plane and simple software picture mosaic of Duplication, can obtain the roughly striograph of landforms of a region, convenient and swift.But fixed-wing unmanned plane one is that landing meeting is subject to place restriction, the 2nd, due to speed, the monitoring of can only spiraling, can not hover, and the 3rd, radius of turn be there are certain requirements, be therefore not suitable for carrying out region mapping among a small circle and take photo by plane.
Solution one of the prior art is that aircraft is circled in the air to each impact point overhead, then adopts laser or sound ranging principle, measures one by one the height of impact point; The 2nd, adopt three-dimensional laser scanner, survey and draw large stretch ofly.First method efficiency is extremely slow, cannot meet the demand of the mapping of taking photo by plane fast; Second method cost is too high, and three-dimensional laser scanner volume is too large, and for taking photo by plane, device main body requires also high.
Summary of the invention
The technical problem to be solved in the present invention be to provide a kind of with low cost, can carry out on a surface target the aerial device based on depopulated helicopter and the ground object height measurement method of Quick Measurement height on a large scale.
For solving the problems of the technologies described above, the present invention relates to a kind of aerial device based on depopulated helicopter, comprise body and stadimeter,
Described aerial device and ground control place establish a communications link; Described internal body arranges guard box, and described guard box is clear glass cavity, and described guard box comprises the first chamber and the second chamber, in described the first chamber, rotation stadimeter is set, and in described the second chamber, fixedly stadimeter is set; The detecting head of described rotation stadimeter and the surface level structure α that has angle, α >=45 °, the detecting head of described fixedly stadimeter is perpendicular to surface level.
The setting of guard box is in order to prevent that stadimeter is subject to the impact of wind-force or sleet.
As a preferred embodiment of the present invention, α=65 °.
As a preferred embodiment of the present invention, described the first chamber top arranges drive motor, and described rotation stadimeter is connected with described drive motor by rotating shaft.Rotation stadimeter at the uniform velocity rotates by rotating shaft under the driving of drive motor, thereby can measure the distance of any point and aerial device on the circumference centered by aerial device.
As a preferred embodiment of the present invention, between described guard box and body, shock attenuation device is set, described shock attenuation device comprises at least two.Shock attenuation device can be spring or damping damping.
As a preferred embodiment of the present invention, described rotation stadimeter and the fixedly detecting head of stadimeter are positioned on same level line.The datum line of distance that guarantees the two measurement is consistent.
As a preferred embodiment of the present invention, the upper surface of described the second chamber is suspension joint fixedly, and described suspension joint is connected and fixed framework, and described fixed frame is inverted U structure.Arranging in the time of can tilting in depopulated helicopter circles in the air process of suspension joint, keeps vertical state.
As a preferred embodiment of the present invention, it is inner that described fixedly stadimeter is arranged at described fixed frame.Adopt this set so that when fixedly stadimeter tilts in depopulated helicopter circles in the air process, to keep vertical state.
As a preferred embodiment of the present invention, between described fixed frame and the second chamber locular wall, buffer structure is set, described buffer structure is rubber strip.Buffer structure is used for stablizing fixed frame, thus stable fixedly stadimeter.
The present invention provides a kind of terrain object height measurement method of the aerial device based on described simultaneously, comprises the steps
1) described aerial device starts vertically to rise gradually from ground point, and described in this process, fixedly continuous control place earthward of stadimeter is fed back described aerial device self apart from the height N on ground;
2) described rotation stadimeter sends one time distance measuring signal every equal interval time, the descending reduction gradually of rotating speed of described drive motor, until can receive the signal that stadimeter returns, then the rotating speed of drive motor remains constant;
3) described rotation stadimeter continuous rotation under the driving of drive motor, measure aerial device self with take its takeoff point any point target on the center of circle, the circumference that outwards expands gradually distance L and feed back to ground control place;
4) ground control place is through calculating object height M, and computing formula is M=N-Lsin α.
As a preferred embodiment of the present invention, the rotating speed of described rotation stadimeter is 2-5r/s, thereby for the measurement of each target, stadimeter has time enough to receive return signal.
Beneficial effect of the present invention is: adopt the depopulated helicopter of the present invention mapping of taking photo by plane, and with low cost, and can highly carry out on a surface target fast large-range measuring; And the present invention is provided with guard box, shock attenuation device and buffer structure, the stadimeter of taking photo by plane has been carried out to comprehensive protection, improved the life cycle of stadimeter, be conducive to cost efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of depopulated helicopter aerial device in the present invention;
Fig. 2 is that aerial device of the present invention is surveyed and drawn schematic diagram continuously;
Fig. 3 is the explanation schematic diagram of terrain object height measurement method of the present invention.
Description of reference numerals:
1-body, 2-guard box, 3-rotation stadimeter, 4-fixedly stadimeter, 5-drive motor, 6-suspension joint, 7-fixed frame, 8-shock attenuation device, 9-buffer structure, A-terrain object.
Embodiment
Below in conjunction with accompanying drawing and embodiment, further illustrate the present invention, should understand following embodiment and only for the present invention is described, is not used in and limits the scope of the invention.
Referring to Fig. 1, the present invention relates to a kind of aerial device based on depopulated helicopter, comprise body 1, internal body arranges protection
Case 2 and stadimeter.Guard box 2 is clear glass cavity, is divided into the first chamber and the second chamber, wherein in the first chamber, arranges in rotation stadimeter 3, the second chambers fixedly stadimeter 4 is set.Rotation stadimeter 3 and fixedly stadimeter 4 can be sound-ranging equipment laser range finders.
The first chamber top arranges drive motor 5, and described rotation stadimeter 3 is connected with described drive motor 5 by rotating shaft.Rotation stadimeter 3 at the uniform velocity rotates by rotating shaft under the driving of drive motor 5, thereby can measure the distance of any point and aerial device on the circumference centered by aerial device.Mapping schematic diagram as shown in Figure 2 continuously.
The upper surface of the second chamber is suspension joint 6 fixedly, and described suspension joint 6 is connected and fixed framework 7, and described fixed frame 7 is inverted U structure.Arranging in the time of can tilting in depopulated helicopter circles in the air process of suspension joint 6, keeps vertical state.。Fixedly stadimeter 4 is arranged at described fixed frame 7 inside.Adopt this set so that when fixedly stadimeter 4 tilts in depopulated helicopter circles in the air process, to keep vertical state.
The detecting head of described rotation stadimeter 3 and the surface level structure α that has angle, α >=45 °, the detecting head of described fixedly stadimeter 4 is perpendicular to surface level.
Between guard box 2 and body 1, shock attenuation device 8 is set, described shock attenuation device 8 comprises at least two.Shock attenuation device 8 can be spring or damping damping.Between fixed frame 7 and the second chamber locular wall, buffer structure 9 is set, described buffer structure 9 is rubber strip.Buffer structure 9 is used for stablizing fixed frame, thus stable fixedly stadimeter.
Described aerial device and ground control place establish a communications link, and the measuring-signal of each stadimeter can feed back to ground control place and calculates.
The terrain object height measurement method of the aerial device based on described, comprises the steps
5) described aerial device starts vertically to rise gradually from ground point, and described in this process, fixedly continuous control place earthward of stadimeter is fed back described aerial device self apart from the height N on ground;
6) described rotation stadimeter sends one time distance measuring signal every equal interval time, the descending reduction gradually of rotating speed of described drive motor, until can receive the signal that stadimeter returns, then the rotating speed of drive motor remains constant;
7) described rotation stadimeter continuous rotation under the driving of drive motor, measure aerial device self with take its takeoff point any point target on the center of circle, the circumference that outwards expands gradually distance L and feed back to ground control place;
8) ground control place is through calculating object height M, and computing formula is M=N-Lsin α.
As a preferred embodiment of the present invention, the rotating speed of described rotation stadimeter is 2-5r/s, thereby for the measurement of each target, stadimeter has time enough to receive return signal.
If desired improve as much as possible the rotating speed of CD-ROM drive motor 2, to improve, measure efficiency, described benchmark stadimeter 4, impact point stadimeter 3 can adopt laser range finder, like this, when measuring distance scope is in myriametre rank, measuring-signal only comes and goes need be less than 3.3 * 10-5 second, like this, impact point stadimeter 3, for the coming and going of measuring-signal, almost can be thought static.
The disclosed technological means of the present invention program is not limited only to the disclosed technological means of above-mentioned embodiment, also comprises the technical scheme being comprised of above technical characterictic combination in any.
Claims (10)
1. the aerial device based on depopulated helicopter, comprise body and stadimeter, described aerial device and ground control place establish a communications link, it is characterized in that, described internal body arranges guard box, and described guard box is clear glass cavity, and described guard box comprises the first chamber and the second chamber, in described the first chamber, rotation stadimeter is set, in described the second chamber, fixedly stadimeter is set; The detecting head of described rotation stadimeter and the surface level structure α that has angle, α >=45 °, the detecting head of described fixedly stadimeter is perpendicular to surface level.
2. according to the aerial device based on depopulated helicopter claimed in claim 1, it is characterized in that α=65 °.
3. according to the aerial device based on depopulated helicopter claimed in claim 2, it is characterized in that, described the first chamber top arranges drive motor, and described rotation stadimeter is connected with described drive motor by rotating shaft.
4. according to the aerial device based on depopulated helicopter claimed in claim 3, it is characterized in that, between described guard box and body, shock attenuation device is set, described shock attenuation device comprises at least two.
5. according to the aerial device based on depopulated helicopter claimed in claim 4, it is characterized in that, described rotation stadimeter and the fixedly detecting head of stadimeter are positioned on same level line.
6. according to the aerial device based on depopulated helicopter claimed in claim 5, it is characterized in that, the upper surface of described the second chamber is suspension joint fixedly, and described suspension joint is connected and fixed framework, and described fixed frame is inverted U structure.
7. according to the aerial device based on depopulated helicopter claimed in claim 6, it is characterized in that, it is inner that described fixedly stadimeter is arranged at described fixed frame.
8. according to the aerial device based on depopulated helicopter claimed in claim 7, it is characterized in that, between described fixed frame and the second chamber locular wall, buffer structure is set, described buffer structure is rubber strip.
9. the terrain object height measurement method of the aerial device based on described in claim 1 to 8 any one, is characterized in that, comprises the steps
Described aerial device starts vertically to rise gradually from ground point, and described in this process, fixedly continuous control place earthward of stadimeter is fed back described aerial device self apart from the height N on ground;
Described rotation stadimeter sends one time distance measuring signal every equal interval time, the descending reduction gradually of rotating speed of described drive motor, until can receive the signal that stadimeter returns, then the rotating speed of drive motor remains constant;
Described rotation stadimeter continuous rotation under the driving of drive motor, measure aerial device self with take its takeoff point any point target on the center of circle, the circumference that outwards expands gradually distance L and feed back to ground control place;
Ground control place is through calculating object height M, and computing formula is M=N-Lsin α.
10. according to the terrain object height measurement method of aerial device claimed in claim 9, it is characterized in that, the rotating speed of described rotation stadimeter is 2-5r/s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410264701.6A CN104061905A (en) | 2014-06-16 | 2014-06-16 | Aerial photographing device and ground target height measuring method based on unmanned helicopter |
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| CN201410264701.6A CN104061905A (en) | 2014-06-16 | 2014-06-16 | Aerial photographing device and ground target height measuring method based on unmanned helicopter |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105096346A (en) * | 2015-09-17 | 2015-11-25 | 国家电网公司 | Anti-jitter moving object photographing and processing system |
| WO2018094576A1 (en) * | 2016-11-22 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, flight controller, and unmanned aerial vehicle |
| CN108688802A (en) * | 2017-04-06 | 2018-10-23 | 东北林业大学 | A kind of unmanned plane that can measure trees height |
| CN110567432A (en) * | 2019-10-28 | 2019-12-13 | 青海民族大学 | building height automatic measuring device |
| WO2023082255A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium |
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| CN102607530A (en) * | 2012-03-08 | 2012-07-25 | 神翼航空器科技（天津）有限公司 | Helicopter aerial shooting device |
| KR101252592B1 (en) * | 2010-12-16 | 2013-04-10 | 한국과학기술원 | Landing gear for virtually invisible aerial vehicle |
| CN103673979A (en) * | 2013-12-10 | 2014-03-26 | 苏州市峰之火数码科技有限公司 | Aerial photographing device used for continuous plotting |
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Patent Citations (4)
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| JP2010006089A (en) * | 2008-06-24 | 2010-01-14 | Kitakyushu Foundation For The Advancement Of Industry Science & Technology | Aerial photographing device of disaster-stricken, damaged and deteriorated state of facility such as for lifeline |
| KR101252592B1 (en) * | 2010-12-16 | 2013-04-10 | 한국과학기술원 | Landing gear for virtually invisible aerial vehicle |
| CN102607530A (en) * | 2012-03-08 | 2012-07-25 | 神翼航空器科技（天津）有限公司 | Helicopter aerial shooting device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105096346A (en) * | 2015-09-17 | 2015-11-25 | 国家电网公司 | Anti-jitter moving object photographing and processing system |
| CN105096346B (en) * | 2015-09-17 | 2018-02-02 | 国家电网公司 | A kind of moving target shooting processing system of stabilization |
| WO2018094576A1 (en) * | 2016-11-22 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, flight controller, and unmanned aerial vehicle |
| CN108688802A (en) * | 2017-04-06 | 2018-10-23 | 东北林业大学 | A kind of unmanned plane that can measure trees height |
| CN110567432A (en) * | 2019-10-28 | 2019-12-13 | 青海民族大学 | building height automatic measuring device |
| WO2023082255A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium |
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Application publication date: 20140924 |
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