CN104535048A - Unmanned aerial vehicle remote sensing system and unmanned aerial vehicle remote sensing method - Google Patents

Unmanned aerial vehicle remote sensing system and unmanned aerial vehicle remote sensing method Download PDF

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Publication number
CN104535048A
CN104535048A CN201410815755.7A CN201410815755A CN104535048A CN 104535048 A CN104535048 A CN 104535048A CN 201410815755 A CN201410815755 A CN 201410815755A CN 104535048 A CN104535048 A CN 104535048A
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China
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module
motor
axis
parallactic angle
regulon
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CN201410815755.7A
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CN104535048B (en
Inventor
李军杰
李世明
杨保
张鹏飞
焦禄宵
王丽媛
杨蒙蒙
李志杰
张军利
李天权
张小竞
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Beijing Geo-Vision Techco Ltd
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Beijing Geo-Vision Techco Ltd
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Priority to CN201410815755.7A priority Critical patent/CN104535048B/en
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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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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Accessories Of Cameras (AREA)

Abstract

The embodiment of the invention discloses an unmanned aerial vehicle remote sensing system and an unmanned aerial vehicle remote sensing method. The unmanned aerial vehicle remote sensing system comprises a first supporting bearing, a second supporting bearing, a first motor, a second motor, a third motor, a first azimuth angle adjustment unit, a second azimuth angle adjustment unit, a third azimuth angle adjustment unit, an azimuth angle control unit, a three-axis inertial stabilization platform, a rotor unmanned aerial vehicle and a digital aerial photography camera, wherein the three-axis inertial stabilization platform is respectively connected with the rotor unmanned aerial vehicle and the digital aerial photography camera; the azimuth angle control unit is respectively connected with the first azimuth angle adjustment unit, the second azimuth angle adjustment unit and the third azimuth angle adjustment unit; the first azimuth angle adjustment unit is respectively connected with the first supporting bearing and the first motor; the second azimuth angle adjustment unit is respectively connected with the second supporting bearing and the second motor; and the third azimuth angle adjustment unit is connected with the third motor. According to the unmanned aerial vehicle remote sensing system disclosed by the invention, the aerial photographing precision and efficiency can be improved.

Description

A kind of unmanned vehicle remote sensing system and unmanned vehicle remote sensing technique
Technical field
The present invention relates to photogrammetric measurement and remote sensing technology, particularly relate to a kind of unmanned vehicle remote sensing system and unmanned vehicle remote sensing technique.
Background technology
Along with growing continuously and fast of the communication technology and photogrammetric measurement and remote sensing technology, the geography information key element obtained by photogrammetric measurement (aerial photogrammetry) is widely used in the industries such as construction, planning, traffic, electric power, water conservancy, railway, agricultural, municipal administration, military affairs, police service, the mitigation disaster relief.Photogrammetric measurement is high with its contactless property, precision, speed fast and the advantage of promptness, plays more and more important effect in the framework construction of national geography space basis and Data Update.Photogrammetric measurement refers to the aerophotographic apparatus utilizing and aircraft is arranged, sequence photography is carried out to predetermined earth surface area, and combined ground control point survey, adjust and paint and the method such as stereoscopic model data acquisition, thus produce the Digital Mapping products such as digital adventure appearance (DLG), orthophotoquad (DOM), digital elevation model (DEM) and digital surface model (DSM) on the spot.
The present stage mankind obtain the maximum-norm of geography information, go-go technological means is remote sensing technology, and existing remote sensing technology is divided into spacer remote sensing, airborne remote sensing and ground remote sensing, and three respectively has superiority in acquisition geography information.For the geographical information collection means that plot planning, industrial district planning, New Town Construction, band shape construction project, zonule high precision mapping etc. are required, spacer remote sensing and airborne remote sensing are not suitable for geographical information collection on a small scale because cost is high, it is had to use limitation, ground remote sensing cannot gather comprehensive geography information due to the occlusion issue of surface car, vegetation, buildings etc., the dynamic unmanned flight's applicator platform remote sensing of oil is because of flight attitude instability, various disturbance is large, is difficult to the precision reaching engine request.
In recent years, along with the development of unmanned vehicle remote sensing technology and perfect, taking photo by plane in photography, because unmanned vehicle remote sensing system has, cost performance is high, landing is flexible, the advantages such as suitable environment condition is wide, make with the unmanned vehicle remote sensing system geography information mapping that is carrier systems grow of taking photo by plane many, namely by Digital Aerial shooting camera being arranged on unmanned vehicle remote sensing stable platform, and unmanned vehicle remote sensing stable platform is fixed on rotor flight device, the mapping of composition geography information takes photo by plane system to carry out geography information mapping.
In geography information mapping, if need to obtain high-precision geography information, ensure higher aeroplane photography precision, need in aeroplane photography process, make Digital Aerial shooting camera keep taking vertically downward all the time.That is, the geography information needing requirement to be provided with Digital Aerial shooting camera surveys and draws the tangential movement that system (unmanned vehicle remote sensing stable platform) of taking photo by plane remains a constant speed, like this, can keep the consistance of aerial images quality, being convenient to the later stage carries out image procossing effectively to obtain geography information.But the existing unmanned vehicle remote sensing system being provided with Digital Aerial shooting camera, due to the impact by various disturbance, the motion of unmanned vehicle remote sensing system is actual is the multimode high-order random motion of a complexity, geography information is made to survey and draw posture of taking photo by plane changeable, cannot ensure that Digital Aerial shooting camera is taken all the time vertically downward, cause remote sensing aerial images image quality to decline, image quality is degenerated, greatly have impact on remote sensing precision, the photography precision that makes to take photo by plane is lower, further, because remote sensing technology mainly gathers towards large-scale geographic information data, existing photogrammetric measurement and remote sensing system many employings high-altitude vehicle, light-small aircraft, and high-altitude vehicle and light-small aircraft require higher to flying condition, the low latitude high precision geographic information data of more difficult realization among a small circle, in zonule gathers, and, image sensor in existing photogrammetric measurement and remote sensing, high-precision attitude sensor equipment needs scene to assemble in use, make geographic information data collecting efficiency lower, simultaneously, when carrying out geographic information data and gathering, repeat device context installation to be also unfavorable for catching favo(u)rable weather, especially in calamity emergency reaction, to cause cannot gathering geographic information data in time, and owing to often removing and installing, also need between attitude sensor and image sensor frequently to carry out dismounting, the installation parameter of attitude sensor and image sensor all can be made during each dismounting to change, thus, after Installation posture sensor and image sensor, need to carry out installation parameter verification, cause geographic information data collecting efficiency lower, and reduce photography precision of taking photo by plane.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of unmanned vehicle remote sensing system and unmanned vehicle remote sensing technique, promotes photography precision of taking photo by plane.
For achieving the above object, embodiments of the invention adopt following technical scheme:
On the one hand, the embodiment of the present invention provides a kind of unmanned vehicle remote sensing system, comprise: the first spring bearing, the second spring bearing, the first motor, the second motor, the 3rd motor, first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon, position angle control module, three axle inertially stabilized platforms, rotor unmanned aircraft and Digital Aerial shooting camera, wherein
First party parallactic angle regulon is placed in the hollow region of three axle inertially stabilized platforms settings, be set to hollow, be fixed in the first spring bearing, described first spring bearing is contained in the clutch shaft bearing seat of three axle inertially stabilized platforms settings, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing;
Second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
Three axle inertially stabilized platforms are fixed on rotor unmanned aircraft;
Rotor unmanned aircraft, for carrying Digital Aerial shooting camera to obtain the aerial images in the flight course planning region pre-set;
Third party's parallactic angle regulon is fixed on second party parallactic angle regulon, Digital Aerial shooting camera is installed, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described Digital Aerial shooting camera on described third party's parallactic angle regulon, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
Digital Aerial shooting camera be contained in second party parallactic angle regulon arrange hollow region in and be connected with third party's parallactic angle regulon, for carrying out taking photo by plane imaging, and to obtain aerial images carry out pre-service;
Position angle control module, for receiving the attitude information of the attitude sensor sensing be arranged on described Digital Aerial shooting camera, described Digital Aerial shooting camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle remote sensing system pre-set respectively, to determine described Digital Aerial shooting camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor, second motor and the corresponding angle of the 3rd motor-driven rotation.
The unmanned vehicle remote sensing system that the embodiment of the present invention provides, Digital Aerial shooting camera be contained in second party parallactic angle regulon arrange hollow region in and be connected with third party's parallactic angle regulon, for carrying out taking photo by plane imaging, and pre-service is carried out to the aerial images obtained, three axle inertially stabilized platforms are fixed on rotor unmanned aircraft, rotor unmanned aircraft, for carrying Digital Aerial shooting camera to obtain the aerial images pre-setting the region of flight course planning, three axle inertially stabilized platforms and geography information are surveyed and drawn the system of taking photo by plane and are connected, attitude surveys and draws with geography information systems compliant of taking photo by plane all the time, third party's parallactic angle regulon is placed in second party parallactic angle regulon, second party parallactic angle regulon is placed in first party parallactic angle regulon, and motor corresponding with it is respectively connected, simultaneously, the attitude information of three axles is passed to position angle control module, position angle control module after treatment, generate corresponding control signal and pass to corresponding three motors, three motors compensate correction according to the angle offset compensation value that control signal is corresponding.Like this, first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon can move by effectively perception geography information mapping holder for aerial photographing, position angle control module generates control signal according to attitude information, motor is adopted directly to drive according to control signal, the impact of various disturbance can be eliminated, the stable of unmanned vehicle remote sensing system flight attitude can be ensured, Digital Aerial shooting camera can be taken all the time vertically downward, improve remote sensing aerial images image quality, improve photography precision of taking photo by plane.
On the other hand, the embodiment of the present invention provides a kind of unmanned vehicle remote sensing technique, comprising:
First party parallactic angle regulon is placed in the hollow region of three axle inertially stabilized platforms settings, be set to hollow, be fixed in the first spring bearing, described first spring bearing is contained in the clutch shaft bearing seat of three axle inertially stabilized platforms settings, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing;
Digital Aerial shooting camera is contained in second party parallactic angle regulon arrange hollow region in and be connected with third party's parallactic angle regulon, for carrying out taking photo by plane imaging, and to obtain aerial images carry out pre-service; Three axle inertially stabilized platforms are fixed on rotor unmanned aircraft, and rotor unmanned aircraft is for carrying Digital Aerial shooting camera to obtain the aerial images in the flight course planning region pre-set;
Second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
Arranging third party's parallactic angle regulon is fixed on second party parallactic angle regulon, Digital Aerial shooting camera is installed, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described Digital Aerial shooting camera on described third party's parallactic angle regulon, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
Receive the attitude information of the attitude sensor sensing be arranged on described Digital Aerial shooting camera, described Digital Aerial shooting camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle remote sensing system pre-set respectively, to determine described Digital Aerial shooting camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor, second motor and the corresponding angle of the 3rd motor-driven rotation.
The unmanned vehicle remote sensing technique that the embodiment of the present invention provides, Digital Aerial shooting camera and first party parallactic angle regulon are connected, and for carrying out taking photo by plane imaging, and carry out pre-service to the aerial images obtained; Three axle inertially stabilized platforms are fixed on rotor unmanned aircraft, and rotor unmanned aircraft carries Digital Aerial shooting camera to obtain the aerial images in the flight course planning region pre-set; The attitude information of three axles is passed to position angle control module by third party's parallactic angle regulon, second party parallactic angle regulon and first party parallactic angle regulon respectively, position angle control module after treatment, generate corresponding control signal and pass to corresponding three motors, three motors compensate correction according to the angle offset compensation value that control signal is corresponding.Like this, the attitude information of perception is exported to position angle control module by first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon, position angle control module generates control signal according to attitude information and exports corresponding motor to, motor is adopted directly to drive according to control signal, the impact of various disturbance can be eliminated, the stable of unmanned vehicle remote sensing system flight attitude can be ensured, Digital Aerial shooting camera can be taken all the time vertically downward, improve remote sensing aerial images image quality, improve photography precision of taking photo by plane.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the unmanned vehicle remote sensing system structural representation of the embodiment of the present invention;
Fig. 2 is the inner ring plan structure schematic diagram of the unmanned vehicle remote sensing system of the embodiment of the present invention;
Fig. 3 is inner ring and the ring structures schematic diagram of the unmanned vehicle remote sensing system of the embodiment of the present invention;
Fig. 4 is middle ring and the outer shroud plan structure schematic diagram of the unmanned vehicle remote sensing system of the embodiment of the present invention;
Fig. 5 is the unmanned vehicle remote sensing system plan structure schematic diagram of the embodiment of the present invention;
Fig. 6 is the unmanned vehicle remote sensing technique schematic flow sheet of the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in detail.
Should be clear and definite, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the unmanned vehicle remote sensing system structural representation of the embodiment of the present invention.See Fig. 1, this unmanned vehicle remote sensing system comprises: the first spring bearing 101, second spring bearing 104, first motor 103, second motor 106, the 3rd motor 108, first party parallactic angle regulon 102, second party parallactic angle regulon 105, third party's parallactic angle regulon 107, position angle control module 109, three axle inertially stabilized platform 110, rotor unmanned aircraft 111 and Digital Aerial shooting camera 112, wherein
Three axle inertially stabilized platforms 110 are connected with rotor unmanned aircraft 111 and Digital Aerial shooting camera 112 respectively, and Digital Aerial shooting camera 112 is fixed on third party's parallactic angle regulon 107; Position angle control module 109 is connected with first party parallactic angle regulon 102, second party parallactic angle regulon 105 and third party's parallactic angle regulon 107 respectively, first party parallactic angle regulon 102 is also connected with the first spring bearing 101 and the first motor 103 respectively, second party parallactic angle regulon 105 is also connected with the second spring bearing 104 and the second motor 106 respectively, and third party's parallactic angle regulon 107 is also connected with the 3rd motor 108.
First party parallactic angle regulon 102 is placed in the hollow region of three axle inertially stabilized platforms 110 settings, be set to hollow, be fixed in the first spring bearing 101, described first spring bearing 101 is contained in the clutch shaft bearing seat of three axle inertially stabilized platforms 110 settings, described first party parallactic angle regulon 102 is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor 103, to make described first party parallactic angle regulon 102 along the first axis of rotation formed by the first spring bearing 101;
Digital Aerial shooting camera 112 be contained in second party parallactic angle regulon 105 arrange hollow region in and be connected with third party's parallactic angle regulon 107, for carrying out taking photo by plane imaging, and to obtain aerial images carry out pre-service;
Three axle inertially stabilized platforms 110 are fixed on rotor unmanned aircraft 111;
Rotor unmanned aircraft 111, for carrying Digital Aerial shooting camera 112 to obtain the aerial images in the flight course planning region pre-set;
In the embodiment of the present invention, the hollow region that three axle inertially stabilized platforms 110 are arranged is the inner ring of three axle inertially stabilized platforms.
Preferably, three axle inertially stabilized platforms 110 are microlight-type three axle inertially stabilized platform, for carrying remote sensing load, connect rotor unmanned aircraft 111 and Digital Aerial shooting camera 112, isolate the vibration from rotor unmanned aircraft 111 and compensate the attitude of correcting digital aerial camera 112, for remote sensing load provides stable imaging circumstances.
As embodiment, rotor unmanned aircraft is four rotor unmanned aircrafts, six rotor unmanned aircrafts or eight rotor unmanned aircrafts.In the embodiment of the present invention, selecting six rotor unmanned aircrafts, preferably, is the electronic unmanned vehicle of six rotors.The electronic unmanned vehicle of six rotors is the flight carrying platform of the unmanned vehicle remote sensing system of the embodiment of the present invention.Digital Aerial shooting camera is digital aerial surveying camera, is the remote sensing load of the unmanned vehicle remote sensing system of the embodiment of the present invention, for obtaining high-quality remote sensing image.
In the embodiment of the present invention, the electronic unmanned vehicle of six rotors is as flight carrying platform, microlight-type three axle inertially stabilized platform is fixed on the load-bearing center of six rotor unmanned aircrafts, and Digital Aerial shooting camera (remotely sensed image unit) is installed on the inner ring of three axle inertially stabilized platforms.
The quantity of the first spring bearing 101 is two, and be arranged on respectively in two corresponding clutch shaft bearing seats, two clutch shaft bearing seats are symmetricly set on rotor flight device.Certainly, in practical application, also according to mapping needs, multiple first spring bearing 101 and corresponding clutch shaft bearing seat can be set.
As embodiment, first party parallactic angle regulon 102 comprises: the first half supports, the second half support, the first back shaft, the second back shaft, the second bearing seat and the first driven tooth bar (not shown)s, wherein,
The quantity of described second bearing seat is two, is symmetricly set on described first party parallactic angle regulon 102;
The two ends of the first half supports of horizontal positioned are connected with described the second half supports respectively by described second bearing seat, and described the first half supports, the second half supports to be connected on described second bearing seat and to form the hollow region closed;
First back shaft is arranged on described the first half supports, described second back shaft is arranged on described the second half supports, described first back shaft and the second back shaft are symmetrical arranged on described first party parallactic angle regulon 102, the axis collinear of described first back shaft and the second back shaft, described the first half supports, the second half support, the first back shaft, the second back shaft and the second bearing seats are uniform on described first party parallactic angle regulon 102;
Described first back shaft and the second back shaft are placed in respectively and are arranged in the first spring bearing 101 of symmetrically arranged clutch shaft bearing seat on rotor flight device;
Second bearing seat connects and be connected described the first half supports and the second half supports;
First driven tooth bar is connected on described the first half supports or the second half supports, described first driven tooth bar is driven by the first driving gear be connected with the first motor 103, to make described first party parallactic angle regulon 102 along the first axis of rotation formed by the first spring bearing 101.
In the embodiment of the present invention, with the axis of the first back shaft and the second back shaft for X-axis, the axis of symmetrically arranged two the second bearing seats is Y-axis, and the axis of the plane of vertical X axis and Y-axis composition is Z axis.Then the first rotating shaft is X-axis, and the second rotating shaft is Y-axis, and the 3rd rotating shaft is Z axis.
Preferably, the quantity of the first driven tooth bar is the first shaft parallel that the axis of the 1, first driven tooth bar and the first driving gear and the first spring bearing 101 are formed, and that is, the axis being parallel of the first driving gear is in X-axis.Like this, by the rotation of the first driving gear, drive the first driven racks turn, the first half supports that the first driven rack drives of rotation is connected and the second half supports rotate around X-axis.
In the embodiment of the present invention, as another embodiment, the quantity of the first driven tooth bar also can be set to multiple, such as, can be set to two, two the first driven tooth bars can be arranged on the same side of the first rotating shaft, also can be arranged on the phase heteropleural of the first rotating shaft.When two the first driven tooth bars are arranged on the same side of the first rotating shaft, two the first driven tooth bar rotating in same directions; When two the first driven tooth bars are arranged on the phase heteropleural of the first rotating shaft, two the first driven tooth bars rotate backward.
Second party parallactic angle regulon 105 is placed in the hollow region of described first party parallactic angle regulon 102, be set to hollow, be fixed in described second spring bearing 104, described second spring bearing 104 is contained in the second bearing seat of described first party parallactic angle regulon 102 setting, described second party parallactic angle regulon 105 is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor 106, to make described second party parallactic angle regulon 105 along the second axis of rotation formed by the second spring bearing 104;
In the embodiment of the present invention, the hollow region size of described first party parallactic angle regulon 102 is greater than the size of described second party parallactic angle regulon 105.
As embodiment, second party parallactic angle regulon 105 comprises: the 3rd support, the 3rd back shaft, the 4th back shaft and the second driven tooth bar (not shown), wherein,
Described 3rd support forms closed hollow region;
Described 3rd back shaft, the 4th back shaft are symmetricly set on described 3rd support, the axis collinear of described 3rd back shaft and the 4th back shaft;
Described 3rd back shaft and the 4th back shaft be placed in respectively be arranged on symmetrically arranged second bearing seat on described first party parallactic angle regulon 102 the second spring bearing 104 in;
Second driven tooth bar is connected on described 3rd support, and described second driven tooth bar is driven by the second driving gear be connected with the second motor 106, to make described second party parallactic angle regulon 105 along the second axis of rotation formed by the second spring bearing 104.
In the embodiment of the present invention, preferably, the 3rd back shaft and the 4th back shaft are arranged at the middle part of the 3rd support outer rim.
Preferably, the second shaft parallel that the axis of the second driven tooth bar and the second driving gear and the second spring bearing 104 are formed, that is, the axis being parallel of the second driving gear is in Y-axis.Like this, by the rotation of the second driving gear, drive the second driven racks turn, the 3rd support that the second driven rack drives of rotation is connected rotates around Y-axis in the hollow region of described first party parallactic angle regulon 102.
Third party's parallactic angle regulon 107 is fixed on second party parallactic angle regulon 105, Digital Aerial shooting camera is installed, described third party's parallactic angle regulon 107 is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor 108, to make described Digital Aerial shooting camera on described third party's parallactic angle regulon 107, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
In the embodiment of the present invention, preferably, the axis of the 3rd driven tooth bar and the 3rd driving gear and the 3rd shaft parallel, that is, the axis being parallel of the 3rd driving gear is in Z axis.Like this, by the rotation of the 3rd driving gear, drive the 3rd driven racks turn, the Digital Aerial shooting camera that the 3rd driven rack drives of rotation is connected rotates around Z axis in the hollow region of described second party parallactic angle regulon 105.
Position angle control module 109, for receiving the attitude information of the attitude sensor sensing be arranged on described Digital Aerial shooting camera, described Digital Aerial shooting camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle remote sensing system pre-set respectively, to determine described Digital Aerial shooting camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor 103, second motor 106 and the 3rd motor 108 drive and rotate corresponding angle.
In the embodiment of the present invention, as an embodiment, position angle control module 109 comprises: attitude information acquisition module, parsing module, comparing module, adjustment module and control signal generation module (not shown), wherein,
Attitude information acquisition module, for receiving the attitude information of the attitude sensor sensing be arranged on described Digital Aerial shooting camera, exports parsing module to;
In the embodiment of the present invention, be known technology about attitude sensor sensing attitude information, omit detailed description at this.
Parsing module, for analyzing described Digital Aerial shooting camera respectively along the angle information of described first rotating shaft, the second rotating shaft and the 3rd axis of rotation according to described attitude information;
In the embodiment of the present invention, analyzing Digital Aerial shooting camera according to attitude information is known technology along the angle information of the first rotating shaft, the second rotating shaft and the 3rd axis of rotation respectively, omits detailed description at this.
Comparing module, for the angle information of the described Digital Aerial shooting camera analyzed along described first axis of rotation is compared with the unmanned vehicle remote sensing system first rotating shaft angle information pre-set, obtain the first comparison result, the angle information of the described Digital Aerial shooting camera analyzed along described second axis of rotation is compared with the unmanned vehicle remote sensing system second rotating shaft angle information pre-set, obtain the second comparison result, and, the angle information of the described Digital Aerial shooting camera analyzed along described 3rd axis of rotation is compared with unmanned vehicle remote sensing system the 3rd rotating shaft angle information pre-set, obtain the 3rd comparison result,
Adjustment module, for determining that described Digital Aerial shooting camera is along the first adjusting angle information needed for described first axis of rotation according to the first comparison result, determine that described Digital Aerial shooting camera is along the second adjusting angle information needed for described second axis of rotation according to the second comparison result, and, determine that described Digital Aerial shooting camera is along the 3rd adjusting angle information needed for described 3rd axis of rotation according to the 3rd comparison result;
Control signal generation module, for generating the first control signal according to the first adjusting angle information, described first party parallactic angle regulon 102 is driven to rotate described first adjusting angle to control described first motor 103, the second control signal is generated according to the second adjusting angle information, described second party parallactic angle regulon 105 is driven to rotate described second adjusting angle to control described second motor 106, generate the 3rd control signal according to the 3rd adjusting angle information, drive described Digital Aerial shooting camera to rotate described 3rd adjusting angle to control described 3rd motor 108.
In the embodiment of the present invention, as embodiment, control signal generation module can be proportional-integral-differential (PID, Proportion-Integral-Differential coefficient) controller.
In the embodiment of the present invention, position angle control module 109 can survey and draw the X-axis of holder for aerial photographing for geography information, Y-axis and Z axis three axial attitudes control, attitude sensor can be 3-axis acceleration sensor, attitude information (angle the is worth partially) data run digital aerial camera by 3-axis acceleration sensor carry out AD sampling, and be sent to position angle control module 109, according to the attitude information that 3-axis acceleration sensor is sampled, the process chip of position angle control module 109 inside determines that Digital Aerial shooting camera departs from the X-axis in the course line pre-set, the deflection angle of Y-axis and Z axis, generate corresponding (motor) control signal according to the deflection angle determined and pass to corresponding three motors, three motors adjust Digital Aerial shooting camera along X-axis respectively according to the angle offset compensation value that control signal is corresponding, the deflection angle of Y-axis and Z axis, thus digital aerial camera course line is adjusted, make Digital Aerial shooting camera maintenance level and make Digital Aerial shooting camera vertical ground all the time, to ensure accuracy and the picture quality of shooting.That is, the first motor 103 is X-axis adjustment motor, and the second motor 106 is Y-axis adjustment motor, and the 3rd motor 108 is that Z axis regulates motor.
Preferably, control signal adopts width modulation (PWM, Pulse-Width Modulation) signal, and the adjustment in Digital Aerial shooting camera course can be made more accurate.
In the embodiment of the present invention, as embodiment, rotor unmanned aircraft 111 comprises: flight-line design module, flight control modules, carrier module, sensor attitude stable module, exposure control module (not shown), wherein,
Flight-line design module, for carrying out flight-line design according to the requirement of take photo by plane region shape, flying height, image overlap degree, the quality of image and related specifications;
Flight control modules, for receiving the result of design of flight course planning design module, experiences the change of heading, height and attitude, according to practical flight environment and aerodynamic demands, and adjustment heading, height and attitude;
Carrier module, for carrying digital aviation measuring camera and attitude stabilization module in flight environment of vehicle;
Sensor attitude stable module, for providing stable imaging circumstances for digital aviation measuring camera, ensures image quality;
Exposure control module, for the exposure mode of control figure aviation measuring camera, the exposure of total fixed point, time exposure, spacing exposure Three models.
As embodiment, Digital Aerial shooting camera comprises: vertical photography module, oblique photograph module, image distortion difference correct processing module, even look dodging module and quality of image checking module (not shown), wherein,
Vertical photography module, for vertically taking aviation image over the ground, forms stereogram;
Oblique photograph module, for oblique photograph, obtains atural object side grain;
Image distortion difference corrects processing module, and for utilizing the distortion rectification software pre-set to carry out photogrammetric distortion correction to obtained image, distortion threshold value image distortion being less than pre-set, so that subsequent treatment;
Even look dodging module, for utilizing the even look even optical software pre-set, calculate the even look even light value of aerial images in flight course planning region, and to often opening the color of image of image, illumination adjusts, with consistent with the even look even light value of described calculating, so that follow-up data process;
Quality of image checking module, check that software checks image sidelapping degree, ship's control, angle of drift etc. for utilizing the quality of image pre-set, to find that quality does not conform with the image of code requirement, and retake is carried out to the unsanctioned image of quality check.
Preferably, this unmanned vehicle remote sensing system also comprises further:
Triangle fixed support, unmanned vehicle remote sensing system is supported for standing up, be connected with three axle inertially stabilized platforms, described first spring bearing, the second spring bearing, the first motor, the second motor, the 3rd motor, first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon, position angle control module, three axle inertially stabilized platforms and Digital Aerial shooting camera are placed in the space of triangle fixed support formation.
In the embodiment of the present invention, as embodiment, first motor 103, second motor 106 and the 3rd motor 108 can be arranged on first party parallactic angle regulon 102, also can be arranged on second party parallactic angle regulon 105, can also be arranged on third party's parallactic angle regulon 107, can also be arranged on position angle control module 109.Certainly, in practical application, also the first motor 103, second motor 106 and the 3rd motor 108 can be separately positioned on positions different in unmanned vehicle remote sensing system, such as, first motor 103 is arranged on first party parallactic angle regulon 102, second motor 106 is arranged on second party parallactic angle regulon 105, the 3rd motor 108 is arranged on third party's parallactic angle regulon 107.
In the embodiment of the present invention, as embodiment, high speed photo coupling circuit can also be adopted to isolate the output of unmanned vehicle remote sensing system and input, to guarantee that motor-drive circuit can not affect the control circuit of position angle control module 109; The driving voltage of motor can adopt the reference voltage of the inner 2.56V of Atmega128L, thus can guarantee that the reference voltage of drive motor can not change with the change of supply voltage, and make the attitude regulation of Digital Aerial shooting camera more stable, error is less.
In the embodiment of the present invention, preferably, can also respectively in Digital Aerial shooting camera and attitude sensor arrange there is the standard flash memory card that can store data.
As embodiment, control signal generation module can be connected with the first motor 103, second motor 106 and the 3rd motor 108 respectively by wired mode, also can be connected with the first motor 103, second motor 106 and the 3rd motor 108 respectively to wirelessly.Such as, wireless signal transmitter can be set in control signal generation module, and, corresponding wireless signal receiver is set in motor.
As another embodiment, attitude information acquisition module can be connected with attitude sensor by wired mode, also can be connected with attitude sensor to wirelessly.
Preferably, attitude sensor comprises: first party parallactic angle attitude sensor, second party parallactic angle attitude sensor and third party's parallactic angle attitude sensor, wherein, first party parallactic angle attitude sensor is laid on first party parallactic angle regulon 102, second party parallactic angle attitude sensor is laid on second party parallactic angle regulon 105, and third party's parallactic angle attitude sensor is laid on the Digital Aerial shooting camera in third party's parallactic angle regulon 107.
In the embodiment of the present invention, 3-axis acceleration sensor (attitude sensor) is stable inertia device (IMU, Inertial Measurement Unit), for the spatial movement of effective perception unmanned vehicle remote sensing system; First party parallactic angle regulon is equivalent to the outer shroud of unmanned vehicle remote sensing system, the inner ring that second party parallactic angle regulon is equivalent to the middle ring of unmanned vehicle remote sensing system, third party's parallactic angle regulon is equivalent to unmanned vehicle remote sensing system, inner ring, middle ring and outer shroud are all for sensing and compensating remote sensing load attitude; Motor is used for take over party's parallactic angle control module to carry out according to the attitude information of stable inertia device transmission processing the pose compensation parameter obtained, and drives inner ring, middle ring, outer shroud to compensate remote sensing load attitude.
In the embodiment of the present invention, stable inertia device and geography information are surveyed and drawn the system of taking photo by plane and are connected (connecting firmly), and it is consistent that attitude surveys and draws holder for aerial photographing with geography information all the time; Inner ring, middle ring, the drive motor that outer shroud is corresponding with it are respectively connected, inner ring is for installing remote sensing load (Digital Aerial shooting camera), stable inertia device is connected with the motor that inner ring, middle ring, outer shroud are installed by signal wire, and the angle of three axles (X-axis, Y-axis, Z axis) is worth (attitude information) partially passes to position angle control module, position angle control module after treatment, generate corresponding control signal and pass to corresponding three motors, three motors compensate correction according to the angle offset compensation value that control signal is corresponding.Like this, the unmanned vehicle remote sensing system of the embodiment of the present invention is without the need to special landing site, and landing condition is simple, and Ke Ce takes off in district immediately, is convenient to catch favo(u)rable weather, and the operating environment thus adapted to is more; Meanwhile, adopt stable inertia device, effectively perception geography information can survey and draw system motion of taking photo by plane, three axle inertially stabilized platforms can effectively provide stable imaging circumstances; Inner ring, middle ring, outer shroud all adopt motor straight to tap into row cutting, the impact of various disturbance can be eliminated, the stable of unmanned vehicle remote sensing system flight attitude can be ensured, Digital Aerial shooting camera can be taken all the time vertically downward, can carry out revolving stopping taking pictures, imaging is more clear, improves remote sensing aerial images image quality, improves photography precision of taking photo by plane; And suitably can adjust according to the take photo by plane space layout of system of geography information mapping, be suitable for multiple unmanned flight's platform, require lower to flying condition, easily realize among a small circle, low latitude high precision geographic information data in zonule gathers, operating cost is cheap; And, image sensor in unmanned vehicle remote sensing system, high-precision attitude sensor equipment are assembled without the need to scene in use, improve geographic information data collecting efficiency, and due to without the need to removing and installing, thus, without the need to carrying out installation parameter verification to attitude sensor and image sensor, effectively promoting geographic information data collecting efficiency, improving photography precision of taking photo by plane.
Fig. 2 is the inner ring plan structure schematic diagram of the unmanned vehicle remote sensing system of the embodiment of the present invention.
Fig. 3 is inner ring and the ring structures schematic diagram of the unmanned vehicle remote sensing system of the embodiment of the present invention.
Fig. 4 is middle ring and the outer shroud plan structure schematic diagram of the unmanned vehicle remote sensing system of the embodiment of the present invention.
Fig. 5 is the unmanned vehicle remote sensing system plan structure schematic diagram of the embodiment of the present invention.
See Fig. 2 to Fig. 5, the driven tooth bar of inner ring (the 3rd driven tooth bar) of this unmanned vehicle remote sensing system can drive inner ring bearing (the 3rd bearing) to rotate, corresponding 3rd motor of inner ring drive motor, corresponding second motor of middle ring drive motor, corresponding first motor of outer shroud drive motor, the corresponding second driven tooth bar of the driven tooth bar of middle ring, corresponding second driving gear of middle ring driving gear, the corresponding first driven tooth bar of the driven tooth bar of outer shroud, corresponding first driving gear of outer shroud driving gear.
Fig. 6 is the unmanned vehicle remote sensing technique schematic flow sheet of the embodiment of the present invention.See Fig. 6, this flow process comprises:
Step 501, first party parallactic angle regulon is placed in the hollow region of three axle inertially stabilized platforms settings, be set to hollow, be fixed in the first spring bearing, described first spring bearing is contained in the clutch shaft bearing seat of three axle inertially stabilized platforms settings, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing;
In this step, first party parallactic angle regulon comprises: the first half supports, the second half support, the first back shaft, the second back shaft, the second bearing seat and the first driven tooth bars, wherein,
The quantity of described second bearing seat is two, is symmetricly set on described first party parallactic angle regulon;
The two ends of the first half supports of horizontal positioned are connected with described the second half supports respectively by described second bearing seat respectively, and described the first half supports, the second half supports to be connected on described second bearing seat and to form the hollow region closed;
First back shaft is arranged on described the first half supports, described second back shaft is arranged on described the second half supports, described first back shaft and the second back shaft are symmetrical arranged on described first party parallactic angle regulon, the axis collinear of described first back shaft and the second back shaft, described the first half supports, the second half support, the first back shaft, the second back shaft and the second bearing seats are uniform on described first party parallactic angle regulon;
Described first back shaft and the second back shaft be placed in respectively be arranged on symmetrically arranged clutch shaft bearing seat on rotor flight device the first spring bearing in;
Second bearing seat connects and be connected described the first half supports and the second half supports;
First driven tooth bar is connected on described the first half supports or the second half supports, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing.
Step 502, Digital Aerial shooting camera is contained in second party parallactic angle regulon arrange hollow region in and be connected with third party's parallactic angle regulon, for carrying out taking photo by plane imaging, and to obtain aerial images carry out pre-service; Three axle inertially stabilized platforms are fixed on rotor unmanned aircraft, and rotor unmanned aircraft is for carrying Digital Aerial shooting camera to obtain the aerial images in the flight course planning region pre-set;
In this step, three axle inertially stabilized platforms are microlight-type three axle inertially stabilized platform, for carrying remote sensing load, connect rotor unmanned aircraft and Digital Aerial shooting camera, isolate from the vibration of rotor unmanned aircraft and other disturbing influences and compensate the attitude of correcting digital aerial camera, for remote sensing load provides stable imaging circumstances.
As embodiment, rotor unmanned aircraft is four rotor unmanned aircrafts, six rotor unmanned aircrafts or eight rotor unmanned aircrafts.In the embodiment of the present invention, selecting six rotor unmanned aircrafts, preferably, is the electronic unmanned vehicle of six rotors.The electronic unmanned vehicle of six rotors is the flight carrying platform of the unmanned vehicle remote sensing system of this embodiment of the present invention.Digital Aerial shooting camera is that Digital Aerial measures camera, is the remote sensing load of the unmanned vehicle remote sensing system of this embodiment of the present invention, for obtaining high-quality remote sensing image.
In the embodiment of the present invention, the electronic unmanned vehicle of six rotors is as flight carrying platform, microlight-type three axle inertially stabilized platform is fixed on the load-bearing center of six rotor unmanned aircrafts, and Digital Aerial shooting camera (remotely sensed image unit) is installed on the inner ring of three axle inertially stabilized platforms.
As embodiment, rotor unmanned aircraft comprises: flight-line design module, flight control modules, carrier module, sensor attitude stable module, exposure control module, wherein,
Flight-line design module, for carrying out flight-line design according to the requirement of take photo by plane region shape, flying height, image overlap degree, the quality of image and related specifications;
Flight control modules, for receiving the result of design of flight course planning design module, experiences the change of heading, height and attitude, according to practical flight environment and aerodynamic demands, and adjustment heading, height and attitude;
Carrier module, for carrying digital aviation measuring camera and attitude stabilization module in flight environment of vehicle;
Sensor attitude stable module, for providing stable imaging circumstances for digital aviation measuring camera, ensures image quality;
Exposure control module, for the exposure mode of control figure aviation measuring camera, the exposure of total fixed point, time exposure, spacing exposure Three models.
As embodiment, Digital Aerial shooting camera comprises: vertical photography module, oblique photograph module, image distortion difference correct processing module, even look dodging module and quality of image checking module (not shown), wherein,
Vertical photography module, for vertically taking aviation image over the ground, forms stereogram;
Oblique photograph module, for oblique photograph, obtains atural object side grain;
Image distortion difference corrects processing module, and for utilizing the distortion rectification software pre-set to carry out photogrammetric distortion correction to obtained image, distortion threshold value image distortion being less than pre-set, so that subsequent treatment;
Even look dodging module, for utilizing the even look even optical software pre-set, calculate the even look even light value of aerial images in flight course planning region, and to often opening the color of image of image, illumination adjusts, with consistent with the even look even light value of described calculating, so that follow-up data process;
Quality of image checking module, check that software checks image sidelapping degree, ship's control, angle of drift etc. for utilizing the quality of image pre-set, to find that quality does not conform with the image of code requirement, and retake is carried out to the unsanctioned image of quality check.
Step 503, second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
In this step, second party parallactic angle regulon comprises: the 3rd support, the 3rd back shaft, the 4th back shaft and the second driven tooth bar, wherein,
Described 3rd support forms closed hollow region;
Described 3rd back shaft, the 4th back shaft are symmetricly set on described 3rd support, the axis collinear of described 3rd back shaft and the 4th back shaft;
Described 3rd back shaft and the 4th back shaft be placed in respectively be arranged on symmetrically arranged second bearing seat on described first party parallactic angle regulon the second spring bearing in;
Second driven tooth bar is connected on described 3rd support, and described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing.
In this step, the 3rd back shaft and the 4th back shaft are arranged at the middle part of the 3rd support outer rim.
Preferably, the second shaft parallel of being formed of the axis of the second driven tooth bar and the second driving gear and the second spring bearing.
Step 504, arranging third party's parallactic angle regulon fixes in the hollow region of second party parallactic angle regulon, Digital Aerial shooting camera is installed, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described Digital Aerial shooting camera on described third party's parallactic angle regulon, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
In this step, the axis of the 3rd driven tooth bar and the 3rd driving gear and the 3rd shaft parallel.
Step 505, receive the attitude information of the attitude sensor sensing be arranged on described Digital Aerial shooting camera, described Digital Aerial shooting camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle remote sensing system pre-set respectively, to determine described Digital Aerial shooting camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor, second motor and the corresponding angle of the 3rd motor-driven rotation.
In this step, position angle control module comprises: attitude information acquisition module, parsing module, comparing module, adjustment module and control signal generation module, wherein,
Attitude information acquisition module, for receiving the attitude information of the attitude sensor sensing be arranged on described Digital Aerial shooting camera, exports parsing module to;
Parsing module, for analyzing described Digital Aerial shooting camera respectively along the angle information of described first rotating shaft, the second rotating shaft and the 3rd axis of rotation according to described attitude information;
Comparing module, for the angle information of the described Digital Aerial shooting camera analyzed along described first axis of rotation is compared with the unmanned vehicle remote sensing system first rotating shaft angle information pre-set, obtain the first comparison result, the angle information of the described Digital Aerial shooting camera analyzed along described second axis of rotation is compared with the unmanned vehicle remote sensing system second rotating shaft angle information pre-set, obtain the second comparison result, and, the angle information of the described Digital Aerial shooting camera analyzed along described 3rd axis of rotation is compared with unmanned vehicle remote sensing system the 3rd rotating shaft angle information pre-set, obtain the 3rd comparison result,
Adjustment module, for determining that described Digital Aerial shooting camera is along the first adjusting angle information needed for described first axis of rotation according to the first comparison result, determine that described Digital Aerial shooting camera is along the second adjusting angle information needed for described second axis of rotation according to the second comparison result, and, determine that described Digital Aerial shooting camera is along the 3rd adjusting angle information needed for described 3rd axis of rotation according to the 3rd comparison result;
Control signal generation module, for generating the first control signal according to the first adjusting angle information, described first party parallactic angle regulon is driven to rotate described first adjusting angle to control described first motor, the second control signal is generated according to the second adjusting angle information, described second party parallactic angle regulon is driven to rotate described second adjusting angle to control described second motor, generate the 3rd control signal according to the 3rd adjusting angle information, drive described Digital Aerial shooting camera to rotate described 3rd adjusting angle to control described 3rd motor.
In the embodiment of the present invention, attitude sensor can be 3-axis acceleration sensor, and control signal adopts width modulation (PWM, Pulse-Width Modulation) signal.
As embodiment, the method comprises further:
High speed photo coupling circuit is adopted to isolate the output of unmanned vehicle remote sensing system and input.
As another embodiment, the method comprises further:
Carry out according to Digital Aerial shooting camera the aerial images obtained of taking photo by plane, utilize aerotriangulation software, obtain the elements of exterior orientation of all aerial images;
According to the elements of exterior orientation of the aerial images obtained, in full digital photogrammetric workstation, relative orientation and absolute orientation are carried out to aerial images, build stereoscopic model, and in the stereoscopic model built, carry out landform, atural object data acquisition, according to Digital Mapping products such as the landform gathered, atural object data genaration digital adventure appearance (DLG), orthophotoquad (DOM), digital elevation model (DEM) and digital surface models (DSM).
As an embodiment again, the method comprises further:
Based on engineer applied demand, utilize digital adventure appearance (DLG), orthophotoquad (DOM), digital elevation model (DEM) and the digital surface model (DSM) generated to carry out three-dimensional modeling and spatial analysis, whole data analysis and application process carry out three-dimensional display by stereo display platform.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, described program can be stored in a computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (RandomAccess Memory, RAM) etc.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (10)

1. a unmanned vehicle remote sensing system, it is characterized in that, this device comprises: the first spring bearing, the second spring bearing, the first motor, the second motor, the 3rd motor, first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon, position angle control module, three axle inertially stabilized platforms, rotor unmanned aircraft and Digital Aerial shooting camera, wherein
First party parallactic angle regulon is placed in the hollow region of three axle inertially stabilized platforms settings, be set to hollow, be fixed in the first spring bearing, described first spring bearing is contained in the clutch shaft bearing seat of three axle inertially stabilized platforms settings, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing;
Three axle inertially stabilized platforms are fixed on rotor unmanned aircraft;
Rotor unmanned aircraft, for carrying Digital Aerial shooting camera to obtain the aerial images pre-setting the region of flight course planning;
Second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
Third party's parallactic angle regulon is fixed on second party parallactic angle regulon, Digital Aerial shooting camera is installed, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described Digital Aerial shooting camera on described third party's parallactic angle regulon, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
Digital Aerial shooting camera be contained in second party parallactic angle regulon arrange hollow region in and be connected with third party's parallactic angle regulon, for carrying out taking photo by plane imaging, and to obtain aerial images carry out pre-service;
Position angle control module, for receiving the attitude information of the attitude sensor sensing be arranged on described Digital Aerial shooting camera, described Digital Aerial shooting camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle remote sensing system pre-set respectively, to determine described Digital Aerial shooting camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor, second motor and the corresponding angle of the 3rd motor-driven rotation.
2. system according to claim 1, is characterized in that, described rotor unmanned aircraft comprises: flight-line design module, flight control modules, carrier module, sensor attitude stable module, exposure control module, wherein,
Flight-line design module, for carrying out flight-line design according to the requirement of take photo by plane region shape, flying height, image overlap degree, the quality of image and related specifications;
Flight control modules, for receiving the result of design of flight course planning design module, experiences the change of heading, height and attitude, according to practical flight environment and aerodynamic demands, and adjustment heading, height and attitude;
Carrier module, for carrying digital aviation measuring camera and attitude stabilization module in flight environment of vehicle;
Sensor attitude stable module, for providing stable imaging circumstances for digital aviation measuring camera, ensures image quality;
Exposure control module, for the exposure mode of control figure aviation measuring camera, the exposure of total fixed point, time exposure, spacing exposure Three models.
3. system according to claim 1, is characterized in that, described Digital Aerial shooting camera comprises: vertical photography module, oblique photograph module, image distortion difference correct processing module, even look dodging module and quality of image checking module, wherein,
Vertical photography module, for vertically taking aviation image over the ground, forms stereogram;
Oblique photograph module, for oblique photograph, obtains atural object side grain;
Image distortion difference corrects processing module, and for utilizing the distortion rectification software pre-set to carry out photogrammetric distortion correction to obtained image, distortion threshold value image distortion being less than pre-set, so that subsequent treatment;
Even look dodging module, for utilizing the even look even optical software pre-set, calculate the even look even light value of aerial images in flight course planning region, and to often opening the color of image of image, illumination adjusts, with consistent with the even look even light value of described calculating, so that follow-up data process;
Quality of image checking module, check that software checks image sidelapping degree, ship's control, angle of drift etc. for utilizing the quality of image pre-set, to find that quality does not conform with the image of code requirement, and retake is carried out to the unsanctioned image of quality check.
4. system according to claim 1, is characterized in that, the quantity of described first spring bearing is two, and be arranged on respectively in two corresponding clutch shaft bearing seats, two clutch shaft bearing seats are symmetricly set on rotor flight device.
5. system according to claim 4, is characterized in that, described first party parallactic angle regulon comprises: the first half supports, the second half support, the first back shaft, the second back shaft, the second bearing seat and the first driven tooth bars, wherein,
The two ends of the first half supports of horizontal positioned are connected with described the second half supports respectively by described second bearing seat, and described the first half supports, the second half supports to be connected on described second bearing seat and to form the hollow region closed;
First back shaft is arranged on described the first half supports, described second back shaft is arranged on described the second half supports, described first back shaft and the second back shaft are symmetrical arranged on described first party parallactic angle regulon, the axis collinear of described first back shaft and the second back shaft, described the first half supports, the second half support, the first back shaft, the second back shaft and the second bearing seats are uniform on described first party parallactic angle regulon;
Described first back shaft and the second back shaft be placed in respectively be arranged on symmetrically arranged clutch shaft bearing seat on rotor flight device the first spring bearing in;
Second bearing seat connects and be connected described the first half supports and the second half supports;
First driven tooth bar is connected on described the first half supports or the second half supports, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing.
6. system according to claim 4, is characterized in that, the quantity of described first driven tooth bar is 1, the first shaft parallel that the axis of described first driven tooth bar and the first driving gear and the first spring bearing are formed.
7. system according to claim 4, is characterized in that, described second party parallactic angle regulon comprises: the 3rd support, the 3rd back shaft, the 4th back shaft and the second driven tooth bar, wherein,
Described 3rd support forms closed hollow region;
Described 3rd back shaft, the 4th back shaft are symmetricly set on described 3rd support, the axis collinear of described 3rd back shaft and the 4th back shaft;
Described 3rd back shaft and the 4th back shaft be placed in respectively be arranged on symmetrically arranged second bearing seat on described first party parallactic angle regulon the second spring bearing in;
Second driven tooth bar is connected on described 3rd support, and described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing.
8. system according to claim 4, is characterized in that, described position angle control module comprises: attitude information acquisition module, parsing module, comparing module, adjustment module and control signal generation module, wherein,
Attitude information acquisition module, for receiving the attitude information of the attitude sensor sensing be arranged on described Digital Aerial shooting camera, exports parsing module to;
Parsing module, for analyzing described Digital Aerial shooting camera respectively along the angle information of described first rotating shaft, the second rotating shaft and the 3rd axis of rotation according to described attitude information;
Comparing module, for the angle information of the described Digital Aerial shooting camera analyzed along described first axis of rotation is compared with the unmanned vehicle remote sensing system first rotating shaft angle information pre-set, obtain the first comparison result, the angle information of the described Digital Aerial shooting camera analyzed along described second axis of rotation is compared with the unmanned vehicle remote sensing system second rotating shaft angle information pre-set, obtain the second comparison result, and, the angle information of the described Digital Aerial shooting camera analyzed along described 3rd axis of rotation is compared with unmanned vehicle remote sensing system the 3rd rotating shaft angle information pre-set, obtain the 3rd comparison result,
Adjustment module, for determining that described Digital Aerial shooting camera is along the first adjusting angle information needed for described first axis of rotation according to the first comparison result, determine that described Digital Aerial shooting camera is along the second adjusting angle information needed for described second axis of rotation according to the second comparison result, and, determine that described Digital Aerial shooting camera is along the 3rd adjusting angle information needed for described 3rd axis of rotation according to the 3rd comparison result;
Control signal generation module, for generating the first control signal according to the first adjusting angle information, described first party parallactic angle regulon is driven to rotate described first adjusting angle to control described first motor, the second control signal is generated according to the second adjusting angle information, described second party parallactic angle regulon is driven to rotate described second adjusting angle to control described second motor, generate the 3rd control signal according to the 3rd adjusting angle information, drive described Digital Aerial shooting camera to rotate described 3rd adjusting angle to control described 3rd motor.
9. system according to claim 4, is characterized in that, described attitude sensor is 3-axis acceleration sensor, and described first motor is that X-axis regulates motor, and the second motor is that Y-axis regulates motor, and the 3rd motor is that Z axis regulates motor.
10. system according to claim 4, is characterized in that, described system comprises further:
For the high speed photo coupling circuit of isolating output and the input of unmanned vehicle remote sensing system;
The driving voltage of described first motor, the second motor and the 3rd motor adopts the reference voltage of the inner 2.56V of Atmega128L.
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