CN104776833B - Landslide surface image capturing method and device - Google Patents
Landslide surface image capturing method and device Download PDFInfo
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- CN104776833B CN104776833B CN201510187367.3A CN201510187367A CN104776833B CN 104776833 B CN104776833 B CN 104776833B CN 201510187367 A CN201510187367 A CN 201510187367A CN 104776833 B CN104776833 B CN 104776833B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
Abstract
Image capturing method and device, empty three data capture method the invention provides landslide surface, are related to aerophotography field.The landslide surface image capturing method that the present invention is provided, using climbing, camera style carries out image capturing, it passes through first to obtain the landslide angle of target landslide surface and boat takes the photograph information, and then according to landslide angle and boat take the photograph information two air strips are determined between climb altitude, and then cause that every air strips are certain relative to the height of landslide surface, determine a plurality of optimization air strips further according to the advance first bar air strips for obtaining and the climb altitude, so that aircraft is flown and is photographed along a plurality of optimization air strips, to obtain landslide surface image, relative to the height of landslide surface it is certain due to every air strips, so as to ensure that resolution ratio of the diverse location of landslide surface in image is identical.
Description
Technical field
The present invention relates to the field of taking photo in the sky, in particular to the image capturing method and device of landslide surface.
Background technology
In recent years, Earthquake In China disaster takes place frequently, and earthquake region curstal fault, ground massif are broken, geological environment is very fragile.And
Potential Landslide Hazards constitute huge threat to the people's lives and properties of new settlement, while landslide is also mountain area
One of highway, Major Diseases of railway.Wherein, landslide refers to the soil body or rock mass on slope, is lived by river degradation, underground water
The factor influences such as dynamic, rainwater immersion, earthquake and artificial blending rock, under gravity, along certain Weak face or weak band,
The integrally or dispersedly natural phenomena of inclined slope aspect lower slider.The massif that causes of landslide collapse and heavy rain after the mudstone that is formed
Stream often causes heavy losses to nation-building and people's lives and properties.It is therefore desirable to landslide is measured and monitored, with true
People's lives and properties, highway, the long-term safety of railway are protected, and makes prediction in time and (be primarily referred to as periodically surveying landslide surface
Amount, then by twice or multiple measurement result is contrasted, to complete the monitoring to landslide surface).Efficient e measurement technology is cunning
Measurement, monitoring and the improvement on slope provide important primary spatial data.
At present, there are GPS geodetic deformation surveyings method and Close Up Photogrammetry to the main method that landslide measures.This two
The strengths and weaknesses analysis of individual method are as follows：(1) GPS geodetic deformation surveyings method, the positional accuracy of this kind of measuring method is high, but due to
Slip mass personnel are difficult to be close to the observation of directly contact slip mass, and human cost is higher；(2) close range photogrammetry method, the method
During mapping due to come down it is domatic have inclination, the gradient is larger, and resolution ratio is inconsistent when causing mapping, so as to influence subsequent analysis essence
Degree.
There is a kind of optimization close-shot photography measure technique in photogrammetric survey method, it mainly uses measurement camera or non-measurement
Camera, is photographed by the way of revolving camera or parallel photography to area to be monitored, uses photogrammetric software systems
LensPhoto obtains the three-dimensional surface point cloud model of area to be monitored, by Auto-matching two phases image control point, by monitoring section
Then the relative dimensional model conversion of domain second phase generates DEM models respectively in the absolute three-dimensional model of a phase, and to two phases
DEM models are overlapped, and the absolute displacement amount of slip mass and position and the size of local region of variation are calculated, so that real
The landslide monitoring of massif can be just completed in existing later stage monitoring process without measurement control point.
But when being shot using camera, be typically from the foot of the hill (bottom of landslide surface) due to camera or
What a certain fixing point was shot to landslide surface, thus, apart from the imaging resolution and distance of camera position farther out on landslide surface
The imaging resolution of camera closer location has a very big difference, that is, the precision of photograph is unstable, so as in the later stage using shooting
Mistake is caused when image.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is image capturing method and device, empty three number for providing landslide surface
According to acquisition methods, to improve the stability of the photograph for photographing.
In a first aspect, a kind of landslide surface image capturing method is the embodiment of the invention provides, including：
Obtain the landslide angle of target landslide surface；
According to it is described landslide angle and in advance obtain boat take the photograph information determine adjacent two air strips between climb altitude；
Determine a plurality of optimization air strips according to the advance first bar air strips for obtaining and the climb altitude；
Control aircraft carries out boat and takes the photograph along a plurality of optimization air strips, to obtain landslide surface image.
With reference in a first aspect, the embodiment of the invention provides the first possible implementation method of first aspect, wherein, institute
State and take the photograph information and determine that the climb altitude between adjacent two air strips includes according to the landslide angle and the boat for obtaining in advance：
Climb altitude is calculated according to equation below：Climb altitude=(1- sidelappings degree) × image broadside is long × and flying height/
Focal length × sin (landslide angle).
With reference in a first aspect, the embodiment of the invention provides second possible implementation method of first aspect, wherein,
Control aircraft to carry out boat along a plurality of optimization air strips for obtaining in advance described in step to take the photograph, also to include before obtaining landslide surface image：
According to the landslide angle, when calculating camera primary optical axis perpendicular to the landslide surface, the inclination of camera on aircraft
Degree；
Carry-on camera described in Slope angle adjustment according to the camera.
With reference in a first aspect, the embodiment of the invention provides the third possible implementation method of first aspect, wherein, also
Including：
According to the three-dimensional data of the advance target landslide surface multiple location point for obtaining, the first bar air strips, institute are determined
State first bar air strips parallel with the landslide surface, and any two sampled point and the landslide surface vertical range on the first bar air strips
Difference be less than predetermined threshold value.
With reference in a first aspect, the embodiment of the invention provides the 4th kind of possible implementation method of first aspect, wherein, also
Including：Parallax range, the parallax range=narrow length of side × flying height/Jiao of (1- ship's controls) × image are calculated according to equation below
Away from；
The control aircraft carries out boat and takes the photograph along a plurality of optimization air strips for obtaining in advance, is included with obtaining landslide surface image：
According to the parallax range and the optimization air strips, the exposure point of camera on aircraft is determined；
Camera is shot in flight to the position of the exposure point on control aircraft, to obtain the landslide face
Picture.
With reference in a first aspect, the embodiment of the invention provides the 5th kind of possible implementation method of first aspect, wherein, institute
Aircraft is stated for unmanned gyroplane.
Second aspect, the embodiment of the present invention additionally provides a kind of landslide surface video capturing device, including：
Acquisition module, the landslide angle for obtaining target landslide surface；
Climb altitude computing module, for taking the photograph information and determining adjacent two according to the landslide angle and the boat for obtaining in advance
Climb altitude between air strips；
Optimization air strips determining module, for determining a plurality of optimization according to the first bar air strips and the climb altitude that obtain in advance
Air strips；
Control module, takes the photograph, for controlling aircraft to carry out boat along a plurality of optimization air strips for obtaining in advance to obtain landslide surface
Image.
With reference to second aspect, the first possible implementation method of second aspect is the embodiment of the invention provides, wherein, institute
Stating climb altitude computing module includes：
Computing unit, for calculating climb altitude according to equation below：Climb altitude=(1- sidelappings degree) × image
Broadside is long × flying height/focal length × sin (landslide angle).
With reference to second aspect, second possible implementation method of second aspect is the embodiment of the invention provides, wherein, also
Including：
Parallax range computing module, for calculating parallax range, parallax range=(1- endlaps according to equation below
Degree) the narrow length of side × flying height/focal length of × image；
Control module includes：
Exposure point computing unit, for according to the parallax range and the optimization air strips, determining camera on aircraft
Exposure point；
Shooting unit, for controlling camera on aircraft to be shot in flight to the position of the exposure point, to obtain
The landslide surface image.
The third aspect, the embodiment of the invention provides a kind of empty three data capture method, based on described in claim 1
Landslide surface image capturing method is planted, is also included：
Multiple index points are set on the target landslide surface；
The three-dimensional coordinate of each index point is determined using total station instrument coordinate mensuration；
Carried out using the three-dimensional coordinate of multiple index points, multiple landslide surface images and the camera internal position element for obtaining in advance
Empty three calculate to determine empty three data.
A kind of landslide surface image capturing method provided in an embodiment of the present invention, carries out image and obtains using camera style of climbing
Take, with of the prior art when landslide surface image is obtained, be utilized in fixed measurement point and landslide surface is taken the photograph
Shadow, causes the resolution ratio from photography point apart from different positions on image different, and then when image is used in the later stage, make
Compared into mistake, it passes through first to obtain the landslide angle of target landslide surface and boat takes the photograph information, and then according to landslide angle and boat
The information of taking the photograph determines the climb altitude between two air strips, and then causes that every air strips are certain relative to the height of landslide surface
, determine a plurality of optimization air strips further according to the advance first bar air strips for obtaining and the climb altitude so that aircraft along
A plurality of optimization air strips are flown and are photographed and obtained landslide surface image, because every air strips are relative to the height of landslide surface
Certain, so as to ensure that resolution ratio of the diverse location of landslide surface in image is identical.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of landslide surface image capturing method basic flow sheet that the embodiment of the present invention is provided；
Fig. 2 shows a kind of landslide surface schematic diagram of landslide surface image capturing method that the embodiment of the present invention is provided；
Fig. 3 shows a kind of module connection diagram of landslide surface video capturing device that the embodiment of the present invention is provided.
Specific embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of selected embodiment of the invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
In correlation technique, the main purpose photographed to landslide surface is to obtain sufficient landslide surface image information, and then
Played a role in follow-up landslide surface monitoring.The specific distance as monitored landslide surface, calculates landslide surface in other words
Displacement, and then judge degree of danger.
When whether monitoring landslide surface moves, referring especially to the image for being landslide surface, therefore, when landslide surface image
Precision it is inadequate when, then be difficult to follow-up step (refer to calculating landslide displacement and monitored accordingly).
In correlation technique, the method on landslide surface photography generally has two kinds, it is a kind of be by the way of ground photography,
The photography of landslide surface is mainly carried out on ground.Another kind is to landslide using the revolving camera in aerial photographing technology or parallel photography
Photographed in face.But both technologies do not account for the gradient problem of landslide surface, that is, landslide surface is not a level
Face, the position of different coordinates is typically at different geographical height on landslide surface, therefore the image shot in same point
Resolution ratio is different, and this can produce mistake when the later stage is using these images.
In view of this, this application provides a kind of landslide surface image capturing method, as shown in figure 1, comprising the following steps：
S101, obtains the landslide angle of target landslide surface；
S102, according to landslide angle and in advance obtain boat take the photograph information determine adjacent two air strips between climb altitude；
S103, a plurality of optimization air strips are determined according to the advance first bar air strips for obtaining and climb altitude；
S104, control aircraft carries out boat and takes the photograph along a plurality of optimization air strips, to obtain landslide surface image.
In step S101, target landslide surface is will navigate the landslide surface taken the photograph.Certainly, usual landslide surface will not be one
The plane of rule, certainly exists local slope change, but should be excessive without estimating based on the overall tendency of landslide surface
Local slight change.Specifically, it is determined that target landslide surface landslide angle when, can by three-dimensional measuring and calculating etc. mode obtain
The coordinate of multiple sampled points on landslide surface, obtains an approximate landslide surface bent by way of being fitted to multiple sampled points
Line, the angle that comes down is determined further according to the curvature of landslide surface curve diverse location.
, it is necessary to take the photograph information to determine the climb altitude between adjacent two air strips according to landslide angle and boat in step S102.
On landslide surface, the level height from landslide surface lower edges apart from different positions is different, therefore, shone to ensure to shoot
The resolution ratio of piece is identical, that is, to ensure that aircraft is equal (specifically namely to refer to every boat apart from the height of landslide surface
The height of linear distance landslide surface is equal, and distance herein can be the distance, or course line and cunning of vertical direction
Domatic vertical range), then need to adjust the height of air strips, it is impossible in conventionally, only ensure every air strips and level
The distance between face be equal mode setting (be possible to cause diverse location point on air strips vertical with landslide surface away from
From changing), but cause every air strips relative to the vertical height of landslide surface by setting this mechanism of climb altitude
(refer to any one air strips vertically with the distance of landslide surface) is equal.Wherein, it refers to such as camera ginseng that boat takes the photograph information
Number (such as focal length, primary optical axis and ground angle), image parameters (the narrow length of side of image, broadside long etc.) and flight parameter (flying height, boat
To degree of overlapping etc.) etc. relevant parameter.
Certainly, as shown in Fig. 2 every air strips all should be parallel with the bottom line (the nethermost line of landslide surface) of landslide surface, and often
The level height of bar air strips is equal all the time, refers specifically to any point on air strips (such as exposure point) height with respect to the horizontal plane equal
Equal.Landslide surface is landslide angle with the angle of ground level.Although landslide angle is change, but as long as ensure that boat
Take any point and landslide surface vertical range (can be understood as exposure point along primary optical axis direction to landslide surface distance) be
Equal, it becomes possible to ensure that every resolution ratio of image is identical.
And then, in step S103, you can determine a plurality of boat successively with according to the first bar air strips and climb altitude that obtain in advance
Band.It should be noted that first bar air strips also should be parallel with landslide surface, and the level height of first bar air strips is equal (band of navigating all the time
Upper any point height with respect to the horizontal plane is equal).Thus, after a plurality of air strips have been obtained, step can just be performed
S104 is taken the photograph by controlling aircraft to carry out boat along a plurality of optimization air strips, and then obtains landslide surface image, has been finally completed landslide surface
The acquisition of image.
In step S104, aircraft carries out boat along a plurality of optimization air strips when take the photograph, and preferably aircraft is along level height
(height with respect to the horizontal plane) minimum air strips flight, after a complete air strips of having flown, then rises to next
Highly, flown along next optimization air strips, and then completion carries out boat and takes the photograph along all optimization air strips, to obtain enough landslide faces
Picture.
Wherein, step S102, i.e., the boat for being obtained according to landslide angle and in advance is taken the photograph between information determines adjacent two air strips
Climb altitude includes：
Climb altitude is calculated according to equation below：Climb altitude=(1- sidelappings degree) × image broadside is long × flying height ÷
Focal length × sin (landslide angle).
Specifically, carry out boat along a plurality of optimization air strips for obtaining in advance in step S104, i.e. step control aircraft take the photograph, with
Also include before obtaining landslide surface image：
According to landslide angle, when calculating camera primary optical axis perpendicular to landslide surface, the gradient of camera on aircraft；
The carry-on camera of Slope angle adjustment according to camera.
When camera primary optical axis is perpendicular to landslide surface, camera carries out action of taking pictures, then can obtain the vertical image of landslide surface, this
Sample, then can avoid due to there is barrier on landslide surface, and cause other small objects (mainly object of reference) be blocked to.
Specifically, a kind of landslide surface image capturing method provided herein, also includes：
According to the three-dimensional data of the advance target landslide surface multiple location point for obtaining, the first bar air strips, institute are determined
State first bar air strips parallel with the landslide surface, and any two sampled point and the landslide surface vertical range on the first bar air strips
Difference be less than predetermined threshold value.
According to the three-dimensional data of multiple location points on target landslide surface, the threedimensional model of target landslide surface can be drawn out,
Alternatively draw the height of diverse location point on target landslide surface.And then after the height for knowing diverse location, just can be true
Fixed first bar air strips.When landslide surface is plane, then may be considered aircraft apart from the vertical range of landslide surface is one all the time
Definite value (or being floated in an a small range).Any two sampled point and the landslide surface vertical range on first bar air strips
Difference is less than predetermined threshold value, it is ensured that when aircraft is shot along first bar air strips, the resolution ratio of the image for being obtained is equal
It is identical.
Further, a kind of landslide surface image capturing method provided herein, also includes：Base is calculated according to equation below
Linear distance, the parallax range=narrow length of side of (1- ship's controls) × image × flying height ÷ focal lengths；
And then, step S104 controls aircraft to carry out boat along a plurality of optimization air strips for obtaining in advance and takes the photograph, to obtain landslide
Face picture can include：
According to parallax range and optimization air strips, the exposure point of camera on aircraft is determined；
Camera is shot in flight to the position of exposure point on control aircraft, to obtain landslide surface image.
Baseline refers to the line between the exposure point corresponding to adjacent two photos.Parallax range i.e. two neighboring exposure
The distance between luminous point.This has had influence on whether image can use for carrying out the later stage.
Specifically, aircraft is unmanned gyroplane.Unmanned gyroplane can carry out hovering photography, climbing or moving one
After set a distance, target (landslide surface) can accurately be shot.
A kind of landslide surface image capturing method on the whole provided herein, has the following advantages that：(1) motor-driven spirit
It is living, shot using unmanned gyroplane, without special landing site, staff can be made in real time with any attitude corner connection
Nearly slip mass carries out landslide monitoring operation；
(2) gyroplane can directly hover over operation overhead, without operating personnel's operation by；
(3) when boat is taken the photograph, during to landslide photography, using And of Varying Depth by different level, (every height of air strips is different, and boat has taken the photograph one
Navigated again after air strips and take the photograph another air strips) method for imaging, the method can make the image geometry resolution ratio in different course lines consistent；
(4) when boat is taken the photograph, certain inclination angle (camera primary optical axis is vertical with landslide surface), energy are used to camera for landslide photography
Enough make same subpictures resolution ratio consistent.
The embodiment of the present application additionally provides a kind of landslide surface video capturing device, as shown in figure 3, including：
Acquisition module 301, the landslide angle for obtaining target landslide surface；
Climb altitude computing module 302, adjacent two are determined for taking the photograph information according to landslide angle and the in advance boat of acquisition
Climb altitude between air strips；
Optimization air strips determining module 303, for determining a plurality of optimization according to the first bar air strips and climb altitude that obtain in advance
Air strips；
Control module 304, takes the photograph, for controlling aircraft to carry out boat along a plurality of optimization air strips for obtaining in advance to obtain landslide
Face picture.
Specifically, climb altitude computing module 302 includes：
Computing unit, for calculating climb altitude according to equation below：Climb altitude=(1- sidelappings degree) × image
Broadside is long × flying height ÷ focal lengths × sin (landslide angle).
A kind of landslide surface video capturing device provided herein, also includes：
Parallax range computing module, for calculating parallax range, parallax range=(1- endlaps according to equation below
Degree) the narrow length of side of × image × flying height ÷ focal lengths；
Also, control module 304 includes：
Exposure point computing unit, for according to parallax range and optimization air strips, determining the exposure point of camera on aircraft；
Shooting unit, for controlling camera on aircraft to be shot in flight to the position of exposure point, to obtain landslide
Face picture.
It should be noted that the technique effect of the device that the embodiment of the present invention is provided, its realization principle and generation and preceding
State embodiment of the method identical, to briefly describe, device embodiment part does not refer to part, refers to phase in preceding method embodiment
Answer content.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
The embodiment of the present invention additionally provides a kind of empty three data capture method, based on one kind that the embodiment of the present invention is provided
Landslide surface image capturing method, also includes：
Multiple index points are set on target landslide surface；
The three-dimensional coordinate of each index point is determined using total station instrument coordinate mensuration；
Carried out using the three-dimensional coordinate of multiple index points, multiple landslide surface images and the camera internal position element for obtaining in advance
Empty three calculate to determine empty three data.
It is to obtain raw video (the landslide face obtained in landslide surface image capturing method to carry out empty three premises for calculating
Picture), obtain control point coordinates and camera internal position element.Accordingly, it would be desirable to spreading index point for slip mass is controlled measurement, tool
Body is to spread index point on slip mass diverse location, and two marks are measured with GPS in the position away from photographing region (slip mass)
The coordinate of will point, then determines the three-dimensional coordinate of index point (control point) using total station instrument coordinate method.The elements of interior orientation of camera
By correlation technique just can direct access, and then, three-dimensional coordinate in known multiple index points, multiple landslide surface images and phase
Machine elements of interior orientation back can carry out empty three calculating, make digital elevation model, the orthography for surveying area, according to acquisition just
Projection picture, digital elevation model and slip mass position calculating landslide areas area and landslide displacement before landslide.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (7)
1. a kind of landslide surface image capturing method, it is characterised in that including：
Obtain the landslide angle of target landslide surface；
According to it is described landslide angle and in advance obtain boat take the photograph information determine adjacent two air strips between climb altitude；
Determine a plurality of optimization air strips according to the advance first bar air strips for obtaining and the climb altitude；
Control aircraft carries out boat and takes the photograph along a plurality of optimization air strips, to obtain landslide surface image；
It is described to take the photograph information and determine that the climb altitude between adjacent two air strips includes according to the landslide angle and the boat for obtaining in advance：
Climb altitude is calculated according to equation below：Climb altitude=(1- sidelappings degree) × image broadside is long × flying height/focal length
× sin (landslide angle).
2. a kind of landslide surface image capturing method according to claim 1, it is characterised in that flight is being controlled described in step
Device carries out boat and takes the photograph along a plurality of optimization air strips for obtaining in advance, also to include before obtaining landslide surface image：
According to the landslide angle, when calculating camera primary optical axis perpendicular to the landslide surface, the inclination of camera on the aircraft
Degree；
Carry-on camera described in Slope angle adjustment according to the camera.
3. a kind of landslide surface image capturing method according to claim 2, it is characterised in that also include：
According to the three-dimensional data of the advance target landslide surface multiple location point for obtaining, the first bar air strips, the head are determined
Bar air strips are parallel with the landslide surface, and on the first bar air strips any two sampled point and the landslide surface vertical range difference
Value is less than predetermined threshold value.
4. a kind of landslide surface image capturing method according to claim 1, it is characterised in that also include：According to following public affairs
Formula calculates parallax range, the parallax range=narrow length of side × flying height/focal length of (1- ship's controls) × image；
The control aircraft carries out boat and takes the photograph along a plurality of optimization air strips for obtaining in advance, is included with obtaining landslide surface image：
According to the parallax range and the optimization air strips, the exposure point of camera on aircraft is determined；
Camera is shot in flight to the position of the exposure point on control aircraft, to obtain the landslide surface image.
5. a kind of landslide surface image capturing method according to claim 1, it is characterised in that the aircraft is unmanned rotation
Wing machine.
6. a kind of landslide surface video capturing device, it is characterised in that including：
Acquisition module, the landslide angle for obtaining target landslide surface；
Climb altitude computing module, for taking the photograph information and determining adjacent two air strips according to the landslide angle and the boat for obtaining in advance
Between climb altitude；
Optimization air strips determining module, for determining a plurality of optimization boat according to the first bar air strips and the climb altitude that obtain in advance
Band；
Control module, takes the photograph, for controlling aircraft to carry out boat along a plurality of optimization air strips for obtaining in advance to obtain landslide surface image；
The climb altitude computing module includes：
Computing unit, for calculating climb altitude according to equation below：Climb altitude=(1- sidelappings degree) × image broadside
Length × flying height/focal length × sin (landslide angle).
7. a kind of landslide surface video capturing device according to claim 6, it is characterised in that also include：
Parallax range computing module, for according to equation below calculate parallax range, parallax range=(1- ship's controls) ×
The narrow length of side × flying height/the focal length of image；
Control module includes：
Exposure point computing unit, for according to the parallax range and the optimization air strips, determining the exposure of camera on aircraft
Point；
Shooting unit, it is described to obtain for controlling camera on aircraft to be shot in flight to the position of the exposure point
Landslide surface image.
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| CN105373132A (en) * | 2015-11-26 | 2016-03-02 | 北京浩恒征途航空科技有限公司 | Low-altitude remote sensing system based on automatic cruise unmanned aerial vehicle and remote sensing method thereof |
| CN107818697B (en) * | 2017-10-30 | 2020-11-10 | 中国科学院遥感与数字地球研究所 | Non-horizontal route design method based on terrain elevation, terminal and storage medium |
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