CN105157679B - Unmanned aerial vehicle detection equipment for urban road identification - Google Patents
Unmanned aerial vehicle detection equipment for urban road identification Download PDFInfo
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- CN105157679B CN105157679B CN201510570801.6A CN201510570801A CN105157679B CN 105157679 B CN105157679 B CN 105157679B CN 201510570801 A CN201510570801 A CN 201510570801A CN 105157679 B CN105157679 B CN 105157679B
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- G—PHYSICS
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- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The invention relates to unmanned aerial vehicle detection equipment for urban road identification. The detection equipment comprises an unmanned aerial vehicle driving mechanism, a CMOS ultrahigh-definition camera, an FPGA chip and an embedded processor, wherein the embedded processor is respectively connected with the unmanned aerial vehicle driving mechanism, the CMOS ultrahigh-definition camera and the FPGA chip, controls the unmanned aerial vehicle driving mechanism to drive an unmanned aerial vehicle to fly to a position right above an urban road to be detected, starts the CMOS ultrahigh-definition camera to photograph the urban road to be detected to obtain an urban road image after the unmanned aerial vehicle flies to the position right above the urban road to be detected, and starts the FPGA chip to process the urban road image to determine the road curve in the urban road image. Through the unmanned aerial vehicle detection equipment for urban road identification, the road curve information of the urban road to be detected can be flexibly and accurately surveyed, and more valuable reference data are provided for map drawing of urban survey departments.
Description
The present invention is the Application No. 201510103082.7, applying date on March 10th, 2015, entitled " is used for
The divisional application of the patent of the unmanned plane testing equipment of urban road identification ".
Technical field
The present invention relates to road survey field, more particularly to a kind of unmanned plane testing equipment for urban road identification.
Background technology
The relevant information of urban road includes curvilinear path, location data and relative position of urban road etc..Obtain city
The relevant information of city's road is that one of key element necessary to city map is drawn by city management department.Correct urban road information
City management department can be helped in a planned way to dispose work of urban management, additionally aided other functional departments of city and carried out accordingly
Work, for example, facilitates city traffic control department to be managed region division, more successfully to realize the responsibility point of control of traffic and road
Work.
There are two kinds to the detection scheme of urban road information in prior art：The first, using remote sensing satellite city is shot
Remote sensing image, is analyzed to urban remote sensing image, extracts the information of each bar traffic route in city；Second, staff is arranged to exist
Field exploring is carried out on each bar urban road, curvilinear path, the location data of each bar urban road are obtained by artificial mode
With the information such as relative position.However, above-mentioned two kinds of detection schemes all have the limitation of itself：The former is distant due to the city for obtaining
Sense image resolution is inadequate, it is difficult to obtain high-precision urban road information；The latter needs to arrange for substantial amounts of man power and material, together
When detection mode it is excessively original, take a substantial amount of time cost, real-time is very poor.
Accordingly, it would be desirable to a kind of new urban road identifying schemes, can ensure to obtain each in city quickly, at low cost
While the relevant information of individual road, not to reduce mapping precision as cost, with good cost performance.
The content of the invention
In order to solve the above problems, the invention provides a kind of unmanned plane testing equipment for urban road identification, adopts
It is detection platform with unmanned plane, can at any time reach each bar using wireless control technology needs to enter directly over the urban road of detection
Trade road infomation detection, so as to reduce detection overhead, with preferable mobility and real-time, while dividing for urban road
Cloth feature, has customized multiple image processing equipments with different images processing function to captured by the picture pick-up device on unmanned plane
Ultra high-definition image processed in order, and, based on the big data feature of ultra high-definition image, each image procossing is all adopted
Parallel mode is carried out, and being carried out at high speed for data processing is ensured while data precision is improved.
According to an aspect of the present invention, there is provided a kind of unmanned plane testing equipment for urban road identification, the inspection
Measurement equipment includes unmanned plane drive mechanism, CMOS ultra high-definition cameras, fpga chip and flush bonding processor, the embedded processing
Device is connected respectively with the unmanned plane drive mechanism, the CMOS ultra high-definitions camera and the fpga chip, control it is described nobody
Machine drive mechanism to drive the unmanned plane to fly to the surface of urban road to be detected, and it is determined that the unmanned plane is flown to and is treated
After the surface of detection urban road, start the CMOS ultra high-definitions camera and urban road to be detected is shot to obtain city
Road image, starting the fpga chip carries out image procossing to urban road image to determine the road in urban road image
Curve.
More specifically, in the unmanned plane testing equipment for urban road identification, also including：Galileo navigation
Device, connects Galileo navigation satellite, for receiving the real time positioning data of unmanned plane position；Ultrasonic height sensors,
Including ultrasound wave emitter, ultrasonic receiver and single-chip microcomputer, the single-chip microcomputer and the ultrasound wave emitter and the ultrasound
Wave receiver connects respectively, and the ultrasound wave emitter earthward launches ultrasound wave, and it is anti-that the ultrasonic receiver receives ground
The ultrasound wave penetrated, the single-chip microcomputer is according to when launch time, the reception of the ultrasonic receiver of the ultrasound wave emitter
Between and ultrasonic propagation velocity calculate unmanned plane real-time ultrasound wave height；Portable hard drive, it is described for prestoring synopsis
Synopsis saves each order of magnitude and distinguishes corresponding image segmentation number with the corresponding order of magnitude of image data amount as index
Amount, the portable hard drive is additionally operable to prestore urban road R channel ranges, urban road G channel ranges, urban road B and leads to
Road scope, the urban road R channel ranges, the urban road G channel ranges and the urban road channel B scope are used for
By the urban road in RGB image and RGB image background separation；Transceiver, draws platform and builds with the urban road of distal end
Vertical two-way wireless communication link, for receiving the urban road flight control instruction that platform sends, the flight are drawn
Control instruction includes the corresponding purpose Galileo location data of urban road position directly above to be detected and purpose shooting height；
The CMOS ultra high-definitions camera includes undercarriage having shock absorption function, front cover glass, camera lens, filter and cmos imaging electronic unit, the CMOS
The resolution of the urban road image captured by ultra high-definition camera is 3840 × 2160；The fpga chip is altera corp
The EP1C6Q240C8 of Cyclone series, is integrated with image data amount estimation unit, image division list in the fpga chip
Unit, image combining unit and n graphics processing unit, n is equal to the largest amount grade in the synopsis；Described image data
Amount estimation unit is connected with the CMOS ultra high-definitions camera, is compressed based on MPEG-4 for assessment and is obtained after the urban road image
The data volume of the compression image for obtaining；Described image division unit and the portable hard drive, the CMOS ultra high-definitions camera and described
Image data amount estimation unit connects respectively, based on the corresponding order of magnitude of data volume of compression image, in the synopsis
Corresponding image segmentation quantity is inquired as target image dividing number m, and urban road image longitudinal direction is averagely drawn
It is divided into m subimage, the front m image procossing list m subimage being respectively allocated in the n graphics processing unit
Unit；Each graphics processing unit in the front m graphics processing unit is carried out at image to the corresponding subimage being assigned to
Manage to determine the road way curve in the correspondence subimage；Described image combining unit and the n graphics processing unit point
Do not connect, m road way curve of the front m graphics processing unit output is merged, to obtain in urban road image
Road curve；The flush bonding processor and the unmanned plane drive mechanism, the CMOS ultra high-definitions camera, the FPGA cores
Piece, the transceiver, the Galileo navigation device and the ultrasonic height sensors connect respectively, receive described wireless
The flight control instruction of transceiver forwarding, parses to obtain urban road position directly above to be detected to the flight control instruction
Corresponding purpose Galileo location data and purpose shooting height, control the unmanned plane drive mechanism to drive the unmanned plane
Fly to the urban road position directly above to be detected, match with the purpose shooting height in the real-time ultrasound wave height and
When the real time positioning data is matched with the purpose Galileo location data, into urban road detection pattern, in the reality
When ultrasonic height mismatch with the purpose shooting height or the real time positioning data and the purpose Galileo positioning number
During according to mismatching, into urban road searching modes；Wherein, each graphics processing unit includes that color space conversion is single
Unit, auto color enhanson, image division sub-unit, self adaptation recursive filtering subelement and least square fitting are single
Unit；The color space conversion subunit is connected with described image division unit, for performing to the corresponding subimage being assigned to
Rgb color space is changed, the RGB image after being changed；The auto color enhanson is changed with the color space
Subelement connects, and the RGB image after the conversion is performed and is based on the enhanced image enhancement processing of auto color, to obtain road
With the enhanced enhancing image of background contrasts；Described image splits subelement to be strengthened with the portable hard drive and the auto color
Subelement connects respectively, the R channel values of each pixel, G channel values and channel B value in the enhancing image is calculated, when a certain
The R channel values of pixel are in the urban road R channel ranges, G channel values are in the urban road G channel ranges and B is logical
When road value is in the range of the urban road channel B, it is defined as urban road pixel, by all cities in the enhancing image
City's road pixel combines to form road pattern；The self adaptation recursive filtering subelement connects with described image segmentation subelement
Connect, self adaptation recursive filtering is performed to the road pattern and is processed, to obtain the filtering road pattern for filtering noise pixel；It is described
Least square fitting subelement is connected with the self adaptation recursive filtering subelement, based on least square fitting algorithm to the filter
Radio frequency channel road pattern performs process of fitting treatment to determine way curve, and the road way curve is and institute in the filtering road pattern
There are the square distance of pixel and a curve of minimum；The flush bonding processor is opened in the urban road detection pattern
The CMOS ultra high-definitions camera and the fpga chip are moved, the urban road image and the road curve is received, institute is determined
State relative position of the road curve in the urban road image, based on the relative position, the real time positioning data and
The real-time ultrasound wave height determines the location information of the road curve, and the location information of the road curve includes the road
The location information of the terminal of the location information of the starting point of road curve and the road curve；The flush bonding processor is in the city
In city's road searching modes, the CMOS ultra high-definitions camera and the fpga chip are closed.
More specifically, in the unmanned plane testing equipment for urban road identification：The transceiver is received
The location information of the road curve and the road curve, and by the road curve and the positioning of the road curve
Information is wirelessly sent to the urban road and draws platform.
More specifically, in the unmanned plane testing equipment for urban road identification：Substitute one
The integration realization mode of EP1C6Q240C8FPGA chips, estimates image data amount unit, image division unit, image and merges
Unit and n graphics processing unit are respectively adopted fpga chip to realize.
More specifically, in the unmanned plane testing equipment for urban road identification：Image data amount estimation unit,
The type selecting of the fpga chip that image division unit, image combining unit and n graphics processing unit are respectively adopted all is Xilinx
The XC3S1000FT256 of company.
More specifically, in the unmanned plane testing equipment for urban road identification：Image data amount estimation unit,
Image division unit, image combining unit and n graphics processing unit are respectively adopted the fpga chip of different model to realize.
Description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the structure side of the unmanned plane testing equipment for urban road identification according to embodiment of the present invention
Block diagram.
Specific embodiment
The embodiment of the unmanned plane testing equipment for urban road identification of the present invention is entered below with reference to accompanying drawings
Row is described in detail.
Urban road, is a kind of each department for being capable of sensible city, is used for transportation in city and pedestrian, is easy to occupy
The people's livelihood is lived, is worked and cultural and recreational activity, and is connected the road for bearing external traffic with road outside city.Urban road typically compared with
Highway is broad, is to adapt to the complicated vehicles, divides car lane, bus priority lane, bicycle lane etc. more,
There is the footpath and building construction for being higher by road surface urban road both sides, many embedded common lines, urban road both sides under footpath
Promising beautifying city and arrange greenbelt, sculptures art work, the urban road planted on two sides woods, and be mounted with gutter in order to city
City's draining.
Urban road is the motifs of city management.He is related to organic activity in whole city.Thus, city incity
The acquisition of the relevant information of each bar road is extremely important, and the correctness of these relevant informations directly affects urban function portion
The planning efficiency and planning effect of door.
However, urban road information extraction technology of the prior art is mainly satellite remote sensing mode and on-site land survey side
Formula, although the former reduces testing cost, under the pressure of the limitation of satellite remote sensing mechanism, the remotely-sensed data precision of acquisition is not high,
Cause the urban road information extracted less accurate, although the latter is obtained in that the urban road information of certain precision, but
Cost of labor and time cost are too high.
The present invention has built a kind of unmanned plane testing equipment for urban road identification, with motor-driven and detection range is broad
Unmanned plane be detection platform, a set of urban road being made up of various image procossing subelements is customized based on urban road characteristic
Testing mechanism, in the information retrieval to urban road, has taken into account the high requirement to precision, efficiency and cost performance.
Fig. 1 is the structure side of the unmanned plane testing equipment for urban road identification according to embodiment of the present invention
Block diagram, the testing equipment includes CMOS ultra high-definitions camera 1, fpga chip 2, unmanned plane drive mechanism 3, portable hard drive 4, Jia Li
Omniselector 5, ultrasonic height sensors 6, transceiver 7 and flush bonding processor 8 are omited, flush bonding processor 8 surpasses with CMOS
High definition camera 1, fpga chip 2, unmanned plane drive mechanism 3, portable hard drive 4, Galileo navigation device 5, ultrasonic height sensors
6th, transceiver 7 connects respectively.
Wherein, the flush bonding processor 8 is used to control the unmanned plane drive mechanism 3 to drive the unmanned plane to fly to
The surface of urban road to be detected, and after it is determined that the unmanned plane flies to the surface of urban road to be detected, start
The CMOS ultra high-definitions camera 1 shoots to obtain urban road image to urban road to be detected, starts the fpga chip 2 pairs
Urban road image carries out image procossing to determine the road curve in urban road image.
Then, the concrete structure for continuing the unmanned plane testing equipment for urban road identification to the present invention enters traveling one
The explanation of step.
In the unmanned plane testing equipment, the Galileo navigation device 5 connects Galileo navigation satellite, for receiving nothing
The real time positioning data of man-machine position.
In the unmanned plane testing equipment, the ultrasonic height sensors 6 include that ultrasound wave emitter, ultrasound wave connect
Receipts machine and single-chip microcomputer, the single-chip microcomputer is connected respectively with the ultrasound wave emitter and the ultrasonic receiver, the ultrasound
Wave transmitter earthward launches ultrasound wave, and the ultrasonic receiver receives the ultrasound wave of ground return, the single-chip microcomputer according to
The launch time of the ultrasound wave emitter, the reception time of the ultrasonic receiver and ultrasonic propagation velocity calculate nobody
The real-time ultrasound wave height of machine.
In the unmanned plane testing equipment, the portable hard drive 4 is used to prestore synopsis, and the synopsis is scheming
As the corresponding order of magnitude of data volume is index, save each order of magnitude and distinguish corresponding image segmentation quantity, the shifting
Dynamic hard disk 4 is additionally operable to prestore urban road R channel ranges, urban road G channel ranges, urban road channel B scope, institute
Stating urban road R channel ranges, the urban road G channel ranges and the urban road channel B scope is used for RGB image
In urban road and RGB image background separation.
In the unmanned plane testing equipment, the transceiver 7 draws platform and sets up double with the urban road of distal end
To wireless communication link, draw the flight control instruction that platform sends, the flight control for receiving the urban road
Instruction includes the corresponding purpose Galileo location data of urban road position directly above to be detected and purpose shooting height.
In the unmanned plane testing equipment, the CMOS ultra high-definitions camera 1 include undercarriage having shock absorption function, front cover glass, camera lens,
Filter and cmos imaging electronic unit, the resolution of the urban road image captured by the CMOS ultra high-definitions camera 1 is 3840
×2160。
In the unmanned plane testing equipment, the fpga chip 2 is the Cyclone series of altera corp
EP1C6Q240C8, image data amount estimation unit, image division unit, image is integrated with the fpga chip 2 and merges single
Unit and n graphics processing unit, n is equal to the largest amount grade in the synopsis.
In the fpga chip 2, described image data volume estimation unit is connected with the CMOS ultra high-definitions camera 1, uses
The data volume of the compression image obtained after the urban road image, described image division unit are compressed based on MPEG-4 in assessment
It is connected respectively with the portable hard drive 4, the CMOS ultra high-definitions camera 1 and described image data volume estimation unit, based on compression
The corresponding order of magnitude of data volume of image, inquires corresponding image segmentation quantity as target image in the synopsis
Dividing number m, and the urban road image is longitudinally averagely divided into into m subimage, the m subimage is respectively allocated
Front m graphics processing unit in the n graphics processing unit；
In the fpga chip 2, each graphics processing unit in the front m graphics processing unit is to being assigned to
Corresponding subimage carry out image procossing with determine it is described correspondence subimage in road way curve；Described image combining unit with
The n graphics processing unit connects respectively, and m road way curve of the front m graphics processing unit output is merged, with
Obtain the road curve in urban road image；
It is the flush bonding processor 8 and the unmanned plane drive mechanism 3, described in the unmanned plane testing equipment
The CMOS ultra high-definitions camera 1, fpga chip 2, the transceiver 7, the Galileo navigation device 5 and the ultrasonic wave height
Degree sensor 6 connects respectively, the flight control instruction of the forwarding of transceiver 7 is received, to the flight control instruction solution
Analysis controls institute to obtain the corresponding purpose Galileo location data of urban road position directly above to be detected and purpose shooting height
Unmanned plane drive mechanism 3 is stated to drive the unmanned plane to fly to the urban road position directly above to be detected, it is described in real time
Ultrasonic height is matched and the real time positioning data and the purpose Galileo location data with the purpose shooting height
Timing, into urban road detection pattern, mismatches or described in the real-time ultrasound wave height with the purpose shooting height
When real time positioning data is mismatched with the purpose Galileo location data, into urban road searching modes.
Wherein, each graphics processing unit includes color space conversion subunit, auto color enhanson, image
Segmentation subelement, self adaptation recursive filtering subelement and least square fitting subelement.
In each graphics processing unit, the color space conversion subunit is connected with described image division unit,
For performing rgb color space conversion, the RGB image after being changed to the corresponding subimage being assigned to.
In each graphics processing unit, the auto color enhanson and the color space conversion subunit
Connection, performs to the RGB image after the conversion and is based on the enhanced image enhancement processing of auto color, to obtain road and background
The enhanced enhancing image of contrast.
In each graphics processing unit, described image splits subelement and the portable hard drive 4 and the automatic face
Color enhanson connects respectively, calculates the R channel values of each pixel, G channel values and channel B value in the enhancing image,
When a certain pixel R channel values in the urban road R channel ranges, G channel values are in the urban road G channel ranges
And channel B value in the range of the urban road channel B when, be defined as urban road pixel, by it is described enhancing image in
All urban road combination of pixels are forming road pattern.
In each graphics processing unit, the self adaptation recursive filtering subelement connects with described image segmentation subelement
Connect, self adaptation recursive filtering is performed to the road pattern and is processed, to obtain the filtering road pattern for filtering noise pixel.
In each graphics processing unit, the least square fitting subelement is single with self adaptation recursive filtering
Unit's connection, performs process of fitting treatment to determine way curve, institute based on least square fitting algorithm to the filtering road pattern
It is the square distance and a curve of minimum with all pixels in the filtering road pattern to state way curve.
Wherein, the flush bonding processor 8 starts the CMOS ultra high-definitions camera in the urban road detection pattern
1 and the fpga chip 2, the urban road image and the road curve are received, determine the road curve in the city
Relative position in city's road image, based on the relative position, the real time positioning data and the real-time ultrasound wave height
Determine the location information of the road curve, the location information of the road curve includes the positioning of the starting point of the road curve
The location information of the terminal of information and the road curve；And the flush bonding processor 8 finds mould in the urban road
In formula, the CMOS ultra high-definitions camera 1 and the fpga chip 2 are closed.
Wherein, in the unmanned plane testing equipment：The transceiver 7 can receive the road curve and described
The location information of road curve, and the location information of the road curve and the road curve is wirelessly sent to into the city
City's road draws platform, alternatively, the integration realization mode of an EP1C6Q240C8FPGA chip 2 is substituted, by image data amount
Estimation unit, image division unit, image combining unit and n graphics processing unit are respectively adopted fpga chip to realize, with
And the FPGA that image data amount estimation unit, image division unit, image combining unit and n graphics processing unit are respectively adopted
The XC3S1000FT256 of the type selecting Dou Shi Xilinx companies of chip, or, image data amount estimation unit, image division unit,
Image combining unit and n graphics processing unit are respectively adopted the fpga chip of different model to realize.
In addition, GPS navigation system, GLONASS navigation system, Galileo navigation system or Beidou satellite navigation system are
Four kinds of navigation system that the world today most generally uses.
Beidou satellite navigation system is independent development capability, the GPS of independent operating that China is implementing.
System Construction target is：Build up independent, open and compatible, advanced technology, reliable and stable big-dipper satellite covering the whole world to lead
Boat system, promotes satellite navigation industry chain formation, forms perfect national satellite navigation application industry and supports, promotes and ensure body
System, promotes satellite navigation in the extensive application of national economy society every profession and trade, and Beidou satellite navigation system is by space segment, ground segment
Constitute with the part of user segment three, space segment includes 5 satellites and 30 non-geo satellites, ground segment includes master
Several earth stations such as control station, injection station and monitoring station, user segment include Big Dipper user terminal and with other satellite navigation systems
The compatible terminal of system.
GPS is of new generation Aerospace Satellite navigator fix system of 20 century 70s by land, sea, and air of U.S. joint research and development
System, its main purpose is to provide real-time, round-the-clock and global navigation Service for the big field in land, sea, air three, and for information
Collect, some military purposes such as Nuclear detonation monitoring and emergency communication, be important composition that global strategy is dominated in the U.S. exclusively.Through more than 20 years
Research experiment, 30,000,000,000 dollars of cost, in March, 1994, Global coverage rate is up to the 98% own cloth of 24 gps satellite constellations
If completing.GALILEO positioning system is one global position system just under construction of European Union, is also after existing GPS systems of the U.S.
Outside system and Muscovite GLONASS navigation system, the 3rd alignment system that can be for civilian use, the basic service of Galileo system
There are navigation, positioning, time service；Special service has search and rescue aid；Expanded application service system has in aircraft navigation and landing system
In application, safe railway operation scheduling, marine transportation system, land fleet transportation dispatching, precision agriculture, January 7 in 2010
Day, EU Committee claims, and the GALILEO positioning system of European Union will put into effect from 2014.Russian Glonass navigation system
System is made up of 24 satellites, and precision is dual-use at 10 meters or so, and 2009 end of the year service areas of design are extended to the whole world.
Using the unmanned plane testing equipment for urban road identification of the present invention, for existing urban road recognition method
The technical problem of certainty of measurement, measurement cost and measurement requirement of real-time cannot simultaneously be met, unmanned aerial vehicle platform and wireless is introduced
Communication pattern effective control measurement cost simultaneously meets the requirement of measurement real-time, and customize according to the characteristics of urban road
The image processing section coordinated manipulation of multiple difference in functionalitys is meeting the requirement of certainty of measurement.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment and being not used to
Limit the present invention.For any those of ordinary skill in the art, under without departing from technical solution of the present invention ambit,
All many possible variations and modification are made to technical solution of the present invention using the technology contents of the disclosure above, or be revised as
With the Equivalent embodiments of change.Therefore, every content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention
Any simple modification made for any of the above embodiments, equivalent variations and modification, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (1)
1. it is a kind of for urban road identification unmanned plane testing equipment, the testing equipment include unmanned plane drive mechanism,
CMOS ultra high-definition cameras, fpga chip and flush bonding processor, the flush bonding processor and the unmanned plane drive mechanism, institute
State CMOS ultra high-definitions camera and the fpga chip connects respectively, control the unmanned plane drive mechanism to drive the unmanned plane
Fly to the surface of urban road to be detected, and after it is determined that the unmanned plane flies to the surface of urban road to be detected,
Start the CMOS ultra high-definitions camera urban road to be detected is shot to obtain urban road image, start the fpga chip
Carry out image procossing to urban road image to determine the road curve in urban road image；
Characterized in that, the testing equipment also includes：
Galileo navigation device, connects Galileo navigation satellite, for receiving the real time positioning data of unmanned plane position；
Ultrasonic height sensors, including ultrasound wave emitter, ultrasonic receiver and single-chip microcomputer, the single-chip microcomputer is super with described
Acoustic transmitter and the ultrasonic receiver connect respectively, and the ultrasound wave emitter earthward launches ultrasound wave, described super
Sonic receiver receives the ultrasound wave of ground return, and the single-chip microcomputer is according to launch time of the ultrasound wave emitter, described
The real-time ultrasound wave height for receiving time and ultrasonic propagation velocity calculating unmanned plane of ultrasonic receiver；
Portable hard drive, for prestoring synopsis, the synopsis is protected with the corresponding order of magnitude of image data amount as index
Each order of magnitude is deposited and has distinguished corresponding image segmentation quantity, the portable hard drive has been additionally operable to prestore urban road R and has led to
Road scope, urban road G channel ranges, urban road channel B scope, the urban road R channel ranges, the urban road
G channel ranges and the urban road channel B scope are used for the urban road in RGB image and RGB image background separation；
Transceiver, draws platform and sets up two-way wireless communication link, for receiving the city with the urban road of distal end
City's road draws the flight control instruction that platform sends, and the flight control instruction includes position directly over urban road to be detected
Put corresponding purpose Galileo location data and purpose shooting height；
The CMOS ultra high-definitions camera includes undercarriage having shock absorption function, front cover glass, camera lens, filter and cmos imaging electronic unit, described
The resolution of the urban road image captured by CMOS ultra high-definition cameras is 3840 × 2160；
The fpga chip is the EP1C6Q240C8 of the Cyclone series of altera corp, substitutes one
The integration realization mode of EP1C6Q240C8FPGA chips, estimates image data amount unit, image division unit, image and merges
Unit and n graphics processing unit are respectively adopted fpga chip to realize, n is equal to the largest amount grade in the synopsis；
Described image data volume estimation unit is connected with the CMOS ultra high-definitions camera, and the city is compressed based on MPEG-4 for assessment
The data volume of the compression image obtained after road image；Described image division unit and the portable hard drive, the CMOS superelevation
Clear camera and described image data volume estimation unit connect respectively, based on the corresponding order of magnitude of data volume of compression image,
Corresponding image segmentation quantity is inquired in the synopsis as target image dividing number m, and by the urban road figure
As longitudinal direction is averagely divided into m subimage, the m subimage is respectively allocated to into the front m in the n graphics processing unit
Individual graphics processing unit；Each graphics processing unit in the front m graphics processing unit is to the corresponding subgraph that is assigned to
As the road way curve for carrying out image procossing to determine in the correspondence subimage；Described image combining unit and described n figure
As processing unit connects respectively, m road way curve of the front m graphics processing unit output is merged, to obtain city
Road curve in road image；
It is the flush bonding processor and the unmanned plane drive mechanism, the CMOS ultra high-definitions camera, the fpga chip, described
Transceiver, the Galileo navigation device and the ultrasonic height sensors connect respectively, receive the transceiver
The flight control instruction of forwarding, parses corresponding to obtain urban road position directly above to be detected to the flight control instruction
Purpose Galileo location data and purpose shooting height, control the unmanned plane drive mechanism to drive the unmanned plane to fly to institute
Urban road position directly above to be detected is stated, is matched with the purpose shooting height and the reality in the real-time ultrasound wave height
When location data when matching with the purpose Galileo location data, into urban road detection pattern, in the real-time ultrasound
Wave height mismatch with the purpose shooting height or the real time positioning data and the purpose Galileo location data not
Timing, into urban road searching modes；
Wherein, each graphics processing unit includes color space conversion subunit, auto color enhanson, image segmentation
Subelement, self adaptation recursive filtering subelement and least square fitting subelement；The color space conversion subunit with it is described
Image division unit connects, for performing rgb color space conversion, the RGB after being changed to the corresponding subimage being assigned to
Image；The auto color enhanson is connected with the color space conversion subunit, to the RGB image after the conversion
Perform and be based on the enhanced image enhancement processing of auto color, to obtain road and the enhanced enhancing image of background contrasts；It is described
Image division sub-unit is connected respectively with the portable hard drive and the auto color enhanson, calculates the enhancing image
In the R channel values of each pixel, G channel values and channel B value, when the R channel values of a certain pixel are in the urban road R passages
In the range of, G channel values in the urban road G channel ranges and channel B value in the range of the urban road channel B when,
It is defined as urban road pixel, by all urban road combination of pixels in the enhancing image forming road pattern；Institute
State self adaptation recursive filtering subelement to be connected with described image segmentation subelement, the filter of self adaptation recurrence is performed to the road pattern
Ripple process, to obtain the filtering road pattern for filtering noise pixel；The least square fitting subelement is passed with the self adaptation
Return filtering subunit to connect, based on least square fitting algorithm the filtering road pattern is performed process of fitting treatment to determine road
Sub- curve, the road way curve is the square distance and a song of minimum with all pixels in the filtering road pattern
Line；
Wherein, the flush bonding processor starts the CMOS ultra high-definitions camera and institute in the urban road detection pattern
Fpga chip is stated, the urban road image and the road curve is received, determines the road curve in the urban road
Relative position in image, based on the relative position, the real time positioning data and the real-time ultrasound wave height institute is determined
State the location information of road curve, the location information of the road curve include the location information of the starting point of the road curve and
The location information of the terminal of the road curve；The flush bonding processor closes institute in the urban road searching modes
State CMOS ultra high-definitions camera and the fpga chip.
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| CN105157679B (en) * | 2015-03-10 | 2017-05-03 | 福建爱特点信息科技有限公司 | Unmanned aerial vehicle detection equipment for urban road identification |
| CN106155086B (en) * | 2016-08-09 | 2018-10-30 | 长安大学 | A kind of Road Detection unmanned plane and its automatic cruising method |
| CN106652457B (en) * | 2017-01-22 | 2023-09-12 | 上海量明科技发展有限公司 | Method, unmanned aerial vehicle and system for detecting shared vehicle condition |
| CN107544493B (en) * | 2017-08-03 | 2020-06-23 | 浙江智卓工业机器人有限公司 | Intelligent navigation method and system based on unmanned driving |
| CN108737775B (en) * | 2018-01-31 | 2019-04-05 | 上海慕语会展服务有限公司 | Big data acquisition platform |
| CN109141366A (en) * | 2018-01-31 | 2019-01-04 | 张月云 | Big data acquisition method |
| CN108959336B (en) * | 2018-03-06 | 2019-06-18 | 上海工业控制安全创新科技有限公司 | The adaptive method for drawing electronic map of automobile navigation |
| CN109533327B (en) * | 2018-03-15 | 2020-04-10 | 拓航科技有限公司 | Unmanned aerial vehicle flight capability self-checking method |
| CN108569412B (en) * | 2018-03-15 | 2019-05-14 | 广东高商科技有限公司 | Unmanned plane during flying ability self-test platform |
| CN108734130A (en) * | 2018-05-21 | 2018-11-02 | 西南交通大学 | A kind of road detection system, method and storage medium |
| KR101925366B1 (en) * | 2018-06-05 | 2018-12-06 | 한국항공우주연구원 | electronic mapping system and method using drones |
| CN109238225B (en) * | 2018-09-03 | 2021-02-05 | 浙江大丰实业股份有限公司 | Mobile vehicle platform real-time height monitoring platform |
| CN110470279B (en) * | 2019-09-05 | 2022-05-27 | 上海伯镭智能科技有限公司 | Centralized photovoltaic power plant battery pack defect inspection system based on many rotor unmanned aerial vehicle |
| CN110894704A (en) * | 2019-11-15 | 2020-03-20 | 东南大学 | Unmanned aerial vehicle-based method for positioning road surface diseases |
| CN111652183B (en) * | 2020-06-19 | 2022-03-29 | 桂林电子科技大学 | Unmanned aerial vehicle detection and identification method based on image-transmission signal multi-feature fusion |
| CN115482477B (en) * | 2022-09-14 | 2023-05-30 | 北京远度互联科技有限公司 | Road identification method, device, unmanned aerial vehicle, equipment and storage medium |
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| CN103699903B (en) * | 2013-12-24 | 2017-02-15 | 中国科学院深圳先进技术研究院 | City roof green area calculation method and system based on image identification |
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