CN107894780A - A kind of highly geographical mapping system of multi-rotor unmanned aerial vehicle - Google Patents
A kind of highly geographical mapping system of multi-rotor unmanned aerial vehicle Download PDFInfo
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- 238000013523 data management Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000010030 laminating Methods 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 claims 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The present invention discloses a kind of highly geographical mapping system of multi-rotor unmanned aerial vehicle, including multi-rotor unmanned aerial vehicle, GPS module, control module, character adding module, pulse width detection interface, geographical mapping module and high in the clouds control centre；The geographical mapping module includes video camera and three-dimensional laser scanner, and the present invention can realize geographical information collection and the mapping of extreme terrain, and easy to operate, scalability is strong, and being capable of the online mapping information preview of real-time implementation.
Description
Technical field
The present invention relates to a kind of mapping system, more particularly to a kind of highly geographical mapping system of multi-rotor unmanned aerial vehicle.
Background technology
Longitude and latitude and the sea of collection appointed place are often needed in the field operation activities such as geographical mapping, the boundary of a piece of land survey, geological prospecting
Pull out information.Survey tool usually used at present is a kind of measuring instrument that GPS main frames are installed at the top of holding rod, by manually grabbing
The instrument is held to place to be measured, with hand-hold communication appliance and GPS main-machine communications and reads the testing data of record current location.
But much measurement places are measured to such place in the inaccessible place of high mountain, dangerous slope, steep cliff, cliff et al.
When waste time and energy, efficiency it is low, when serious even entail dangers to personal safety.
Unmanned plane is a kind of power-actuated, wireless control or the not manned unmanned plane of autonomous control.It is wherein to revolve more
Wing unmanned plane have small volume, it is in light weight, operation flexibly and the various features such as task platform can be carried, in recent years more rotors without
It is man-machine to play increasing effect in military surveillance, geological mapping, disaster surveillance and Aerial photography etc., show huge
Big application prospect.
CN106931944A discloses a kind of unmanned plane real-time three-dimensional geographical mapping system, including earth station's interactive system,
Camera system, speed/acceleration sensor, GPS, angular speed/acceleration transducer, motor driving, cradle head control and high speed number
According to transmission channel, earth station's interactive system is led to by wireless network and ground station communications between the earth station and unmanned plane
The high speed data transfer passage is crossed to transmit data, the invention realizes automation by the path planning to region to be measured
Image and positional information real-time collection.
CN205483037A discloses a kind of geographical information collection device, including flight remote sensing platform, high-speed camera, more
Spectrum scanner and radar scanner, the output end of flight remote sensing platform respectively the input with multispectral scanner, take the photograph at a high speed
The input of camera, the input of radar scanner are electrically connected with, and flight remote sensing platform two-way signaling is connected with flight control mould
Block, flight control are connected with processing module signal, and high-speed camera, multispectral scanner and radar scanner monitor geography
Data are respectively by acquisition module, Data Integration module and information data module transfer to processing module, the data after processing
Sent by data transmit-receive module and 3G communication modules to ground monitoring center, geographical information collection device collection appointed place
Geography information when, working environment is safer, simple and convenient.
But above-mentioned prior art still has that image mosaic display effect is bad, the problems such as expansible feature deficiency,
Therefore a kind of highly geographical mapping system of new multi-rotor unmanned aerial vehicle is needed, to meet to expand image, data processing and function
Open up increasing demand.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of highly geographical mapping system of new multi-rotor unmanned aerial vehicle.
To realize above-mentioned technical problem, the technical solution adopted by the present invention is as follows：
A kind of highly geographical mapping system of multi-rotor unmanned aerial vehicle, including multi-rotor unmanned aerial vehicle, GPS module, control module, word
Accord with laminating module, pulse width detection interface, geographical mapping module and high in the clouds control centre；The geographical mapping module includes shooting
Machine and three-dimensional laser scanner, the three-dimensional laser scanner are arranged in unmanned plane main body, and pass through data wire and airborne control
Molding block is connected, and the decoding for reading three-dimensional laser scanner image information, storage device are provided with the control module；
The high in the clouds control centre is connected by radio communication with the control module, formulates ground by the control module
Reason mapping plan, the flight for controlling unmanned plane and the mapping for the geography information for completing given area, while receive control module and return
The photo and scanning 3-D view returned, and displaying geographical mapping preview graph function is realized by data and image procossing；The cloud
Control centre is held to include with lower module：
Online real-time video previewing module：Online live preview video, connection camera, disconnection camera and startup/stop
Only monitor mapped point；
Survey and draw grid setup module：Unmanned plane is set to survey and draw the grid number for needing to shoot every time by grid setup module,
The image number spliced is needed, can be to control the number of shooting image, when number is more, i.e., spliced image is just got over
Greatly, visual angle is also wider, after the picture corresponding to the number of grid after having shot setting every time, will start the image to storage
Spliced, after the completion of splicing, splicing output can be carried out to the big field-of-view image of wide-angle of generation and is stored on local hard drive.
Survey and draw parameter designing module：Before unmanned plane takes off, unmanned plane is configured by this serial port module and taken pictures distance, comprising
Laterally take pictures distance, laterally take pictures points, longitudinal direction take pictures distance, laterally take pictures count etc..This module has got through serial communication, right
Need to be calculated according to the actual conditions of unmanned plane in the calculating of various parameters；
Unmanned plane ship trajectory module：By unmanned plane ship trajectory module, map is loaded directly into, by the track road of flight
Footpath, fixed in map subscript, user is surveyed and drawn mapping region and unmanned plane, track is clear to be checked；
Off-line data management module, off-line data management module import the high-definition image of shooting under off-line state, can be with
Image progress preview after offline is checked, while there is position display function of the demarcation high-definition image on map；
Mapping image previewing module：The picture of unmanned plane fixed point mapping is shown within a grid, it is whole to see
Body design sketch, each point taken pictures will be all stored under temp catalogues, so as to followed by concatenation.
Wherein, the video camera is Canon's EOS5D Mark II cameras.
Wherein, control module uses STM32 family chips, and carry UBLOX consumer level high-precision GPS modules.
Wherein, the control module can carry out basic configuration by USB by PC computers before unmanned plane takes off to it,
The pulse width signal from unmanned pusher side is detected, starts shooting and scan function when signal, which reaches certain, to be required, can actively connect
The datagram from the GPS module is received, data therein are unpacked, is stored, and completes processing in real time, records unmanned plane
Speed and flying distance.
Wherein, the GPS module is fixed in unmanned plane frame, and the GPS module passes through connecting line and the control
Molding block is connected, and can return to flying height and latitude and longitude information, and the foundation at interval is scanned and imaged as automatic route, is returned
The high in the clouds control centre.
Wherein, the video camera is arranged on the man-machine head, and the head can be around the shaft relative to unmanned plane sheet
360 ° of rotations of body.
The technical effects of the invention are that：Geographical information collection and the mapping of extreme terrain can be realized, it is easy to operate, can
Autgmentability is strong, and being capable of the online mapping information preview of real-time implementation.
Brief description of the drawings
Fig. 1 is the functional block diagram of the highly geographical mapping system of multi-rotor unmanned aerial vehicle of the present invention.
Fig. 2 is the theory diagram of the highly geographical mapping system of multi-rotor unmanned aerial vehicle of the present invention.
Fig. 3 is the structural representation of the highly geographical mapping system of multi-rotor unmanned aerial vehicle of the present invention.
Embodiment
Below in conjunction with drawings and examples, the present invention will be described in further detail.It is it should be appreciated that described herein
Specific embodiment only to explain the present invention, is not intended to limit the present invention.
The highly geographical mapping system of multi-rotor unmanned aerial vehicle of the present invention includes multi-rotor unmanned aerial vehicle, GPS module 1, control module,
Character adding module 2, pulse width detection interface, geographical mapping module and high in the clouds control centre.Wherein multi-rotor unmanned aerial vehicle has
The load capacity of installation complete unit enough, its own is passed by nine axle sensors, light stream sensor, GPS sensor, ultrasonic wave
The various kinds of sensors such as sensor, barometer, and electron speed regulator, motor are engaged, and can realize the fixed high hovering of fixed point and various
Flare maneuver, while providing interface allows external device to control.
As shown in figure 3, the geographical mapping module of the present invention includes video camera 3 and three-dimensional laser scanner, it is described three-dimensional sharp
Photoscanner is arranged in unmanned plane main body, and is connected by data wire with onboard control module, is provided with and is read in control module
The decoding of three-dimensional laser scanner image information, storage device；The video camera of UAV flight is Canon's EOS5D Mark II pictures
Machine, tight shot focal length are 35mm.Fuselage weight is 810g, is a silent frame slr camera, and size is long (152) mm × height
(113.5) mm × thickness (75) mm, valid pixel are 21,100,000.Shutter speed is 30-1/8 000s, and image highest resolution is
5616 × 3744, camera pixel resolution ratio μ=0.0064mm, relative sensitivity ISO is set to shoot number between 100-400
According to type save as two kinds of forms of jpg and raw.Video camera is arranged on the head of unmanned plane, and head can be around first rotating shaft phase
For the 360 ° of rotations of unmanned plane body, comprehensive shooting thus can be realized.According to above-mentioned geographical mapping module, pass through shooting
The fixed point shooting and laser scanning of machine, can obtain the huge mapping information of information content, effectively avoid landform and geographical environment
Restrict.
The control module of the present invention uses STM32 family chips, and carry UBLOX consumer level high-precision GPS modules.
STM32 family chips the serial communication with character adding module and GPS module, can detect simultaneously with the usb communication of PC computers
Pulse width signal from unmanned aerial vehicle (UAV) control side.Control module can be entered by PC computers before unmanned plane takes off by USB to it
Row basic configuration, the pulse width signal from unmanned pusher side is detected, starts shooting and scan function when signal, which reaches certain, to be required,
The datagram from GPS module can be actively received, data therein are unpacked, is stored, and completes processing in real time, record
The speed and flying distance of unmanned plane.In the unmanned aerial vehicle (UAV) control when reaching setpoint distance, sent to camera and scanner controller
Corresponding control signal, camera are completed to take pictures and scan, and the real time GPS coordinate information of camera site is fed back into character adding mould
Block, the coordinate information of shooting point recorded in the storage medias such as SD card.Character adding module is arranged on core board, is passed through
Serial ports is connected with core board, it is possible to achieve the superposition of longitude and latitude degrees of data and mapping picture.
High in the clouds control centre is connected by radio communication with control module, by control module, formulates geographical mapping plan,
The flight for controlling unmanned plane and the mapping for the geography information for completing given area, while receive the photo of control module return and sweep
3-D view etc. is retouched, and the functions such as displaying geographical mapping preview graph are realized by data and image procossing.
High in the clouds control centre of the present invention is included with lower module：
Online real-time video previewing module：Online live preview video, connection camera, disconnection camera and startup/stop
Only monitoring is taken photo by plane a little；
Survey and draw grid setup module：By taking photo by plane, grid setup module sets unmanned plane to survey and draw the grid for needing to shoot every time
Number, that is, need the image number spliced, can be to control the number of shooting image, and when number is more, i.e., spliced image is just
Bigger, visual angle is also wider, after the picture corresponding to the number of grid after having shot setting every time, will start the figure to storage
As being spliced, after the completion of splicing, splicing output can be carried out to the big field-of-view image of wide-angle of generation and is stored on local hard drive.
Survey and draw parameter designing module：Before unmanned plane takes off, unmanned plane is configured by this serial port module and taken pictures distance, comprising
Laterally take pictures distance, laterally take pictures points, longitudinal direction take pictures distance, laterally take pictures count etc..This module has got through serial communication, right
Need to be calculated according to the actual conditions of unmanned plane in the calculating of various parameters；
Unmanned plane ship trajectory module：By unmanned plane ship trajectory module, map is loaded directly into, by the track road of flight
Footpath, fixed in map subscript, user is surveyed and drawn mapping region and unmanned plane, track is clear to be checked；
Off-line data management module, off-line data management module can import the high-definition image of shooting under off-line state,
Preview can be carried out to the image after offline to check, while there is position display function of the demarcation high-definition image on map, when
After the operation for carrying out the first step, it can click on the coordinate points by the image synchronization for coordinate of changing the time into map and carry out offline
Image viewing, it is greatly user-friendly；
Mapping image previewing module：The picture of unmanned plane fixed point mapping is shown within a grid, it is whole to see
Body design sketch, each point taken pictures will be all stored under temp catalogues, so as to followed by concatenation.
The GPS module of the present invention is fixed in unmanned plane frame, and GPS module is connected by connecting line and control module
Connect, flying height and latitude and longitude information can be returned, the foundation at interval is scanned and imaged as automatic route, return to high in the clouds control
Center.
The preferred embodiments of the present invention have shown and described in described above, as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and available for various other combinations, modification and
Environment, and can be changed in the scope of the invention is set forth herein by the technology or knowledge of above-mentioned teaching or association area
It is dynamic., then all should be appended by the present invention and the change and change that those skilled in the art are carried out do not depart from the spirit and scope of the present invention
In scope of the claims.
Claims (6)
1. a kind of highly geographical mapping system of multi-rotor unmanned aerial vehicle, including multi-rotor unmanned aerial vehicle, GPS module, control module, character
Laminating module, pulse width detection interface, geographical mapping module and high in the clouds control centre；The geographical mapping module includes video camera
And three-dimensional laser scanner, the three-dimensional laser scanner are arranged in unmanned plane main body, and pass through data wire and the control
Module is connected, and decoding and the storage device for reading three-dimensional laser scanner image information are provided with the control module；
The high in the clouds control centre is connected by radio communication with the control module, and geographical survey is formulated by the control module
The plan of painting, the flight for controlling unmanned plane and the mapping for the geography information for completing given area, while receive control module return
Photo and scanning 3-D view, and displaying geographical mapping preview graph function is realized by data and image procossing；
The high in the clouds control centre is included with lower module：
Online real-time video previewing module：Online live preview video, connection camera, disconnect camera and startup/stopping prison
Control mapped point；
Survey and draw grid setup module：Set unmanned plane to survey and draw the grid number for needing to shoot every time by grid setup module, that is, need
The image number to be spliced, can be to control the number of shooting image, and when number is more, i.e., spliced image is just bigger, depending on
Angle is also wider, after the picture corresponding to the number of grid after having shot setting every time, will start the image progress to storage
Splicing, after the completion of splicing, splicing output can be carried out to the big field-of-view image of wide-angle of generation and is stored on local hard drive.
Survey and draw parameter designing module：Before unmanned plane takes off, unmanned plane is configured by this serial port module and taken pictures distance, includes transverse direction
Take pictures distance, laterally take pictures points, longitudinal direction take pictures distance, laterally take pictures count etc..This module has got through serial communication, for each
The calculating of kind parameter needs to be calculated according to the actual conditions of unmanned plane；
Unmanned plane ship trajectory module：By unmanned plane ship trajectory module, map is loaded directly into, by the trajectory path of flight,
Fixed in map subscript, user is surveyed and drawn mapping region and unmanned plane, track is clear to be checked；
Off-line data management module, off-line data management module import the high-definition image of shooting under off-line state, can to from
Image after line carries out preview and checked, while has position display function of the demarcation high-definition image on map；
Mapping image previewing module：The picture of unmanned plane fixed point mapping is shown within a grid, so as to which overall effect can be seen
Fruit is schemed, and each point taken pictures will be all stored under temp catalogues, so as to followed by concatenation.
2. the highly geographical mapping system of multi-rotor unmanned aerial vehicle according to claim 1, wherein the video camera is Canon
EOS5D Mark II cameras.
3. the highly geographical mapping system of multi-rotor unmanned aerial vehicle according to claim 1 or 2, wherein control module use
STM32 family chips, and carry UBLOX consumer level high-precision GPS modules.
4. the highly geographical mapping system of multi-rotor unmanned aerial vehicle according to claim 1 or 2, wherein the control module is in nothing
It is man-machine take off before basic configuration can be carried out to it by USB by PC computers, detect the pulse width signal from unmanned pusher side, when
Signal reaches certain and starts shooting and scan function when requiring, the datagram from the GPS module can be actively received, to it
In data unpacked, store, and complete processing in real time, record the speed and flying distance of unmanned plane.
5. the highly geographical mapping system of multi-rotor unmanned aerial vehicle according to claim 4, wherein GPS module installation is fixed
In unmanned plane frame, the GPS module is connected by connecting line with the control module, can return to flying height and longitude and latitude
Information is spent, the foundation at interval is scanned and imaged as automatic route, returns to the high in the clouds control centre.
6. the highly geographical mapping system of multi-rotor unmanned aerial vehicle according to claim 1 or 2, wherein the video camera is arranged on
On the man-machine head, the head can be around the shaft relative to the 360 ° of rotations of unmanned plane body.
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| CN108958288A (en) * | 2018-07-26 | 2018-12-07 | 杭州瓦屋科技有限公司 | Low latitude operation UAV system and its path planning method based on geography information |
| CN109556578A (en) * | 2018-12-06 | 2019-04-02 | 成都天睿特科技有限公司 | A kind of unmanned plane spirally sweeping measurement image pickup method |
| CN109656260A (en) * | 2018-12-03 | 2019-04-19 | 北京采立播科技有限公司 | A kind of unmanned plane geographic information data acquisition system |
| CN110362113A (en) * | 2019-07-23 | 2019-10-22 | 武昌理工学院 | A kind of multi-rotor unmanned aerial vehicle height geography mapping system |
| CN110837260A (en) * | 2019-12-08 | 2020-02-25 | 姜昀呈 | A aircraft for geographical mapping for plateau area |
| CN110864678A (en) * | 2019-12-03 | 2020-03-06 | 国家电网有限公司 | Automatic surveying and mapping method and system for GPS coordinates of unmanned surveying and mapping machine |
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| CN111426309A (en) * | 2020-04-14 | 2020-07-17 | 陕西天泽中孚实业有限公司 | Acquisition and processing method based on three-dimensional topographic mapping data |
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