CN108594857A - It takes photo by plane system and its implementation for the multi-rotor unmanned aerial vehicle of traffic design - Google Patents
It takes photo by plane system and its implementation for the multi-rotor unmanned aerial vehicle of traffic design Download PDFInfo
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Abstract
It takes photo by plane system and its implementation the invention discloses the multi-rotor unmanned aerial vehicle for traffic design, including coordinate transformation system, flight course planning system, unmanned plane during flying system and data processing system, the coordinate transformation system is that device is arranged by projective parameter, seven parameter calculation apparatus, seven parameter setting apparatus, it is constituted with route coordinates conversion equipment, the flight course planning system is by course line sectioning, takeoff point selection device and flight parameter setting device are constituted, the unmanned plane during flying system is by ground control unit, multi-rotor unmanned aerial vehicle and mission payload device are constituted, it is provided with wireless data link between the ground control unit and multi-rotor unmanned aerial vehicle, it is equipped between the multi-rotor unmanned aerial vehicle and mission payload device and is connected by holder camera interface.Have many advantages, such as that data acquisition is quick, convenient, timeliness is strong, reduces manpower and materials input, cost-effective, data visual pattern.By the invention, it can preferably carry out the design work of traffic infrastructure.
Description
Technical field
The present invention relates to a kind of unmanned aerial vehicle technique for taking fields, specifically a kind of more rotors for traffic design
Unmanned plane system and its implementation.
Background technology
China is traffic power, can all be created every year or reorganization and expansion some traffic infrastructures, such as highway, city
Political affairs road, harbour, bridge etc..Design phase is the important link of Transportation Infrastructure Construction, understands engineering site situation energy
Enough designer is helped preferably to design engineering proposal, and scheme comparison can be carried out, it is difficult from economy, the volume of traffic, safety, construction
Multiple link selection optimal routes such as degree or preferred plan.
Currently, in each design phase of traffic infrastructure, exploration early period can be all carried out, is with expressway design
Example, in the route selection stage, mostly uses 1：The data such as 50000 topographic maps, Google Maps, day map, although can obtain to a certain extent
Take field conditions, but 1：50000 topographic maps are poor when expressing the level of detail of field conditions, can not clear, detailed earth's surface
Reveal field conditions, Google Maps and day map are capable of providing the orthography of engineering site, but these image data updates
Not in time, and image resolution is relatively low, poor in terms of timeliness and clarity, while cannot be right only by orthography
Atural object has three-dimensional understanding.
In the concept phase, the design route of highway is it has been determined that 1 can be measured along design route：2000 ground
Shape figure can complete the Preliminary design of road according to topographic map, pass through 1：2000 topographic maps can understand existing to a certain extent
Field situation, but in order to ensure that the grasp to field condition, designer can check site environment and ground on the spot along design route
Shape condition can expend a large amount of human and material resources in this way.Meanwhile it can not accomplish that all designers and industry specialists go
Scene is checked, thus it cannot be guaranteed that every designer and expert can grasp field condition, simultaneously for the record at scene
Mode is also taken more and simply takes pictures and hand-kept mode, cannot cover all information.
Invention content
The present invention provides a kind of multi-rotor unmanned aerial vehicle for traffic design and takes photo by plane system and its implementation, and the system is real
The video of engineering site is now obtained along design route, and more straight at low cost, reduction field investigation personnel amount, data
See the feature of image.
The technical scheme adopted by the invention to solve the technical problem is that：It takes photo by plane for the multi-rotor unmanned aerial vehicle of traffic design
System, structure include coordinate transformation system, flight course planning system, unmanned plane during flying system and data processing system, the seat
Mark converting system is by projective parameter setting device, seven parameter calculation apparatus, seven parameter setting apparatus and route coordinates converting means
Composition is set, realizes the coordinate conversion of whole route；The flight course planning system is by course line sectioning, takeoff point selection device
It is constituted with flight parameter setting device, the course line sectioning is connected by routine interface with takeoff point selection device, is used for
The segment processing in entire course line completes number between takeoff point selection device and flight parameter setting device by USB data interface
According to transmission, the unmanned plane during flying system is made of ground control unit, multi-rotor unmanned aerial vehicle and mission payload device, described
Wireless data link is provided between ground control unit and multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle is carried with task
It is connected by holder camera interface between lotus device.
Further, the ground control unit includes remote controller, number passes device a, figure passes device a and display dress
It sets, it is wired connection that the remote controller, number, which pass device a, figure passes between device a and display device.
Further, the multi-rotor unmanned aerial vehicle include propeller, GPS positioning device, motor, fly control device, power module,
Figure passes device b sum numbers and passes device b etc., and the GPS positioning device, motor, power module, winged control device, figure pass device b sum numbers and pass
It is wired connection between device b, is connected by drive link between propeller and motor.
Further, the mission payload device is unmanned plane data acquisition facility mounted, has recording function.
Further, the data processing system is for the video editing and processing to acquisition.
Further, the flight parameter setting device is connect by USB line with remote controller, for completing unmanned plane
Flying speed, flying height, yaw angle, holder pitch angle and the setting of task execution flight parameter.
Further, the course line sectioning includes airline mileage computing device, airline mileage display device, segmentation course line
Mileage input unit and segmentation course line display device are constituted, the airline mileage computing device and segmentation airline mileage input unit
It is respectively equipped between airline mileage display device and connect button, the airline mileage display device and segmentation course line display device
Between be equipped with connection button.
It takes photo by plane the implementation method of system, includes the following steps for the multi-rotor unmanned aerial vehicle of traffic design：
(1) multiple control points along traffic infrastructure designed lines are selected, is calculated and is obtained using coordinate transformation system
Coordinate transformation parameter between 80 plane coordinate system of WGS84 earth coordinates and Xi'an of design route, and then realize design road
The coordinate of line is converted, to obtain unmanned plane during flying course line；
(2) mileage calculation is carried out to the line of flight of generation by flight course planning system, according in the segmentation course line of input
Journey value is segmented whole course line, is generally segmented with 5km-6km；
(3) to the line of flight after segmentation, takeoff point is calculated using the takeoff point selection device in flight course planning system
Position；
(4) line of flight of segmentation is imported into flight parameter and device is set, required according to detailed programs and engineering is existing
Field situation completes parameter setting, and preserves course line file；
(5) multi-rotor unmanned aerial vehicle in unmanned plane during flying system is placed at selected takeoff point, is started unmanned electromechanical
Source waits for GPS positioning device positioning, and the course line file of setting is passed device by the number in ground control unit passes through wireless transmission
Signal is uploaded in the winged control device of unmanned plane, to realize unmanned plane autonomous flight, is completed video using mission payload device and is clapped
It takes the photograph；According to step (5), it is sequentially completed each airline operation and realizes data acquisition；
(6) by data processing system, the video of acquisition is spliced and is handled successively, entire design route is completed
Video data acquires.
The beneficial effects of the invention are as follows：
Unmanned plane may be implemented along designed lines autonomous flight by the system, and shoot coherent video, pass through this
A little data, designer and industry specialists can clearly understand landform, geomorphology information and building letter along designed lines
Breath etc., and according to the reasonability of these information authorization design route, while the human and material resources that can reduce field investigation disappear
Consumption, and realize that data preserve for a long time.The invention is in route selection design, new highway design, highway reconstruction and expansion engineering design, bridge
Application is all expanded in the projects such as beam engineering design, Navigation in Navigable demonstration, port engineering design.Quickly, just with data acquisition
Prompt, the advantages that timeliness is strong, reduce manpower and materials input, is cost-effective, data visual pattern.It, can be more preferable by the invention
Carry out the design work of traffic infrastructure in ground.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is coordinate transformation system schematic diagram.
Fig. 3 is flight course planning system schematic.
Fig. 4 is unmanned plane during flying system schematic.
In figure：
10 unmanned plane systems, 101 coordinate transformation systems, 1011 projective parameters setting device, 1,012 7 parameters calculate
Device, 1,013 7 parameter setting apparatus, 1014 route coordinates conversion equipments, 102 flight course planning systems, 1021 course lines segmentation dress
Set, 10211 airline mileage computing devices, 10212 airline mileage display devices, 10213 segmentation airline mileage input units,
10214 segmentation course line display devices, 1022 takeoff point selection devices, 1023 flight parameters setting device, 103 unmanned plane during flying systems
System, 1031 ground control units, 10311 remote controllers, 10312 numbers pass device a, 10313 figures pass device a, 10314 display dresses
It sets, 1032 multi-rotor unmanned aerial vehicles, 10321 winged control devices, 10322 numbers pass device b, 10323 figures pass device b, 10324 power supply moulds
Block, 10325GPS positioning devices, 10326 motors, 10327 propellers, 1033 mission payload devices, 104 data processing systems.
Specific implementation mode
It takes photo by plane system and in fact to a kind of multi-rotor unmanned aerial vehicle for traffic design of the present invention with reference to Figure of description
Existing method is described in detail below.
System 10, including coordinate transformation system 101, flight course planning as shown in Figure 1, the multi-rotor unmanned aerial vehicle of the present invention is taken photo by plane
System 102, unmanned plane during flying system 103 and data processing system 104.
As shown in Fig. 2, the coordinate transformation system 101 is for realizing the seat between unmanned plane during flying course line and design route
Mark conversion, by projective parameter setting device 1011, seven parameter calculation apparatus 1012, seven parameter setting apparatus 1013 and route coordinates
Conversion equipment 1014 is constituted, and realizes the coordinate conversion of whole route；In traffic infrastructure design, it is with expressway design
Example, design route generally use 3 degree of points of bands 80 plane right-angle coordinate of Xi'an, but unmanned plane during flying course line using
WGS84 earth coordinates, it is therefore desirable to coordinate be converted, using seven parameter model of boolean Sha, i.e., it is flat X to be obtained by calculating
It moves, Y is translated, Z translations, X rotates (WX), Y rotates (WY), Z rotations (WZ) and seven parameters of dimensional variation (DM), the ginseng of boolean Sha seven
Exponential model is that the prior art does not illustrate excessively.
When calculating seven parameters, in needing to obtain on entire design route where 6-7 control point and design route
Entreat meridian；Simultaneously, it is desirable that these control points have 80 plane coordinates of corresponding Xi'an and WGS84 geodetic coordinates, and require most
Distance between far point is not more than 30Km (empirical value).By selecting control point, can be calculated using seven parameter model of boolean Sha
Parameters, and then may be implemented to be converted to design route the course line of suitable unmanned plane during flying, and line of flight file is turned
Turn to * .kml formats.
It is taken photo by plane using newly-built expressway design as embodiment, in coordinate transformation system, equably along design route
6-7 control point is selected, and ensures that the distance between farthest point is not more than 30Km, meanwhile, ensure that the control point of selection can be contained
Entire circuit is covered, when circuit is longer, design route is first subjected to 30km segmentations.It is required that these control points have corresponding Xi'an
80 plane coordinates and WGS84 geodetic coordinates.
Device 1011 is set by projective parameter, projective parameter is set, including projection pattern, central meridian, X-coordinate add often
Number, Y coordinate additive constant, projected scale, the high information of projection.
The common point that these control points are calculated as parameter calculates X translations, Y using seven parameter calculation apparatus 1012
Translation, Z translations, X rotations (WX), Y rotations (WY), Z rotations (WZ) and seven parameters of dimensional variation (DM).Basic step is as follows：
(1) it chooses control point and carries out parameter calculating as common point.(2) seat for calculating these common points of the parameter value calculation of acquisition is utilized
Mark component residual values.(3) error in the residual error of these common points is calculated, whether the coordinate conversion accuracy that analysis is each put, which meets, is wanted
It asks, weeds out and be unsatisfactory for the common point of precision and (when the coordinate components residual error of common point is more than error in 2 times of residual errors, should pick
Remove the common point).(4) step 1-3 is repeated to remaining common point, until until meeting required precision.
Just now seven parameters being calculated are set in seven parameter setting apparatus 1013.Route file is imported into route coordinates
In conversion equipment 1014, coordinate conversion is carried out to the designed lines of 80 plane coordinates of Xi'an, and generate and meet line of flight requirement
WGS84 coordinates * .kml formats course line file.
As shown in figure 3, the flight course planning system 102 is by course line sectioning 1021, takeoff point selection device 1022
It being constituted with flight parameter setting device 1023, the course line sectioning is connected with takeoff point selection device by routine interface,
For the segment processing in entire course line, connect by usb data between the takeoff point selection device and flight parameter setting device
Mouthful complete data transmission, flight parameter setting device be used to complete the flying speed of unmanned plane, flying height, yaw angle,
The flight parameters such as holder pitch angle and task execution are arranged, and are connect with remote controller 10311 by USB line.
Course line segmentation is to be segmented the entire line of flight, it is contemplated that remote control distance limitation, the surrounding enviroment interference of unmanned plane
And the factors such as unmanned plane battery capacity, it needs to carry out segment processing to entire course line.It navigates by unmanned plane is used for multiple times
Line flight test obtains, relatively reasonable when every section of length for heading is 5-6km.By test, no matter in the wild or in urban district
When flight, when unmanned plane flies away from remote controller 2km or so, it may appear that different degrees of remote signal and figure passes dropout
The phenomenon that.The design mechanism of unmanned plane be it is preferential complete aerial mission, return to takeoff point after completion task, when remote signal and
In the case that figure passes dropout, remote controller is unable to control unmanned plane, at this moment fully relies on course line and the parameter control of setting
Unmanned plane during flying processed, in order to ensure flight safety, it is necessary to retain enough electricity, it is therefore desirable to the entire line of flight is segmented,
According to the concrete condition of project, it is segmented with 5km-6km.Takeoff point selection device can be by each item independence course line after segmentation
Ending connection calculates the point midway of connecting line segment automatically, and using the point midway as the takeoff point in this course line, thus
It maximumlly realizes control of the remote controler to unmanned plane, and realizes that picture of taking photo by plane effectively returns.
The course line sectioning 1021 include airline mileage computing device 10211, airline mileage display device 10212,
Be segmented airline mileage input unit 10213 and segmentation course line display device 10214 constituted, the airline mileage computing device and point
It is respectively equipped with connection button, the airline mileage display device between section airline mileage input unit and airline mileage display device
Connection button is equipped between segmentation course line display device.The course line file of generation is imported in airline mileage computing device, and
Realize calculated total kilometrage to include in airline mileage display device, by being inputted in being segmented airline mileage input unit
The segmentation mileage value of 5km, and then realize total line of flight segmentation, and the course line of segmentation is shown in segmentation course line display device
In, by the connection button between pointing device, segmentation course line can be imported in takeoff point selection device, can have been calculated automatically
The position of flying spot.By USB connecting lines, each item is segmented course line and takeoff point is imported into flight parameter setting device.
By the summary of experience of multiple flight test and project, it is finally obtained rational parameter value.For traffic base
For Infrastructure design, 120 meters and 200 meters are most common two kinds of flying heights, and in height-limit area when flight, flying height can limit
System is at 120 meters and following.It is as follows for the parameter setting of the two flying heights：
By taking certain project as an example, by checking topographic map, it is found that topography is flat within the scope of entire route, without high mountain and height
Layer building, therefore flying height is set as 120m, flying speed is set as 12m/s, and yaw angle is set as, along course-and-bearing, appointing
Business execution is set as making a return voyage automatically, and cruise-in altitude is set as 120m.By the holder pitching of each destination in course line
Angle initialization is -25 °, and the destination action of first destination is set as starting to make video recording, the destination of the last one destination is acted
It is set as stopping making video recording, other destinations are not provided with destination action.Identical parameter is all arranged in all course lines successively, and is preserved
Course line file.
As shown in figure 4, the unmanned plane during flying system 103 is by ground control unit 1031, multi-rotor unmanned aerial vehicle 1032
It is constituted with mission payload device 1033, the ground control unit 1031 includes remote controller 10311, number biography device
A10312, figure pass device a10313 and display device 10314, and the remote controller, number pass device a, figure passes device b and display
It is wired connection between device.The multi-rotor unmanned aerial vehicle 1032 includes flying control device 10321, number biography device b10322, figure
Pass device b10323, power module 10324, GPS positioning device 10325, motor 10326, propeller 10327 etc..It is described to fly
It is wired connection, spiral shell between control device, number pass device b, figure passes the devices such as device b, power module, GPS positioning device, motor
It is connected by drive link between rotation paddle and motor.Device is passed by number between the ground control unit and multi-rotor unmanned aerial vehicle
A10312, number pass device b10322, figure passes device a10313 and figure passes device b10323 and forms 2.4GHz wireless data transmission chains
Road is connected between the multi-rotor unmanned aerial vehicle 1032 and mission payload device 1033 by holder camera interface, and data are formed
Transmission link.The video file of acquisition is spliced and is handled successively by the data processing system 104, realization.
The ground control unit sends control instruction according to the task of taking photo by plane to the winged control device of multi-rotor unmanned aerial vehicle, and connects
Receive the data information that the multi-rotor unmanned aerial vehicle is sent；The mission payload device is complete according to the control information that control device is sent out is flown
At corresponding actions, such as angle change, beginning/stopping video recording.According to the above flow, the flight for completing each sortie is taken photo by plane, and
By data processing system, the video file of acquisition is spliced and handled successively, realizes the video money of entire design route
Material acquisition.
For traffic design multi-rotor unmanned aerial vehicle take photo by plane system implementation method it is as follows：
(1) multiple control points along traffic infrastructure designed lines are selected, is calculated and is obtained using coordinate transformation system
Coordinate transformation parameter between 80 plane coordinate system of WGS84 earth coordinates and Xi'an of design route, and then realize design road
The coordinate of line is converted, to obtain unmanned plane during flying course line；
(2) mileage calculation is carried out to the line of flight of generation by flight course planning system, according in the segmentation course line of input
Journey value is segmented whole course line, is generally segmented with 5km-6km；
(3) to the line of flight after segmentation, takeoff point is calculated using the takeoff point selection device in flight course planning system
Position；
(4) line of flight of segmentation is imported into flight parameter and device is set, required according to detailed programs and engineering is existing
Field situation completes parameter setting, and preserves course line file；
(5) multi-rotor unmanned aerial vehicle in unmanned plane during flying system is placed at selected takeoff point, is started unmanned electromechanical
Source waits for GPS positioning device positioning, and the course line file of setting is passed device by the number in ground control unit passes through wireless transmission
Signal is uploaded in the winged control device of unmanned plane, to realize unmanned plane autonomous flight, is completed video using mission payload device and is clapped
It takes the photograph；According to step (5), it is sequentially completed each airline operation and realizes data acquisition；
(6) by data processing system, the video of acquisition is spliced and is handled successively, entire design route is completed
Video data acquires.
Unmanned plane may be implemented along designed lines autonomous flight in the system of taking photo by plane through the invention, and shoots coherent regard
Frequently, by these data, designer and industry specialists can clearly understand landform along designed lines, geomorphology information and
Building information etc., and according to these information authorize design route reasonability, while can reduce field investigation manpower,
Material resources consume, and realize that data preserve for a long time.The invention is in route selection design, new highway design, highway reconstruction and expansion engineering
Application is all expanded in the projects such as design, bridge's design, Navigation in Navigable demonstration, port engineering design.The invention has number
According to obtaining the advantages that quick, convenient, timeliness is strong, reduce manpower and materials input, cost-effective, data visual pattern.By this
Invention, can preferably carry out the design work of traffic infrastructure.
The above, some principles for the present invention that only explains through diagrams, this specification are not intended to limit to the present invention
In the shown concrete structure and the scope of application, therefore every corresponding modification for being possible to be utilized and equivalent,
Belong to the apllied the scope of the claims of the present invention.
In addition to technical characteristic described in specification, remaining technical characteristic is technology known to those skilled in the art.
Claims (8)
- The system 1. multi-rotor unmanned aerial vehicle for being directed to traffic design is taken photo by plane, characterized in that including coordinate transformation system, flight course planning system System, unmanned plane during flying system and data processing system, the coordinate transformation system are by projective parameter setting device, seven parameter meters It calculates device, seven parameter setting apparatus and route coordinates conversion equipment to constitute, realizes the coordinate conversion of whole route；The course line Planning system is made of course line sectioning, takeoff point selection device and flight parameter setting device, the course line segmentation dress It sets and is connected by routine interface with takeoff point selection device, be used for the segment processing in entire course line, the unmanned plane during flying system To be made of ground control unit, multi-rotor unmanned aerial vehicle and mission payload device, the ground control unit and more rotors nobody It is provided with wireless data link between machine, is connect by holder camera between the multi-rotor unmanned aerial vehicle and mission payload device Mouth connection.
- The system 2. multi-rotor unmanned aerial vehicle according to claim 1 for traffic design is taken photo by plane, characterized in that the ground Face control device includes remote controller, number passes device a, figure passes device a and display device, and the remote controller, number pass dress It is wired connection to set between a, figure biography device a and display device.
- The system 3. multi-rotor unmanned aerial vehicle according to claim 1 for traffic design is taken photo by plane, characterized in that more rotations Wing unmanned plane includes propeller, GPS positioning device, motor, flies control device, power module, figure biography device b sum numbers biography device b, institute It states propeller, GPS positioning device, motor, power module, fly between control device, figure biography device b sum numbers biography device b to be wired Connection, is connected between propeller and motor by drive link.
- The system 4. multi-rotor unmanned aerial vehicle according to claim 1 for traffic design is taken photo by plane, characterized in that the task Load device is unmanned plane data acquisition facility mounted, has recording function.
- The system 5. multi-rotor unmanned aerial vehicle according to claim 1 for traffic design is taken photo by plane, characterized in that the data Processing system is for the video editing and processing to acquisition.
- The system 6. multi-rotor unmanned aerial vehicle according to claim 1 for traffic design is taken photo by plane, characterized in that the flight Parameter setting apparatus is connect by USB line with unmanned controller, for completing the flying speed of unmanned plane, flying height, partially The flight parameter setting at boat angle, holder pitch angle and task execution.
- The system 7. multi-rotor unmanned aerial vehicle according to claim 1 for traffic design is taken photo by plane, characterized in that the course line Sectioning includes airline mileage computing device, airline mileage display device, segmentation airline mileage input unit and segmentation course line Display device is constituted, between the airline mileage computing device and segmentation airline mileage input unit and airline mileage display device It is respectively equipped with connection button, connection button is equipped between the airline mileage display device and segmentation course line display device.
- The implementation method of system 8. the multi-rotor unmanned aerial vehicle for being directed to traffic design is taken photo by plane, characterized in that include the following steps：(1) multiple control points along traffic infrastructure designed lines are selected, are designed using coordinate transformation system calculating Coordinate transformation parameter between 80 plane coordinate system of WGS84 earth coordinates and Xi'an of route, and then realize design route Coordinate is converted, to obtain unmanned plane during flying course line；(2) mileage calculation is carried out to the line of flight of generation by flight course planning system, according to the segmentation airline mileage value of input Whole course line is segmented, is generally segmented with 5km-6km；(3) to the line of flight after segmentation, the position of takeoff point is calculated using the takeoff point selection device in flight course planning system It sets；(4) line of flight of segmentation is imported into flight parameter and device is set, according to detailed programs requirement and engineering site feelings Condition completes parameter setting, and preserves course line file；(5) multi-rotor unmanned aerial vehicle in unmanned plane during flying system is placed at selected takeoff point, starts unmanned electromechanical source, etc. Wait for that GPS positioning device positions, the course line file of setting is passed device by the number in ground control unit passes through wireless transmission signal It is uploaded in the winged control device of unmanned plane, to realize unmanned plane autonomous flight, video capture is completed using mission payload device；It presses According to step (5), it is sequentially completed each airline operation and realizes data acquisition；(6) by data processing system, the video of acquisition is spliced and is handled successively, the video of entire design route is completed Data collection.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109855627A (en) * | 2019-01-04 | 2019-06-07 | 哈瓦国际航空技术（深圳）有限公司 | Unmanned plane divides method, apparatus, equipment and the storage medium in sortie planning course line |
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