CN109767387A - A kind of forest image acquiring method and device based on unmanned plane - Google Patents
A kind of forest image acquiring method and device based on unmanned plane Download PDFInfo
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Abstract
The present invention discloses a kind of forest image acquiring method and device based on unmanned plane, is related to the tending of woods and forest automatization field.Method includes: that acquired image information planning flight path, execution flight path simultaneously acquire sliceable image information according to unmanned plane；Spliced sliceable image information and acquired image information to obtain target area image.Using technical solution of the present invention, it can be realized unmanned plane contexture by self flight path and acquire sliceable image information, and then splice and obtain target area image, can quick and precisely complete large-scale forest survey.
Description
Technical field
The present invention relates to the tending of woods and forest automatization fields, and in particular to a kind of forest image based on unmanned plane obtains
Take method and device.
Background technique
In forest industry field, extensive use has been obtained using the take remote measurement method of remote sensing of flying platform.Generally
For, in being adjusted using the UAV flight of satellite or high-altitude flight remote control photoelectric sensor to forest for these fields
It grinds.However, this method generally can only obtain macroscopic view observation data on a large scale, and with the development of internet and Internet of Things,
Following forest industry needs more fine monitoring data, and this fine data can obtain more accurately forest economy
The purpose of value forecasting, supply chain finance, the timber-trade of the world Xian Shang.For example, following wood procurement can be remote according to network
Journey obtains the state of a specific tree, and then is preferably fixed a price to following transaction.
In the prior art, unmanned plane takes remote measurement remote sensing in remote high-altitude, then the image coverage area shot every time is larger, because
The demand of this image mosaic is lower.And if unmanned plane flies in nearly high-altitude or woods, the image coverage area of single shot
It is smaller, therefore the demand of image mosaic greatly increases.It, can not and in general, unmanned plane needs manual control and completes to shoot
Complete automatic shooting.Especially multi-rotor unmanned aerial vehicle, single flight limited time can just be obtained with greater need for a large amount of repetition flight
Multiple images for splicing.
Summary of the invention
In order to solve the problems in the existing technology, the embodiment of the invention provides a kind of forest maps based on unmanned plane
As acquisition methods and device.
A kind of forest image acquiring method based on unmanned plane, method include:
According to unmanned plane, acquired image information planning flight path, execution flight path simultaneously acquire sliceable figure
As information；
Spliced sliceable image information and acquired image information to obtain target area image.
A kind of forest image acquiring device based on unmanned plane, device include:
Path planning module, for according to unmanned plane acquired image information planning flight path；
Flight control modules, the flight path planned for execution route planning module simultaneously acquire sliceable image letter
Breath；
Image mosaic module, the sliceable image information for acquiring flight control modules are spelled with stitching image
It connects to obtain target area image.
The invention has the benefit that the invention proposes a kind of forest image acquiring method based on unmanned plane, it can
It realizes unmanned plane contexture by self flight path and acquires sliceable image information, and then splice and obtain target area image.
Detailed description of the invention
Illustrate the embodiment of the present invention or technical solution in the prior art in order to clearer, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of forest image acquiring method based on unmanned plane shown in embodiment one；
Fig. 2 is a kind of schematic diagram that the forest image based on unmanned plane obtains shown in embodiment one；
Fig. 3 is a kind of schematic diagram of image mosaic shown in embodiment one
Fig. 4 is a kind of schematic diagram that the forest image based on unmanned plane obtains shown in embodiment one；
Fig. 5 is a kind of schematic diagram of the forest image acquiring device based on unmanned plane shown in embodiment two.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Unmanned plane in the application includes at least flight control system, path planning system and image sensing；Wherein, fly control
System is capable of the signal of RX path planning system, executes aerial mission；Path planning system can be with position sensing system phase
Even, position heat transfer agent is received, the position sensing system may include GPS GPS, inertial navigation sensing
Device IMU and the SLAM sensor of view-based access control model or laser etc.；Image sensing specifically includes: range searching system, image are deposited
Storage system and image mosaic system；Imaging sensor may include visual sensor, infrared sensor, laser range sensor,
The photoelectric sensors such as multispectral sensor.
Embodiment one
A kind of forest image acquiring method based on unmanned plane is provided in the present embodiment one, as shown in Figure 1, this programme is specific
It is as follows:
According to unmanned plane, acquired image information planning flight path, execution flight path simultaneously acquire sliceable figure
As information；
Spliced sliceable image information and acquired image information to obtain target area image.
In the present embodiment, according to unmanned plane acquired image information planning flight path, specifically: according to nobody
Machine spliced to obtain stitching image by acquired image information, plans flight path according to stitching image；Wherein, unmanned plane
Acquired image information is acquisition of repeatedly being flown by unmanned plane；It include an airbound target coordinate in flight path,
Unmanned plane is flown from any changing coordinates to the coordinate points.
It should be noted that sliceable image information must have overlapping region with stitching image.
Stitching image is the overlapping region or overlapping feature by detecting plurality of pictures, obtains overlaid pixel, and based on inspection
What the splicing that the overlaid pixel measured completes plurality of pictures obtained.In general, the splicing of plurality of pictures includes feature extraction, figure
As registration, image alignment, image synthesize several steps.It means that the plurality of pictures for image mosaic is needed comprising certain
Overlapping region, could pass through computer method realize splicing.
Spliced the sliceable image information and the stitching image to obtain target area image, specifically:
The sliceable image information that unmanned plane obtains is input to image mosaic system, completes to splice with stitching image.
In the present embodiment, flight path is planned according to stitching image, specifically:
According to the geographic area of preset pixel grid search stitching image covering；When there is the image that does not acquire in grid
When data, unmanned plane generates airbound target by the mapping transformation relationship of stitching image and the geographic area of stitching image covering
Coordinate, and flight path is planned according to the airbound target coordinate.
Specifically, the mapping transformation relationship of the geographic area of the stitching image and stitching image covering, specifically:
Direct mapping transformation relation is established by the positioning system and the information of acquired image of the unmanned plane itself；According to
The unmanned plane, which collects, goes out the airbound target coordinate in conjunction with the Direct mapping transformation relation back mapping after image information.
More specifically, the mapping transformation relation nature of the geographic area of stitching image and stitching image covering is image pixel
The corresponding relationship of index and real space, such as image index (x, y) correspond to space coordinate (X, Y, Z), generally, image rope
It is cited as image center pixel.The transformation relation can pass through the pass of several image indexes and actual spatial coordinates in acquisition image
Connection gets to infer；For example, actual spatial coordinates when image is opened in acquisition first are (X1, Y1, Z1), then image index (x0,
Y0 it) can be associated with (X1, Y1, Z1), an at least other image is obtained by unmanned plane, it is corresponding to obtain another set.
In turn, a space coordinate can be calculated in all pixels point by trigonometric function in image.Due to being obtained by unmanned plane
The image taken is two dimensional image, and vertical range information default is an equivalence.In turn, system can generate one according to transformation relation
A flight coordinate, and planned according to the flight Coordinate generation flight path.
In the present embodiment, the geographic area that stitching image covers can also be carried out according to preset pixel grid size
It divides and mark is numbered；When there is the image data not acquired in grid, the number-mark of corresponding grid is determined, according to
The mapping transformation relationship of the geographic area of number-mark and the covering of stitching image and stitching image, generates airbound target coordinate,
And flight path is planned according to the airbound target coordinate.
As shown in Fig. 2, unmanned plane obtains a region of disorder area image of splicing by repeatedly flight, it should in Fig. 2
Region broken line representation.System is scanned for according to the pixel grid of 100*100, system by the corresponding region grid 1-5
Image covering through being spliced.And grid 6,7,8 image datas comprising not acquiring.Therefore, system can determine number first
It is identified as 6 grid, further, according to the mapping of number-mark 6 and the geographic area of stitching image and stitching image covering
Transformation relation extrapolates the coordinates of targets for needing to fly.
Further, it is possible to according to the mapping transformation relationship back mapping of stitching image and the geographic area of stitching image covering
The corresponding space coordinate of grid is corresponded to out.For example, unmanned plane obtains the actual spatial coordinates of first image of shooting by GPS
(x1, y1, z1).Further, unmanned plane is moved to (x2, y2, z2) and obtains second image.It is infused by feature extraction and image
Volume, obtains the result whether image 1 and image 2 can splice；As shown in figure 3, when image 1 and image 2 include overlapping image district
When domain, a sliceable feedback information and lap position information can be returned.At this point, system can according to lap position information and
Actual spatial coordinates (x1, y1, z1) and (x2, y2, z2) generate a mesh mapping relationship；Wherein, mesh mapping is understood that
For the relationship of grid element center pixel and space coordinate.Assuming that (z1=z2), unmanned plane when the vertical range of unmanned plane is consistent
Any one grid or any one can be extrapolated based on the space coordinate of stitching image and the two or more images of acquisition
The space coordinate of a pixel.Therefore, it when unmanned plane searches the image data for existing in grid and not acquiring, then can extrapolate
The spatial correspondence of all pixels of the grid.
In the present embodiment, the above searching method based on preset pixel grid is only an example, and unmanned plane can be with
Implement other feasible algorithms, to obtain flight path planning.
In the present embodiment, flight path is planned according to stitching image, it can be with are as follows: setting unmanned plane itself can be passed through
Image collecting device parameter and stitching image, be calculated airbound target coordinate, and advise according to the airbound target coordinate
Draw flight path.
Optionally, flight path is planned according to stitching image, specifically: coordinate system is established on stitching image, is obtained and is spelled
The boundary coordinate of map interlinking picture, and the pixel at multiple intervals is obtained on boundary coordinate, and according to stitching image and stitching image
The mapping transformation relationship of the geographic area of covering generates airbound target coordinate, and plans flight road according to the airbound target coordinate
Diameter.
In practical applications, it needs unmanned plane to fly in woods and investigates trunk relevant information (such as the trees of trees
Diameter of a cross-section of a tree trunk 1.3 meters above the ground information), the image information of forest can be obtained by way of transverse direction or panorama at this time.
Image mosaic in the present embodiment is related to the image mosaic of 3D；A kind of image split-joint method are as follows: obtain one first
Then the image information of forest is planned an airbound target coordinate vertical with the image information, is obtained in the airbound target coordinate
Image information should there are certain overlapping regions with the image information that obtains before, and be stitched together according to corresponding position
Obtain the trunk information of forest-tree.
Correspondingly, flight path is planned according to stitching image specifically: according to acquired image information planning one with
The vertical airbound target coordinate of acquired image information, and flight path is planned according to the airbound target coordinate；Wherein, it flies
Coordinates of targets obtain image information should there are overlapping regions with stitching image.
Fig. 4 gives the schematic diagram that unmanned plane obtains stitching image, can be with by the splicing of acquired image information
Obtain the trunk information of wood land.Wherein, when unmanned plane is in camera site point 1, an image for obtaining current location is believed
Breath (slice 1).Unmanned plane may search for one piece of region, the area of space which blocks corresponding to no trees, and plan one
The coordinate points vertical with image information, shooting point 2 as shown in Figure 4.At this point, the image information that shooting point 1 and shooting point 2 obtain
(slice 2) includes overlapping region.Further, based on the image of the overlapping region, the 3D stitching image in the region can be obtained.
The obstacle for needing to evade trees in Yu Zailin by the unmanned plane to fly, when searching for an area grid, need into
Row target identification just generates an airbound target coordinate when identifying clear on the target gridding.For example, it is assumed that
The coordinate of current unmanned plane is (x1, y1, z1), and airbound target coordinate can be (x2, y2, z1).Flight program system is according to inspection
The barrier measured, such as by vision or the method for laser SLAM, form a flight path, allow unmanned plane from
(x2, y2, z1) is arrived in (x1, y1, z1) flight.
It should be noted that this Image Acquisition can not be obtained by unmanned plane in the method for forest flying overhead.
Preferably, unmanned plane link can also be connected with a base station by wireless communication, have storage in base station
The function of image information and stitching image.At this point, base station can be that multiple unmanned planes generations are multiple by the above method simultaneously
Coordinates of targets, and flight path planning is generated by unmanned plane.At this point, multiple unmanned planes can cooperate, flown respectively to not
Same region, is completed at the same time the image acquisition tasks of non-survey area.Under this configuration, the flight path rule of single unmanned plane
It draws with traditional path planning substantially without difference, and whole system can quickly transfer multiple unmanned planes, quick and precisely complete
Large-scale forest survey.
The method provided using this case, unmanned plane can cook up a flight path according to the image information acquired,
It realizes autonomous flight and acquires sliceable image information, and then splice and obtain target area image.Above method is called repeatedly,
Then unmanned plane can continual execution flight and shooting task, until obtaining the image data of entire wood land.
Embodiment two
Present embodiment discloses a kind of forest image acquiring device 200 based on unmanned plane, as shown in figure 5, wherein device
Include:
Path planning module 201, for according to unmanned plane acquired image information planning flight path；
Flight control modules 202, the flight path planned for execution route planning module 201 simultaneously acquire sliceable figure
As information；
Image mosaic module 203, the sliceable image information and stitching image for acquiring flight control modules 202
Spliced to obtain target area image.
Specifically, image mosaic module 203 is also used to that acquired image information is spliced to obtain according to unmanned plane
Stitching image；
Flight control modules 202, specifically for splicing the planning flight of obtained stitching image according to image mosaic module 203
Path.
In the present embodiment, path planning module 201 specifically includes: search unit and first path planning unit；
Search unit, for searching for stitching image according to preset pixel grid；
First path planning unit, specifically for passing through stitching image when there is the image data not acquired in grid
With the mapping transformation relationship of the geographic area of stitching image covering, airbound target coordinate is generated, and according to the airbound target coordinate
Plan flight path.
Preferably, path planning module 201 further includes division unit；
Division unit, for being divided according to preset pixel grid size to stitching image and mark being numbered；
First path planning unit, specifically for when there is the image data not acquired in grid, determining corresponding grid
Number-mark, it is raw according to the mapping transformation relationship of number-mark and stitching image and the geographic area of stitching image covering
Flight path is planned at airbound target coordinate, and according to the airbound target coordinate.
Further, pass through the mapping of stitching image and the geographic area of stitching image covering in first path planning unit
Transformation relation is established Direct mapping transformation specifically by positioning system and the acquired image information of unmanned plane itself and is closed
System；Direct mapping transformation relation back mapping is combined to go out airbound target coordinate after collecting image information according to unmanned plane.
Optionally, path planning module 201 specifically includes: establishing coordinate system unit and third path planning unit；
Coordinate system unit is established, for establishing coordinate system on stitching image, obtains the boundary coordinate of stitching image, and
The pixel at multiple intervals is obtained on boundary coordinate；
Third path planning unit, for according to the pixel and splicing for establishing multiple intervals that coordinate system unit obtains
The mapping transformation relationship of the geographic area of image and stitching image covering, generates airbound target coordinate, and according to the airbound target
Coordinate plans flight path.
Optionally, path planning module 201 specifically includes: setting unit and the second path planning unit；
Setting unit, for the parameter of unmanned plane image collecting device to be arranged；
Second path planning unit, for the image collector by acquired image information and setting unit setting
Airbound target coordinate is calculated in the parameter set, and plans flight path according to the airbound target coordinate.
Optionally, path planning module 201, specifically for according to acquired image information planning one with acquired
The vertical airbound target coordinate of the image information arrived, and flight path is planned according to airbound target coordinate；Wherein, in airbound target
There are overlapping regions for the image information Ying Yuyi acquired image information that coordinate obtains.
It should be noted that the sliceable image information acquired in flight control modules 202 must have with stitching image
Overlapping region.
The method provided using this case, unmanned plane can cook up a flight path according to the image information acquired,
It realizes autonomous flight and acquires sliceable image information, and then splice and obtain target area image.Above method is called repeatedly,
Then unmanned plane can continual execution flight and shooting task, until obtaining the image data of entire wood land.
More than, it is merely preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of forest image acquiring method based on unmanned plane, which is characterized in that the described method includes:
According to unmanned plane acquired image information planning flight path, executes the flight path and acquire sliceable figure
As information；
Spliced the sliceable image information and the information of acquired image to obtain target area image.
2. the method according to claim 1, wherein described according to unmanned plane acquired image information planning
Flight path, specifically:
According to the unmanned plane, acquired image information is spliced to obtain stitching image, is planned according to the stitching image
Flight path.
3. according to the method described in claim 2, it is characterized in that, described plan flight path, tool according to the stitching image
Body are as follows:
The stitching image is searched for according to preset pixel grid；When there is the image data not acquired in the grid, lead to
The mapping transformation relationship for crossing the geographic area of the stitching image and stitching image covering, generates airbound target coordinate, and
Flight path is planned according to the airbound target coordinate.
4. according to the method described in claim 3, it is characterized in that, in the method further include: according to preset pixel grid
Size divides the stitching image and mark is numbered；When there is the image data not acquired in grid, determine
The number-mark of corresponding grid, according to the number-mark and the geographic region of the stitching image and the stitching image covering
The mapping transformation relationship in domain generates airbound target coordinate, and plans flight path according to the airbound target coordinate.
5. the method according to claim 1, wherein according to unmanned plane, acquired image information planning flies
Path specifically:
According to one airbound target vertical with the information of acquired image of the information planning of acquired image
Coordinate, and flight path is planned according to the airbound target coordinate；Wherein, the image information obtained in the airbound target coordinate
There are overlapping regions for Ying Yuyi acquired image information.
6. a kind of forest image acquiring device based on unmanned plane, which is characterized in that described device includes:
Path planning module, for according to unmanned plane acquired image information planning flight path；
Flight control modules, for executing the flight path of the path planning module planning and acquiring sliceable image letter
Breath；
Image mosaic module, sliceable image information for acquiring the flight control modules and the stitching image into
Row splicing obtains target area image.
7. device according to claim 6, which is characterized in that described image splicing module is also used to according to the unmanned plane
Acquired image information is spliced to obtain stitching image；
The flight control modules plan described fly specifically for the stitching image spliced according to described image splicing module
Walking along the street diameter.
8. device according to claim 7, which is characterized in that the path planning module specifically includes: search unit and
First path planning unit；
Described search unit, for searching for the stitching image according to preset pixel grid；
The first path planning unit, specifically for when in the grid exist do not acquire image data when, by described
The mapping transformation relationship of the geographic area of stitching image and stitching image covering, generates airbound target coordinate, and according to this
Airbound target coordinate plans flight path.
9. device according to claim 8, which is characterized in that the path planning module further includes division unit；
The division unit, for being divided according to preset pixel grid size to the stitching image and mark being numbered
Know；
The first path planning unit, specifically for when there is the image data not acquired in grid, determining corresponding grid
Number-mark, according to the mapping of the number-mark and the stitching image and the geographic area of stitching image covering
Transformation relation generates airbound target coordinate, and plans flight path according to the airbound target coordinate.
10. device according to claim 6, which is characterized in that the path planning module is specifically used for according to
One airbound target coordinate vertical with the information of acquired image of acquired image information planning, and according to described
Airbound target coordinate plans flight path；Wherein, the airbound target coordinate obtain image information should with it is collected
There are overlapping regions for image information.
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| WO2021198967A1 (en) * | 2020-04-02 | 2021-10-07 | Grace And Kowloon Holdings Limited | Tree image data acquisition |
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