CN109855596A - A kind of carrying unmanned plane formula object height measurement method - Google Patents
A kind of carrying unmanned plane formula object height measurement method Download PDFInfo
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- CN109855596A CN109855596A CN201811646693.6A CN201811646693A CN109855596A CN 109855596 A CN109855596 A CN 109855596A CN 201811646693 A CN201811646693 A CN 201811646693A CN 109855596 A CN109855596 A CN 109855596A
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Abstract
The present invention provides a kind of carrying unmanned plane formula object height measurement methods, comprising the following steps: step 1: initialization prepares；Step 2: control unmanned plane takes off outside distance line safe distance, step 3: during controlling unmanned plane altitude, observe the data information passed back by unmanned plane image transmission system in real time by local display, the highest point of undetected object body is found out, the flying height of unmanned plane when recording object under test highest point；Step 4: hoisting depth, by local display find out with the same high point of object of reference, and record object of reference with the flying height of unmanned plane when high point；Step 5: calculating object under test highest point and object of reference with the difference in height of high point.It has the advantage that the present apparatus can surprisingly work in the safe distance for being measured equipment, avoids accidentally touching the safety accidents such as charging equipment；It is not easy the height and difference in height of the eminence climbed, is not easy the object height in region reached such as river sea etc..
Description
Technical field
The present invention relates to height measurement technique fields, especially belong to a kind of carrying unmanned plane formula object height measurement side
Method.
Background technique
Currently, carrying out elevation carrection to the object under test having at obstacle or inconvenient position is that technology urgently to be resolved is difficult
Topic.Such as during online road transport row, need to grasp distance between line tree in real time, however in the woods in blocks, observer is from ground
When being measured to line tree spacing, due to being blocked between branch and the limitation of rangefinder itself, so that the searching of trees highest point
And observation is very difficult, to can not accurately obtain line tree spacing and then transmission line of electricity screen of trees is be easy to cause to trip.It is main at present
Want that there are the following problems: 1, since existing rangefinder utilizes the laser ranging of manual-alignment, personnel are necessary when measuring
As close to conducting wire and observation point, otherwise it is not easy to measure data, so that the present position of survey crew is extremely restricted；
If 2, below route there are a piece of woods, due to blocking mutually between branch and by the present position of Observation personnel, angle
Reasons, the operating personnels such as limitation can not find trees away from line closest approach, can not measure it.
Summary of the invention
The purpose of the present invention is to provide a kind of carrying unmanned plane formula object height measurement method, be solved at present with reaching
The purpose of the technical problem of elevation carrection is carried out to the object under test having at obstacle or inconvenient position.
Carrying unmanned plane formula object height measurement method provided by the present invention, which comprises the following steps:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane, the tool from below horizontal holder
There is the connector of installation aerial camera, and aerial camera is installed by connector, Laser Measuring is also installed in the lower section of aerial camera
Distance meter, aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, being observed in real time by local display and system is passed by unmanned plane figure
The data information that system is passed back finds out the highest point of undetected object body, the flying height of unmanned plane when recording object under test highest point,
In, the observation point of object under test highest point is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of object of reference, and when recording object of reference with high point
The flying height of unmanned plane；
Step 5: calculating object under test highest point and object of reference with the difference in height of high point, the as most narrow spacing of conducting wire to trees
From.
Further, the swing of each freedom degree below plane can be realized from horizontal holder, realize camera under gravity
Shooting angle remains the state vertical with gravity direction.
Further, aerial camera uses band longitude and latitude high definition camera, the accurate matching of the position for object being measured；Laser
Rangefinder is used to measure the distance on camera lens and ground, and the ranging direction of laser range finder and holding and aerial camera camera lens
Shooting direction plumbness.
Further, it carries unmanned plane formula object height measurement method and is used to measure the tool of single plant trees and route in
Body step includes:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane, the tool from below horizontal holder
There is the connector of installation aerial camera, and aerial camera is installed by connector, Laser Measuring is also installed in the lower section of aerial camera
Distance meter, aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, being observed in real time by local display and system is passed by unmanned plane figure
The data information that system is passed back, until local display observes trees highest point, the flight of unmanned plane when recording trees highest point
Highly, wherein the observation point of the trees highest point is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of conducting wire, and be recorded in conducting wire with when high point without
Man-machine flying height；
Step 5: calculating trees highest point and conducting wire with the difference in height of high point, the as minimum range of conducting wire to trees.
Further, the specific step that unmanned plane formula object height measurement method is used in large stretch of trees and route distance is carried
Suddenly include:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane, the tool from below horizontal holder
There is the connector of installation aerial camera, and aerial camera is installed by connector, Laser Measuring is also installed in the lower section of aerial camera
Distance meter, aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, to treetop height after taking off, remote controlled drone is done from spin-off
Action is made, and observes the data information passed back by unmanned plane image transmission system in real time by local display, until seeing in local display
Trees highest point is measured, the flying height of unmanned plane when recording the highest point of highest treetop, wherein the highest treetop is most
The observation point of high point is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of conducting wire, and be recorded in conducting wire with when high point without
Man-machine flying height；
Step 5: the highest point for calculating highest treetop and conducting wire are the same as the difference in height of high point, the as most narrow spacing of conducting wire to trees
From.
Carrying unmanned plane formula object height measurement method provided by the present invention, has the advantage that
(1) present apparatus can surprisingly work in the safe distance for being measured equipment, avoid accidentally touching the safety accidents such as charging equipment.
(2) present apparatus can measure the height and difference in height for the eminence for being not easy to climb, and solve the technical problem of such measurement.
(3) present apparatus can measure the object height that personnel are not easy region reached such as river sea etc..
(4) present apparatus is easy to operate, low in cost, is easy to universal.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that unmanned plane of the present invention measures part；
Fig. 2 is application state figure of the invention；
Fig. 3 is schematic diagram of the gravity of the invention used from horizontal holder.
Specific embodiment
As shown in Figs. 1-2, carrying unmanned plane formula object height measurement method provided by the present invention, it is provided by the present invention
Carry unmanned plane formula object height measurement method, comprising the following steps:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane 1, from below horizontal holder
Connector with installation aerial camera 2, and aerial camera is installed by connector, laser is also installed in the lower section of aerial camera
Rangefinder 3, aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, being observed in real time by local display and system is passed by unmanned plane figure
The data information that system is passed back finds out the highest point of undetected object body, the flying height of unmanned plane when recording object under test highest point,
In, the observation point of object under test highest point is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of object of reference, and when recording object of reference with high point
The flying height of unmanned plane；
Step 5: calculating object under test highest point and object of reference with the difference in height of high point, the as most narrow spacing of conducting wire to trees
From.
Wherein, the swing of each freedom degree below plane can be realized from horizontal holder, and the shooting of camera is realized under gravity
Angle remains the state vertical with gravity direction.In a particular embodiment, aerial camera uses band longitude and latitude high definition camera, is used for
The accurate matching of the position of object being measured；Laser range finder is used to measure the distance on camera lens and ground, and laser range finder
Ranging direction and keep plumbness with the shooting direction of aerial camera camera lens.Specifically, as shown in figure 3, gravity is from water
Loop design can be used in flat holder, is connected between inner ring and sunpender by the shaft 6 of orthogonal installation between inner ring 4 and outer ring 5
It connects, the swing of each freedom degree below plane can be realized, realize that camera lens are forever vertical with gravity vertical under gravity, i.e. water
It is flat；Aerial camera can be transformed by existing brand such as gopro, big boundary etc., be installed additional camera lens scale (latitude and longitude)；Laser ranging
Instrument: select measurement distance: 100 meters 0.1 meter of precision of model uses.
Carrying unmanned plane formula object height measurement method provided by the present invention, for measure single plant trees and route away from
From when, specific steps include:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane, the tool from below horizontal holder
There is the connector of installation aerial camera, and aerial camera is installed by connector, Laser Measuring is also installed in the lower section of aerial camera
Distance meter, aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, being observed in real time by local display and system is passed by unmanned plane figure
The data information that system is passed back, until local display observes trees highest point, the flight of unmanned plane when recording trees highest point
Highly, wherein the observation point of the trees highest point is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of conducting wire, and be recorded in conducting wire with when high point without
Man-machine flying height；
Step 5: calculating trees highest point and conducting wire with the difference in height of high point, the as minimum range of conducting wire to trees.
Carrying unmanned plane formula object height measurement method provided by the present invention, in for large stretch of trees and route distance
When, specific steps include:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane, the tool from below horizontal holder
There is the connector of installation aerial camera, and aerial camera is installed by connector, Laser Measuring is also installed in the lower section of aerial camera
Distance meter, aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, to treetop height after taking off, remote controlled drone is done from spin-off
Action is made, and observes the data information passed back by unmanned plane image transmission system in real time by local display, until seeing in local display
Trees highest point is measured, the flying height of unmanned plane when recording the highest point of highest treetop, wherein the highest treetop is most
The observation point of high point is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of conducting wire, and be recorded in conducting wire with when high point without
Man-machine flying height；
Step 5: the highest point for calculating highest treetop and conducting wire are the same as the difference in height of high point, the as most narrow spacing of conducting wire to trees
From.
Application through the invention, has the advantage that
1, the object height that should not be ascended a height, such as trees, building, chimney, high tower be can measure；
2, object height under the adverse circumstances such as electrification, radiation, such as transformer, electric force pole tower, high-speed rail route be can measure；
3, testee highest or minimum altitude can be judged by way of free scanning；
4, it may span across barrier measurement measured object height, such as the shaft tower in water；
5, shooting testee it can influence while measurement and (show height in image), convenient for evidence obtaining.
Claims (5)
1. a kind of carrying unmanned plane formula object height measurement method, which comprises the following steps:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane, there is peace from below horizontal holder
The connector of aerial camera is filled, and aerial camera is installed by connector, laser range finder is also installed in the lower section of aerial camera,
Aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, being observed by local display and being passed by unmanned plane image transmission system in real time
The data information returned finds out the highest point of undetected object body, the flying height of unmanned plane when recording object under test highest point, wherein
The observation point of object under test highest point is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of object of reference, and record object of reference with when high point nobody
The flying height of machine；
Step 5: calculating object under test highest point and object of reference with the difference in height of high point, the as minimum range of conducting wire to trees.
2. carrying unmanned plane formula object height measurement method according to claim 1, which is characterized in that described is certainly horizontal
Holder can realize the swing of each freedom degree below plane, realize that the shooting angle of camera remains and gravity direction under gravity
Vertical state.
3. carrying unmanned plane formula object height measurement method according to claim 1, which is characterized in that the phase of taking photo by plane
Machine uses band longitude and latitude high definition camera, the accurate matching of the position for object being measured；Laser range finder is for measuring camera lens
With the distance on ground, and the ranging direction of laser range finder and plumbness with the shooting direction of aerial camera camera lens is kept.
4. a kind of carrying unmanned plane formula object height measurement method according to claim 1 is for measuring single plant trees and line
In the distance of road, which is characterized in that specific steps include:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane, there is peace from below horizontal holder
The connector of aerial camera is filled, and aerial camera is installed by connector, laser range finder is also installed in the lower section of aerial camera,
Aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, being observed by local display and being passed by unmanned plane image transmission system in real time
The data information returned, until local display observes trees highest point, the flying height of unmanned plane when recording trees highest point,
Wherein, the observation point of the trees highest point is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of conducting wire, and be recorded in conducting wire with unmanned plane when high point
Flying height；
Step 5: calculating trees highest point and conducting wire with the difference in height of high point, the as minimum range of conducting wire to trees.
5. a kind of carryings unmanned plane formula object height measurement method according to claim 1 for sheet trees and route away from
From in, which is characterized in that specific steps include:
Step 1: initialization prepares
It will be installed on from horizontal holder in the mounting base of the centre of the bottom undercarriage of unmanned plane, there is peace from below horizontal holder
The connector of aerial camera is filled, and aerial camera is installed by connector, laser range finder is also installed in the lower section of aerial camera,
Aerial camera, laser range finder are connect by the image transmission system of unmanned plane with local display；
Step 2: control unmanned plane takes off outside distance line safe distance,
Step 3: during controlling unmanned plane altitude, to treetop height after taking off, it is dynamic that remote controlled drone does spin flight
Make, the data information passed back by unmanned plane image transmission system is observed in real time by local display, until observing in local display
Trees highest point, the flying height of unmanned plane when recording the highest point of highest treetop, wherein the highest point of the highest treetop
Observation point it is corresponding with camera lens midline position；
Step 4: hoisting depth, by local display find out with the same high point of conducting wire, and be recorded in conducting wire with unmanned plane when high point
Flying height；
Step 5: the highest point for calculating highest treetop and conducting wire are the same as the difference in height of high point, the as minimum range of conducting wire to trees.
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| CN112097659A (en) * | 2020-09-18 | 2020-12-18 | 广东农工商职业技术学院(农业部华南农垦干部培训中心) | Method and device for measuring height of garden trees by using unmanned aerial vehicle |
| CN113064447A (en) * | 2021-03-19 | 2021-07-02 | 深圳市道通智能航空技术股份有限公司 | Safety detection method, device and system, unmanned aerial vehicle and control equipment thereof |
| CN115979223A (en) * | 2023-02-10 | 2023-04-18 | 广州华智测绘科技有限公司 | Construction project measuring method, system, medium and computer based on unmanned aerial vehicle |
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Application publication date: 20190607 |