CN110598653B - Real-time image transmission unmanned aerial vehicle inspection method for urban rail transit protection area - Google Patents
Real-time image transmission unmanned aerial vehicle inspection method for urban rail transit protection area Download PDFInfo
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- CN110598653B CN110598653B CN201910880434.8A CN201910880434A CN110598653B CN 110598653 B CN110598653 B CN 110598653B CN 201910880434 A CN201910880434 A CN 201910880434A CN 110598653 B CN110598653 B CN 110598653B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
- G06Q50/265—Personal security, identity or safety
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Abstract
A real-time image transmission unmanned aerial vehicle inspection method for an urban rail transit protection area determines a flight track according to the flight geodetic coordinates and the altitude of an unmanned aerial vehicle; primarily collecting a photo of an urban rail transit protection area through aerial photography; then according to the flight path, the geodetic coordinates of the urban rail transit structure and the urban rail transit structure measurement data, removing images in the initial photo, and superposing the urban rail transit structure, the control protection area and the key protection area contour lines to form urban rail transit protection area contour line image data with the flight path as a coordinatometer; extracting and synthesizing the outline image data frame by frame, and establishing blank video data of an urban rail transit structure sideline, a control protection area line and a key protection area line by taking geodetic coordinates as a playing axis; and overlapping and playing the blank video data and the real-time camera data to form real-time video data with the urban rail transit contour line. The invention adopts the unmanned aerial vehicle to carry out real-time image tour so as to obtain evidence and record in real time, and integrates the advantages of manual tour and unmanned aerial vehicle tour.
Description
Technical Field
The invention relates to a method for patrolling a road traffic protection area, in particular to a method for patrolling an urban rail traffic protection area by a real-time image transmission unmanned aerial vehicle.
Background
At present, the patrol method of the urban rail transit protection area mainly comprises manual patrol, and unmanned aerial vehicle patrol is introduced into part of cities.
The problem that artifical tour exists: the tour mileage is far greater than the line mileage, high enclosure construction site obstacles, high-grade districts, military management areas and the like cannot enter, the tour personnel efficiency is low, the labor cost is high, and the work environment of the tour personnel is hard.
At present, unmanned aerial vehicle tours mainly adopt the mapping method, gather the image, and the image contrast has following problem: the single cycle is long, and post-processing is required after the image is collected, so that measures cannot be taken in time for temporary activities such as geological survey and the like.
In order to solve the problems existing in the existing manual inspection and unmanned aerial vehicle inspection, a method for inspecting urban rail transit protection areas by unmanned aerial vehicles through real-time image transmission is provided, and the method becomes a priority.
There are two difficulties in real-time map-passing unmanned aerial vehicle inspection: 1. urban rail transit protection area does not have the sign on the ground, and the picture that unmanned aerial vehicle real-time map was come back can't confirm the circuit trend, protection zone scope, and then can't confirm through the photography whether there is illegal engineering to get into subway protection zone. 2. High-definition images are needed for confirming the conditions of the protection area, the flying image information quantity of the unmanned aerial vehicle is large, and the unmanned aerial vehicle is difficult to transmit to a command center in real time through a public base station network.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a real-time image transmission unmanned aerial vehicle inspection method for an urban rail transit protection area, which adopts the real-time image transmission of the unmanned aerial vehicle to inspect the urban rail transit control protection area, has high inspection efficiency, realizes real-time evidence obtaining and recording, has no dead angle in high-altitude inspection, is suitable for severe weather such as high temperature, high and cold weather, and integrates the advantages of manual inspection and unmanned aerial vehicle inspection.
The technical scheme adopted by the invention is as follows:
a real-time image transmission unmanned aerial vehicle inspection method for an urban rail transit protection area comprises the following implementation processes:
1) Determining the flight track of the unmanned aerial vehicle according to the flight geodetic coordinates and the flight elevation of the unmanned aerial vehicle;
2) According to the flight track of the unmanned aerial vehicle, photos are taken by the unmanned aerial vehicle, and photos of the urban rail transit protection area are collected for the first time;
3) According to the flight path, the geodetic coordinates of the urban rail transit structure and the urban rail transit structure measurement data, removing images in the initial photo, and overlaying the urban rail transit structure, the control protection area and the contour line of the key protection area to form urban rail transit protection area contour line image data with the flight path as a coordinate ruler;
4) Extracting and synthesizing the outline image data frame by frame, and establishing blank video data of an urban rail transit structure sideline, a control protection area line and a key protection area line by taking geodetic coordinates as a playing axis;
5) Acquiring real-time camera shooting of the unmanned aerial vehicle by taking geodetic coordinates as a playing axis according to the flight track;
6) And overlapping and playing the blank video data and the real-time camera data to form real-time video data with the urban rail transit contour line.
According to the method for real-time image transmission of unmanned aerial vehicle tour in the urban rail transit protection area, 50 meters of the outer side line of the tunnel structure of the urban rail transit line is the urban rail transit control protection area, and the center line of the tunnel structure protection area of the rail transit line is used as the route of tour flight of the unmanned aerial vehicle, so that the geodetic coordinates of the flight of the unmanned aerial vehicle are determined; according to the unmanned aerial vehicle performance, the camera equipment resolution ratio and the protection area range, the flight altitude of the unmanned aerial vehicle is determined by taking the width of the whole protection area covered by one-time flight as a standard.
The real-time image transmission unmanned aerial vehicle inspection method for the urban rail transit protection area comprises the following steps of: taking ground structure points such as an auxiliary structure, a ground marker and the like as feature matching points, wherein the feature matching points are used for directly imaging the accuracy and the efficiency of image splicing, and the number of the feature matching points in two adjacent pictures is more than or equal to 4; establishing a geometric picture motion model according to the flight path of the unmanned aerial vehicle, and registering the picture in the same coordinate system through the feature matching points; cutting adjacent pictures, removing overlapped parts, and forming a picture set covering the geometric motion model; and fusing the picture sets to synthesize a large spliced image to form complete urban rail transit line image data.
The real-time image transmission unmanned aerial vehicle inspection method for the urban rail transit protection area is characterized in that according to the ground coordinates of an urban rail transit structure, the ground structure coordinates of an urban rail transit auxiliary structure in image data are collected, and the urban rail transit auxiliary structure comprises an entrance, an exit, a wind pavilion, a cooling tower and the like; adding urban rail transit structure sidelines, control protection zone lines and key protection zone lines in a CAD drawing according to the geodetic coordinates of the urban rail transit structure and the urban rail transit control protection zone and key protection zone ranges; superposing a ground coordinate CAD drawing of the urban rail transit structure with an auxiliary structure coordinate in image data to obtain an urban rail transit photo with ground coordinate data, an urban rail transit structure side line, a control protection area line and a key protection area line; processing the picture, removing the field image in the initial picture, and only reserving blank images of the structure sideline, the control protection zone line and the key protection zone line of the urban rail transit; measuring the number of frames of image data between a starting coordinate point and an ending coordinate point in real-time shooting by an unmanned aerial vehicle to be N; finding a starting coordinate point and an ending coordinate point in the blank image, averagely dividing the blank image into N equal parts by taking continuous geodetic coordinates in a flight track as an axis, and extracting the image frame by frame; and synthesizing the extracted N frames of images, and establishing blank video data of an urban rail transit structure sideline, a control protection area line and a key protection area line by taking geodetic coordinates as a playing axis.
According to the method for real-time image transmission of unmanned aerial vehicle patrolling in the urban rail transit protection area, an unmanned aerial vehicle patrolling ground workstation is arranged at an urban rail transit line station according to an information transmission range; the unmanned aerial vehicle patrol ground workstation is connected with an unmanned aerial vehicle control center through an urban rail transit information system; the starting ground workstation corrects the flight path of the unmanned aerial vehicle in real time, and when the starting ground workstation determines that the designated flight path starting point is reached, an instruction is issued, and the unmanned aerial vehicle starts to carry out real-time shooting; the unmanned aerial vehicle carries out real-time shooting in the urban rail transit protection area according to the flight track, obtains image data with a time axis, and transmits the image data to the ground workstation; the ground workstation reads the flight track of the unmanned aerial vehicle at the same time point, and replaces a time axis with geodetic coordinates to form urban rail transit real-time camera data with the geodetic coordinates as a playing axis; the ground workstation transmits urban rail transit real-time camera data taking geodetic coordinates as a playing axis to the unmanned aerial vehicle control center; the unmanned aerial vehicle control center is matched with blank video data and a playing shaft of urban rail transit real-time camera data with geodetic coordinates as the playing shaft, the same geodetic coordinate images in the playing shaft are overlapped frame by frame, real-time camera is used as a bottom image, blank videos are overlapped and synchronously output, and real-time image data with geodetic coordinates as a playing axis and a protection area contour line is formed.
According to the method for real-time image transmission of unmanned aerial vehicle inspection in the urban rail transit protection area, urban rail transit protectors check real-time images, and when illegal projects are found in the protection area, a flight track coordinatometer is determined according to a playing axis, and geodetic coordinates are read; and determining the mileage and the direction of the urban rail transit line according to the geodetic coordinates, and arranging personnel to check on site.
The invention has the beneficial technical effects that:
1. according to the method for patrolling the urban rail transit protection area by real-time image transmission of the unmanned aerial vehicle, the unmanned aerial vehicle is adopted to patrol the urban rail transit control protection area in real time, the patrolling efficiency is high, the flying speed of the unmanned aerial vehicle can reach 120 kilometers per hour in a single patrol, real-time evidence obtaining and recording can be realized, no dead angle is caused in high-altitude patrol, the method is suitable for severe weather such as high temperature and high cold, and the advantages of manual patrol and unmanned aerial vehicle patrol are integrated.
2. The invention discloses a real-time image transmission unmanned aerial vehicle inspection method for an urban rail transit protection area. Unmanned aerial vehicle flying starting points are arranged in the effective signal range and outside the rail transit inspection range, so that the unmanned aerial vehicle can reach the inspection elevation before entering the inspection range; each unmanned aerial vehicle tours ground workstation and rectifies unmanned aerial vehicle flight track in real time, reduces the possibility that unmanned aerial vehicle deviates from the track.
3. The invention relates to a real-time image transmission unmanned aerial vehicle inspection method for an urban rail transit protection area.A control center of an unmanned aerial vehicle superposes blank video data of a contour line of the urban rail transit protection area and real-time photographing data of the unmanned aerial vehicle by taking a ground coordinate of a flight track as an axis, takes real-time photographing as a bottom image, superposes the blank videos and synchronously outputs the superposed blank videos to form real-time image data which takes the ground coordinate as the axis and is provided with a contour line of the protection area; accomplished and got evidence, record in real time, high altitude is tourd no dead angle, tours efficiently, and the real-time nature is strong.
Drawings
Fig. 1 is a block diagram of a system for real-time image transmission unmanned aerial vehicle inspection method in an urban rail transit protection area.
Detailed Description
The technical solution of the present invention is further described in detail below by means of specific embodiments and with reference to the accompanying drawings.
Example 1
Referring to fig. 1, the method for real-time image transmission unmanned aerial vehicle inspection in the urban rail transit protection area comprises the following implementation processes:
1) Determining the flight track of the unmanned aerial vehicle according to the flight geodetic coordinates and the flight elevation of the unmanned aerial vehicle;
2) According to the flight track of the unmanned aerial vehicle, photos are taken by the unmanned aerial vehicle, and photos of the urban rail transit protection area are collected for the first time;
3) According to the flight path, the geodetic coordinates of the urban rail transit structure and the urban rail transit structure measurement data, removing images in the initial photo, and overlaying the urban rail transit structure, the control protection area and the contour line of the key protection area to form urban rail transit protection area contour line image data with the flight path as a coordinate ruler;
4) Extracting and synthesizing the outline image data frame by frame, and establishing blank video data of an urban rail transit structure sideline, a control protection area line and a key protection area line by taking geodetic coordinates as a playing axis;
5) Acquiring unmanned aerial vehicle real-time camera shooting by taking geodetic coordinates as a play axis according to the flight track;
6) Overlapping and playing the blank video data and the real-time camera data to form real-time video data with the urban rail transit contour line; .
Example 2
The difference between the real-time image transmission unmanned aerial vehicle inspection method for the urban rail transit protection area in the embodiment and the embodiment 1 is that: further, 50 meters of the outer side line of the tunnel structure of the urban rail transit line is taken as an urban rail transit control protection area, and the central line of the tunnel structure protection area of the urban rail transit line is taken as a route for the unmanned aerial vehicle to patrol and fly, so that the geodetic coordinate for the unmanned aerial vehicle to fly is determined; according to the unmanned aerial vehicle performance, the camera equipment resolution ratio and the protection area range, the flight elevation of the unmanned aerial vehicle is determined by taking the width of covering the whole protection area by one-time flight as a standard.
Example 3
The difference between the real-time image transmission unmanned aerial vehicle inspection method for the urban rail transit protection area in the embodiment and the embodiment 1 or the embodiment 2 is that: in the step 3), the process of forming the image data of the contour line of the urban rail transit protection area by taking the flight track as the coordinatometer is as follows:
taking ground structure points such as an auxiliary structure, a ground marker and the like as feature matching points, wherein the feature matching points are used for directly imaging the accuracy and the efficiency of image splicing, and the number of the feature matching points in two adjacent pictures is more than or equal to 4;
establishing a geometric picture motion model according to the flight path of the unmanned aerial vehicle, and registering the picture in the same coordinate system through the feature matching points;
cutting adjacent pictures, removing overlapped parts, and forming a picture set covering the geometric motion model;
and fusing the picture sets to synthesize a large spliced image to form complete image data of the urban rail transit line.
Example 4
The method for patrolling the urban rail transit protection area by the unmanned aerial vehicle through real-time image transmission is different from the previous embodiments in that:
according to the geodetic coordinates of the urban rail transit structure, acquiring the ground structure coordinates of the urban rail transit auxiliary structure in the image data;
adding an urban rail transit structure sideline, a control protection area line and a key protection area line in a CAD drawing according to the geodetic coordinates of the urban rail transit structure and the ranges of the urban rail transit control protection area and the key protection area;
superposing a geodetic coordinate CAD drawing of the urban rail transit structure with the attached structure coordinates in the image data to obtain an urban rail transit photograph with geodetic coordinate data, urban rail transit structure sidelines, control protection zone lines and key protection zone lines;
processing the photos, removing the field images in the initial photos, and only keeping blank images of the structure sidelines, the control protection area lines and the key protection area lines of the urban rail transit;
measuring the number of frames of image data between a starting coordinate point and an ending coordinate point in real-time shooting by an unmanned aerial vehicle to be N;
finding a starting coordinate point and an ending coordinate point in the blank image, averagely dividing the blank image into N equal parts by taking continuous geodetic coordinates in a flight track as an axis, and extracting the image frame by frame;
and synthesizing the extracted N frames of images, and establishing blank video data of the urban rail transit structure sideline, the control protection area line and the key protection area line by taking the geodetic coordinates as a playing axis.
Example 5
The method for patrolling the urban rail transit protection area by the unmanned aerial vehicle through real-time image transmission is different from the previous embodiments in that: arranging an unmanned aerial vehicle patrol ground workstation at an urban rail transit line station according to an information transmission range; the unmanned aerial vehicle patrol ground workstation is connected with an unmanned aerial vehicle control center through an urban rail transit information system;
the starting ground workstation corrects the flight track of the unmanned aerial vehicle in real time, and when the starting point of the designated flight track is determined to be reached, an instruction is issued, and the unmanned aerial vehicle starts to carry out real-time shooting;
the unmanned aerial vehicle carries out real-time shooting in the urban rail transit protection area according to the flight track, obtains image data with a time axis, and transmits the image data to the ground workstation;
the ground workstation reads the flight path of the unmanned aerial vehicle at the same time point, and replaces a time axis with geodetic coordinates to form real-time camera data of the urban rail transit, which takes the geodetic coordinates as a playing axis;
the ground workstation transmits urban rail transit real-time camera data taking geodetic coordinates as a playing axis to the unmanned aerial vehicle control center;
the unmanned aerial vehicle control center is matched with blank video data and a playing shaft of urban rail transit real-time camera data with geodetic coordinates as the playing shaft, the same geodetic coordinate images in the playing shaft are overlapped frame by frame, real-time camera is used as a bottom image, blank videos are overlapped and synchronously output, and real-time image data with geodetic coordinates as the playing axis and a protective area contour line is formed.
The urban rail transit protection personnel check the real-time images, and when illegal projects are found in the protection area range, the flying track coordinatometer is determined according to the playing axis, and geodetic coordinates are read; and determining the mileage and the direction of the urban rail transit line according to the geodetic coordinates, and arranging personnel to check on site.
Example 6
The invention discloses a real-time image transmission unmanned aerial vehicle inspection method for an urban rail transit protection area, which comprises the following implementation processes:
1. the 50 meters of outer boundary line of the urban rail transit line tunnel structure is an urban rail transit control protection area, and the central line of the urban rail transit tunnel structure protection area is used as a route for the unmanned aerial vehicle to patrol and fly, so that the geodetic coordinate of the unmanned aerial vehicle to fly is determined.
2. According to the unmanned aerial vehicle performance, the camera equipment resolution ratio and the protection area range, the flight altitude of the unmanned aerial vehicle is determined by taking the width of the whole protection area covered by one-time flight as a standard.
3. And determining the flight track of the unmanned aerial vehicle according to the flight geodetic coordinates and the altitude of the unmanned aerial vehicle.
4. According to the flight track of the unmanned aerial vehicle, photos are taken by the unmanned aerial vehicle, and photos in the urban rail transit protection area are collected for the first time.
5. According to the flight path, the geodetic coordinates of the urban rail transit structure and the urban rail transit structure measurement data, removing images in the initial picture, and overlaying contour lines of the urban rail transit structure, the control protection area and the key protection area to form urban rail transit protection area contour line image data with the flight path as a coordinate scale;
1) According to the ground coordinates of the urban rail transit structure, collecting the ground structure coordinates of an urban rail transit access, an air pavilion, a cooling tower and the like;
2) Splicing the primary collected photos by taking the auxiliary structure as a base point to form complete urban rail transit line image data;
3) Adding an urban rail transit control protection area, a key protection area and a structure side line in an urban rail transit structure geodetic coordinate CAD drawing;
4) Superposing a geodetic coordinate CAD drawing of the urban rail transit structure with the attached structure coordinates in the picture to obtain a picture of an urban rail transit control protection area, a key protection area and a structure side line with geodetic coordinate data;
5) Processing the photos, removing the field images in the initial photos, and only reserving an urban rail transit control protection area, a key protection area and a structure sideline;
6) And taking the geodetic coordinates as an axis, extracting frame by frame, and establishing blank video data of the urban rail transit control protection area, the key protection area and the structure sideline by taking the geodetic coordinates as a broadcasting axis.
6. Arranging an unmanned aerial vehicle patrol ground workstation at an urban rail transit line station according to an information transmission range;
1) An unmanned aerial vehicle inspection ground workstation is arranged in the ground auxiliary structure of the head end station of the urban rail transit. The unmanned aerial vehicle flying starting point is arranged in the effective signal range and outside the rail transit inspection range, so that the unmanned aerial vehicle can reach the inspection elevation before entering the inspection range;
2) The starting ground workstation corrects the flight track of the unmanned aerial vehicle in real time, and when the starting point of the designated flight track is determined to be reached, an instruction is issued, and the unmanned aerial vehicle starts to carry out real-time shooting;
3) Arranging unmanned aerial vehicle flying ground workstations along each station of the urban rail transit line, ensuring that the set distance of the ground workstations meets the requirement of the information transmission distance of the unmanned aerial vehicle, and covering the whole range of the urban rail transit line to be patrolled;
4) Each unmanned aerial vehicle tours ground workstation and rectifies unmanned aerial vehicle flight track in real time, reduces the possibility that unmanned aerial vehicle deviates from the track.
7. The unmanned aerial vehicle patrols ground workstation and is connected with unmanned aerial vehicle control center through urban rail transit information system.
8. The unmanned aerial vehicle carries out real-time camera shooting in the urban rail transit protection area according to the flight track, and the shooting image takes geodetic coordinates in the flight track as an axis.
9. The unmanned aerial vehicle real-time camera shooting wireless transmission is to nearest ground workstation, and ground workstation transmits information to unmanned aerial vehicle control center.
10. The unmanned aerial vehicle control center uses the ground coordinates of the flight track as the axis to coincide with the blank video data of the contour line of the urban rail transit protection area and the real-time shooting data of the unmanned aerial vehicle, uses the real-time shooting as a bottom image, superposes the blank videos, and synchronously outputs the superposed blank videos to form the real-time image data which uses the ground coordinates as the axis and has the contour line of the protection area.
11. Urban rail transit protection personnel look over the real-time image, when finding that there is illegal engineering in the guard space within range, according to the broadcast axis, confirm the flight path coordinatometer, read geodetic coordinate.
12. According to the geodetic coordinates, the mileage and the direction of the urban rail transit line are determined, and personnel are arranged to check on site.
Adopt unmanned aerial vehicle real-time map to pass and patrol urban rail transit control protection zone, patrol efficiently, single patrol unmanned aerial vehicle flying speed can reach 120 kilometers per hour to accomplish and obtain evidence, the record in real time, high altitude patrol and have no dead angle, be applicable to bad weather such as high temperature, high and cold, the advantage of artifical patrol, unmanned aerial vehicle patrol has been assembled.
The above examples are only for illustrating the present invention and should not be construed as limiting the scope of the claims of the present invention. It is anticipated that one skilled in the art may implement the embodiments in varying ways in conjunction with the prior art. Other modifications and equivalents of the embodiments of the invention will be apparent to those skilled in the art and are intended to be included within the scope of the claims of the present invention without departing from the spirit and scope of the embodiments of the invention.
Claims (5)
1. A real-time image transmission unmanned aerial vehicle inspection method for an urban rail transit protection area comprises the following implementation processes:
1) Determining the flight track of the unmanned aerial vehicle according to the flight geodetic coordinates and the altitude of the unmanned aerial vehicle;
the 50 m outer edge line of the tunnel structure of the urban rail transit line is taken as an urban rail transit control protection area, and the center line of the tunnel structure protection area of the urban rail transit line is taken as a route for the unmanned aerial vehicle to patrol and fly, so that the geodetic coordinate of the unmanned aerial vehicle to fly is determined; determining the flight elevation of the unmanned aerial vehicle by taking the width of the whole protection area covered by one-time flight as a standard according to the performance of the unmanned aerial vehicle, the resolution of camera equipment and the range of the protection area;
2) According to the flight path of the unmanned aerial vehicle, carrying out primary acquisition on the photos in the urban rail transit protection area through aerial photo taking of the unmanned aerial vehicle;
3) According to the flight path, the geodetic coordinates of the urban rail transit structure and the urban rail transit structure measurement data, removing images in the initial photo, and overlaying the urban rail transit structure, the control protection area and the contour line of the key protection area to form urban rail transit protection area contour line image data with the flight path as a coordinate ruler;
the process of forming the image data of the contour line of the urban rail transit protection area by taking the flight track as a coordinatometer is as follows:
taking ground structure points such as an auxiliary structure, a ground marker and the like as feature matching points, wherein the feature matching points are used for directly imaging the accuracy and the efficiency of image splicing, and the number of the feature matching points in two adjacent pictures is more than or equal to 4;
establishing a geometric picture motion model according to the flight path of the unmanned aerial vehicle, and registering the pictures in the same coordinate system through feature matching points;
cutting adjacent pictures, removing overlapped parts, and forming a picture set covering the geometric motion model;
and fusing the picture sets to synthesize a large spliced image to form complete urban rail transit line image data.
2. The urban rail transit protection area real-time image transmission unmanned aerial vehicle inspection method according to claim 1, characterized in that: the implementation process further comprises: 4) Extracting and synthesizing the outline image data frame by frame, and establishing blank video data of an urban rail transit structure sideline, a control protection area line and a key protection area line by taking geodetic coordinates as a playing axis;
5) Acquiring unmanned aerial vehicle real-time camera shooting by taking geodetic coordinates as a play axis according to the flight track;
6) And overlapping and playing the blank video data and the real-time camera data to form the real-time video data with the contour line of the urban rail transit.
3. The real-time image transmission unmanned aerial vehicle inspection method for the urban rail transit protection area according to claim 1 or 2, characterized in that:
according to the geodetic coordinates of the urban rail transit structure, acquiring the ground structure coordinates of the urban rail transit auxiliary structure in the image data;
adding urban rail transit structure sidelines, control protection zone lines and key protection zone lines in a CAD drawing according to the geodetic coordinates of the urban rail transit structure and the urban rail transit control protection zone and key protection zone ranges;
superposing a ground coordinate CAD drawing of the urban rail transit structure with an auxiliary structure coordinate in image data to obtain an urban rail transit photo with ground coordinate data, an urban rail transit structure side line, a control protection area line and a key protection area line;
processing the picture, removing the field image in the initial picture, and only reserving blank images of the structure sideline, the control protection zone line and the key protection zone line of the urban rail transit;
measuring the number of frames of image data between a starting coordinate point and an ending coordinate point in real-time shooting of the unmanned aerial vehicle to be N;
finding a starting coordinate point and an ending coordinate point in the blank image, averagely dividing the blank image into N equal parts by taking continuous geodetic coordinates in a flight track as an axis, and extracting the image frame by frame;
and synthesizing the extracted N frames of images, and establishing blank video data of the urban rail transit structure sideline, the control protection area line and the key protection area line by taking the geodetic coordinates as a playing axis.
4. The real-time image transmission unmanned aerial vehicle inspection method for the urban rail transit protection area according to claim 1 or 2, characterized in that: arranging an unmanned aerial vehicle patrol ground workstation at an urban rail transit line station according to an information transmission range; the unmanned aerial vehicle patrol ground workstation is connected with an unmanned aerial vehicle control center through an urban rail transit information system;
the starting ground workstation corrects the flight track of the unmanned aerial vehicle in real time, and when the starting point of the designated flight track is determined to be reached, an instruction is issued, and the unmanned aerial vehicle starts to carry out real-time shooting;
the unmanned aerial vehicle carries out real-time shooting in the urban rail transit protection area according to the flight track, acquires image data with a time axis, and transmits the image data to the ground workstation;
the ground workstation reads the flight track of the unmanned aerial vehicle at the same time point, and replaces a time axis with geodetic coordinates to form urban rail transit real-time camera data with the geodetic coordinates as a playing axis;
the ground workstation transmits urban rail transit real-time camera data taking geodetic coordinates as a playing axis to the unmanned aerial vehicle control center;
the unmanned aerial vehicle control center is matched with blank video data and a playing shaft of urban rail transit real-time camera data with geodetic coordinates as the playing shaft, the same geodetic coordinate images in the playing shaft are overlapped frame by frame, real-time camera is used as a bottom image, blank videos are overlapped and synchronously output, and real-time image data with geodetic coordinates as the playing axis and a protective area contour line is formed.
5. The urban rail transit protection area real-time image transmission unmanned aerial vehicle inspection method according to claim 4, characterized in that: the urban rail transit protection personnel check the real-time images, and when illegal projects are found in the protection area range, the flying track coordinatometer is determined according to the playing axis, and geodetic coordinates are read; and according to the geodetic coordinates, the mileage and the direction of the urban rail transit line are determined, and personnel are arranged to check on site.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910880434.8A CN110598653B (en) | 2019-09-18 | 2019-09-18 | Real-time image transmission unmanned aerial vehicle inspection method for urban rail transit protection area |
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