CN113965683A - Suspension-moving type large-scale project archive image acquisition equipment - Google Patents
Suspension-moving type large-scale project archive image acquisition equipment Download PDFInfo
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- 238000001514 detection method Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
Suspension type large-scale engineering archives image acquisition equipment belongs to archives management technical field, including gathering the end, control end and processing end, gather the end and include suspension platform and carry on the image acquisition equipment at suspension platform, wherein, suspension platform is many rotor unmanned aerial vehicle, image acquisition equipment includes image acquisition module, flight control module, communication module and power module, the control end is suspension platform control equipment, pass through wireless communication with image acquisition equipment's communication module and be connected, the processing end is image processing equipment, pass through wireless communication with image acquisition equipment's communication module and be connected, image processing equipment embeds lattic series FPGA chip. The method can realize the multi-dimensional cooperative joint acquisition and the intelligent path generation of the self-selection point, and get rid of the influence of human factors and environmental factors to a greater extent, so that the image quality is further optimized, the efficiency is further improved, and the method has important significance for reducing the file acquisition cost and improving the file collection rate.
Description
Technical Field
The invention belongs to the technical field of archive management, and particularly relates to image acquisition equipment for large engineering archives.
Background
In the whole preparation and construction process of the project, various files need to be stored for subsequent maintenance and repair and query as evidence, and the image file is an important one of the files and is often collected and filed in the whole project process and construction process. Due to the fact that large-scale field engineering has various problems of large engineering quantity, long engineering period, complex engineering construction and the like, image archive collection is quite difficult.
Present engineering archives image acquisition is mostly based on artifical static shooting and construction drawing, receive construction unit many, the engineering cycle length, archives collection specification is factor influences such as inconsistent, the image acquisition quality is relatively poor, and the irregular image archives that makes of image acquisition position are more disorderly, image acquisition all is that the staff gathers around the project subaerially and accomplishes, lack overlooking visual angle, make these image archives can not obtain three-dimensional embodiment, be difficult to interconnect and constitute a whole, and then build out an image archives of accomplishing. The problems are particularly prominent when the archives image acquisition of large-scale projects is faced.
The existing carrying platform that adopts many rotor unmanned aerial vehicle as shooting among the prior art, but mostly adopt static shooting, perhaps do not have the random of setting for the orbit and make a video recording, not yet apply to in engineering archives image acquisition.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides suspension type large-scale project archive image acquisition equipment which is used for carrying out archive image acquisition on a large-scale project.
The technical problem to be solved by the invention is realized by the following technical scheme:
suspension type large-scale engineering archives image acquisition equipment, including gathering the end, control end and processing end, gather the end including suspension platform and lift-launch the image acquisition equipment at suspension platform, wherein, suspension platform is many rotor unmanned aerial vehicle, image acquisition equipment includes image acquisition module, flight control module, communication module and power module, the control end is suspension platform control equipment, passes through wireless communication with image acquisition equipment's communication module and is connected, the processing end is image processing equipment, passes through wireless communication with image acquisition equipment's communication module and is connected, image processing equipment embeds Lattice series FPGA chip.
According to the unmanned aerial vehicle with the multiple rotor wings, the unmanned aerial vehicle base is arranged below the unmanned aerial vehicle with the multiple rotor wings, the image acquisition equipment is fixed on the unmanned aerial vehicle base, and the image acquisition module is a CMOS camera and is fixed on the unmanned aerial vehicle base through a universal support.
Further, gimbal includes fixed knot, one-level knuckle and second grade knuckle, and wherein one-level knuckle rotates along the one-level pivot with the second grade knuckle, and the second grade knuckle rotates along the second grade pivot with the fixed knot, one-level pivot and second grade pivot mutually perpendicular, and image acquisition module fixes under the second grade knuckle, fixed knot and unmanned aerial vehicle base fixed connection.
Furthermore, the first-stage rotating shaft and the second-stage rotating shaft are both provided with stepping motors, an acquisition adjusting module is arranged in the image acquisition equipment, the two stepping motors are respectively adjusted, and the image acquisition angle of the image acquisition module is adjusted.
Furthermore, the fixed joint comprises two downward connecting fins, the primary steering joint comprises two upward connecting fins, the secondary steering joint comprises two upward connecting fins hinged with the connecting fins of the fixed joint through a secondary rotating shaft, and the two downward connecting fins hinged with the connecting fins of the primary steering joint through a primary rotating shaft, wherein a multi-prismatic through hole is reserved on the connecting fins of the fixed joint, a round through hole is reserved on the connecting fins of the secondary steering joint, a bearing is embedded in the round through hole, correspondingly, the secondary rotating shaft respectively penetrates through the bearing of the secondary steering joint and the multi-prismatic through hole of the fixed joint and comprises a rotating shaft rotating section and a rotating shaft fixing section, the rotating shaft rotating section is positioned in the bearing and is rotationally connected with the secondary steering joint, the rotating shaft fixing section is positioned in the multi-prismatic through hole and is fixedly connected with the fixed joint, and the stepping motor is fixedly connected with the secondary steering joint through a connecting structure, therefore, the angle between the secondary steering knuckle and the fixed knuckle is adjusted by the stepping motor, and based on the same principle, the angle between the primary steering knuckle and the secondary steering knuckle is adjusted by the other stepping motor, so that the acquisition angle of the image acquisition module can be accurately adjusted.
In the invention, the image acquisition equipment is internally provided with a storage module for storing the acquired image in real time.
In the invention, the wireless communication modes of the suspension platform control equipment, the image processing equipment and the communication module of the image acquisition equipment are both 5G-based wireless communication.
Based on the structure, the suspension type large-scale project archive image acquisition method comprises the following steps:
(1) establishing engineering stereo projection and a stereo coordinate system;
(2) setting the moving track of the suspension platform based on the coordinate system according to the engineering mark points;
(3) setting an image acquisition angle of the suspended platform during flying according to the moving track of the suspended platform and the position of the engineering mark point;
(4) the parameters are transmitted to the suspension platform control equipment, and the suspension platform control equipment corrects and adjusts the flight path of the suspension platform in real time;
(5) in the image acquisition process, image information is transmitted to the image processing equipment in real time and stored, and a worker judges that the flight path and the image acquisition angle need to be corrected according to the real-time image, and if the flight path and the image acquisition angle need to be corrected, the step (3) is returned;
(6) after the image acquisition is completed, the image information stored by the acquisition end is transferred to the image processing equipment for processing and further stored as an engineering image file.
Compared with the prior art, the invention has the advantages that:
the multi-rotor unmanned aerial vehicle is used for collecting large engineering files by a suspension type collection method, a plane is combined with a three-dimensional space, local details are communicated with global arrangement, and high altitude corresponds to the ground, so that the collection of image files is multidimensional and integrated, and a file collection realization method is expanded;
the limit to the safe distance and the shooting angle in the traditional file tracking and collecting method is broken through, and the suspension type collecting equipment can realize all-dimensional dead-angle-free collection, so that the imaging is clearer and the visual field is wider;
a new large-scale project file display mode is provided: the image integration realizes the visual display of the dynamic image of the file, and combines the suspension type equipment and the image file acquisition technology, so that the large-scale engineering image file acquisition is more accurate, comprehensive and dynamic and three-dimensional;
therefore, the method can realize the multi-dimensional cooperative joint acquisition and the intelligent path generation of the self-selection point, and get rid of the influence of human factors and environmental factors to a greater extent, so that the image quality is further optimized, the efficiency is further improved, and the method has important significance for reducing the file acquisition cost and improving the file collection rate.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the collection end of the present invention;
FIG. 3 is a schematic view of the structure of the suspension platform of the present invention;
FIG. 4 is a schematic structural diagram of an image capturing device according to the present invention;
FIG. 5 is an exploded view of the structure at A in FIG. 4;
fig. 6 is a schematic diagram of the path planning at the acquisition end of the present invention.
In the figure: suspension platform (many rotor unmanned aerial vehicle) 1, unmanned aerial vehicle base 11, image acquisition equipment 2, image acquisition module (CMOS camera) 21, one-level knuckle 22, second grade knuckle 23, fixed knot 24, second grade pivot 25, pivot rotation section 251, pivot fixed section 252, one-level pivot 26, step motor 27, connection structure 28, bearing 29.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
Referring to fig. 1-5, the suspension type large-scale project archive image acquisition device comprises an acquisition end, a control end and a processing end, wherein the acquisition end comprises a suspension platform 1 and an image acquisition device 2, the suspension platform 1 is a multi-rotor unmanned aerial vehicle, and the image acquisition device 2 is carried on an unmanned aerial vehicle base 11 of the multi-rotor unmanned aerial vehicle 1; the image acquisition equipment 2 comprises an image acquisition module, a flight control module, a communication module, a power supply module, a storage module and an acquisition adjustment module, wherein the image acquisition module is a CMOS camera 21 and is fixed on the unmanned aerial vehicle base 11 through a universal bracket,
the universal bracket comprises a fixed joint 24, a primary steering joint 22 and a secondary steering joint 23, wherein the primary steering joint 22 and the secondary steering joint 23 rotate along a primary rotating shaft 26, the secondary steering joint 23 and the fixed joint 24 rotate along a secondary rotating shaft 25, the primary rotating shaft 26 and the secondary rotating shaft 25 are mutually vertical, the image acquisition module 21 is fixed below the secondary steering joint 23, and the fixed joint 24 is fixedly connected with the unmanned aerial vehicle base 21; the first-stage rotating shaft 26 and the second-stage rotating shaft 25 are both provided with a stepping motor 27, and the acquisition adjusting module of the image acquisition device 2 respectively adjusts the stepping motors 27 at the two positions to adjust the image acquisition angle of the image acquisition module 21.
The fixed joint 24 comprises two downward connecting fins, the primary steering knuckle 22 comprises two upward connecting fins, the secondary steering knuckle 23 comprises two upward connecting fins hinged with the connecting fins of the fixed joint 24 through a secondary rotating shaft 25, and two downward connecting fins hinged with the connecting fins of the primary steering knuckle 22 through a primary rotating shaft 26, wherein a multi-prismatic through hole is reserved on the connecting fins of the fixed joint 24, a round through hole is reserved on the connecting fins of the secondary steering knuckle 23, a bearing 29 is embedded in the round through hole, correspondingly, the secondary rotating shaft 25 respectively penetrates through the bearing 29 of the secondary steering knuckle 23 and the multi-prismatic through hole of the fixed joint 24 and comprises a rotating shaft section 251 and a rotating shaft fixed section 252, the rotating shaft section 251 is positioned in the bearing 29 and is rotatably connected with the secondary steering knuckle 23, the rotating shaft fixed section 252 is positioned in the multi-prismatic through hole and is fixedly connected with the fixed joint 24, the stepping motor 27 is fixedly connected with the secondary steering knuckle 23 through a connecting structure 28, therefore, the angle between the secondary steering knuckle 23 and the fixed knuckle 24 can be adjusted by the stepping motor 27, and based on the same principle, the angle between the primary steering knuckle 22 and the secondary steering knuckle 23 can be adjusted by the other stepping motor 27, so that the acquisition angle of the image acquisition module can be accurately adjusted.
In the invention, in order to ensure the implementation of the effect, the technical indexes required by the suspended platform are as follows: 1000g of task load, 1m/s of climbing rate, 5m/s of navigational speed, 7 levels of wind resistance, wind and dust prevention required by a system, GB4201/IP54 of shell protection grade, 3.0 degrees of smoothness error, 1.0m of yaw distance, 0.5m of height difference and 200h of average working time limit; the technical indexes required by the image acquisition equipment are as follows: the PSNR of monitoring and image quality is not lower than 45db, the horizontal definition of the picture is not less than 900 lines, the picture gray level is not less than 8 levels, the transmission rate is not less than 2400bit/s, the important part picture is not less than 25 frames/s, the resolution is 640 x 480/s/30 frames, the camera CMOS/OP5116P, and the image exchange format is multi-protocol compatible.
Based on the structure, the suspension type large-scale project archive image acquisition method comprises the following steps:
(1) establishing engineering stereo projection and a stereo coordinate system;
(2) setting the moving track of the suspension platform according to the engineering mark points on the basis of a coordinate system, as shown in the figure;
(3) setting an image acquisition angle of the suspended platform during flying according to the moving track of the suspended platform and the position of the engineering mark point;
(4) the parameters are transmitted to the suspension platform control equipment, and the suspension platform control equipment corrects and adjusts the flight path of the suspension platform in real time;
(5) in the image acquisition process, image information is transmitted to the image processing equipment in real time and stored, and a worker judges that the flight path and the image acquisition angle need to be corrected according to the real-time image, and if the flight path and the image acquisition angle need to be corrected, the step (3) is returned;
(6) after the image acquisition is completed, the image information stored by the acquisition end is transferred to the image processing equipment for processing and further stored as an engineering image file.
The current large-scale engineering image acquisition adopts a static photography and video shooting as a main mode, only selects the engineering state at a certain moment, works are acquired at a continuous fixed point, long-time detection is carried out on the engineering (especially large-scale field buildings), the dynamic state of the engineering in the environments before construction, during construction and after completion is known, the information of geology, hydrology, vegetation, temperature and humidity is recorded, the common image acquisition mode is used for shooting through manual operation and common sense judgment, and a certain control and photography technology is needed.
At present, image files on a construction site are mostly recorded in a character form, which needs to be improved in the aspects of clear responsibility, division of labor and improvement of file filing, and file collection cannot be synchronously carried out due to the problems of long construction period and multiple units.
The invention can effectively realize automatic calibration and deviation early warning, the automatic calibration is to calibrate the shot picture when the image is collected, the later edition task is lightened, the deviation early warning not only can recover the deviation generated in the image shooting process, but also can carry out early warning on the situations of displacement and the like of the engineering, the current static image file only carries out deviation identification passively, and the suspension type image collecting equipment can find the problems of active early warning and prompting when the front and the back of the engineering image are inconsistent through file comparison according to the data of a database.
According to the current image acquisition situation of large engineering archives, the virtual simulation multi-environment compression-resistant anti-interference test is carried out by combining multi-rotor low-consumption suspension equipment and adopting high-precision shooting equipment by means of a real-time image acquisition and processing system of a Lattice FPGA (field programmable gate array), so that the image archives collection quality is further improved, coordinate setting and image transmission are carried out by a ground control system, the manual operation burden is not increased, the ground control is a clear target, and the acquired images can complete path generation by means of an intelligent program, so that efficient image acquisition is implemented.
Claims (8)
1. Suspension type large-scale engineering archives image acquisition equipment, its characterized in that: including gathering end, control end and processing end, gather the end and include the suspension platform and carry on the image acquisition equipment at the suspension platform, wherein, the suspension platform is many rotor unmanned aerial vehicle, and image acquisition equipment includes image acquisition module, flight control module, communication module and power module, and the control end is suspension platform control equipment, passes through wireless communication with image acquisition equipment's communication module and is connected, and the processing end is image processing equipment, passes through wireless communication with image acquisition equipment's communication module and is connected, image processing equipment embeds Lattice series FPGA chip.
2. The image acquisition equipment for the suspended large-scale project archives according to claim 1, wherein: many rotor unmanned aerial vehicle's below is the unmanned aerial vehicle base, image acquisition equipment fixes on the unmanned aerial vehicle base, image acquisition module is the CMOS camera, fixes on the unmanned aerial vehicle base through the universal bracket.
3. The image acquisition equipment for the suspended large-scale project archives according to claim 2, wherein: the universal support comprises a fixed joint, a first-level steering joint and a second-level steering joint, wherein the first-level steering joint and the second-level steering joint rotate along a first-level rotating shaft, the second-level steering joint and the fixed joint rotate along a second-level rotating shaft, the first-level rotating shaft and the second-level rotating shaft are mutually perpendicular, the image acquisition module is fixed under the second-level steering joint, and the fixed joint is fixedly connected with the unmanned aerial vehicle base.
4. The image acquisition equipment for the suspended large-scale project archives according to claim 3, wherein: the image acquisition device is characterized in that stepping motors are arranged at the first-stage rotating shaft and the second-stage rotating shaft, an acquisition adjusting module is arranged in the image acquisition device, the two stepping motors are respectively adjusted, and the image acquisition angle of the image acquisition module is adjusted.
5. The image acquisition equipment for the suspended large-scale project archives according to claim 4, wherein: the fixed joint comprises two downward connecting fins, the first-stage steering joint comprises two upward connecting fins, the second-stage steering joint comprises two upward connecting fins hinged with the connecting fins of the fixed joint through a second-stage rotating shaft, and the two downward connecting fins hinged with the connecting fins of the first-stage steering joint through a first-stage rotating shaft, wherein a multi-prismatic through hole is reserved on the connecting fins of the fixed joint, a round through hole is reserved on the connecting fins of the second-stage steering joint, a bearing is embedded in the round through hole, correspondingly, the second-stage rotating shaft respectively penetrates through the bearing of the second-stage steering joint and the multi-prismatic through hole of the fixed joint and comprises a rotating shaft rotating section and a rotating shaft fixing section, the rotating shaft rotating section is positioned in the bearing and is rotatably connected with the second-stage steering joint, the rotating shaft fixing section is positioned in the multi-prismatic through hole and is fixedly connected with the fixed joint, and the stepping motor is fixedly connected with the second-stage steering joint through a connecting structure, therefore, the angle between the second-stage steering knuckle and the fixed knuckle is adjusted by the stepping motor, the angle between the first-stage steering knuckle and the second-stage steering knuckle is adjusted by the other stepping motor, and the acquisition angle of the image acquisition module is accurately adjustable.
6. The image acquisition equipment for the suspended large-scale project archives according to claim 1, wherein: the image acquisition equipment is internally provided with a storage module for storing the acquired image in real time.
7. The image acquisition equipment for the suspended large-scale project archives according to claim 1, wherein: the wireless communication modes of the suspension platform control equipment, the image processing equipment and the communication module of the image acquisition equipment are both 5G-based wireless communication.
8. A method for collecting images of suspended large-scale engineering archives, which adopts the image collecting equipment of suspended large-scale engineering archives of any one of claims 1 to 6, and comprises the following steps:
(1) establishing engineering stereo projection and a stereo coordinate system;
(2) setting the moving track of the suspension platform based on the coordinate system according to the engineering mark points;
(3) setting an image acquisition angle of the suspended platform during flying according to the moving track of the suspended platform and the position of the engineering mark point;
(4) the parameters are transmitted to the suspension platform control equipment, and the suspension platform control equipment corrects and adjusts the flight path of the suspension platform in real time;
(5) in the image acquisition process, image information is transmitted to the image processing equipment in real time and stored, and a worker judges that the flight path and the image acquisition angle need to be corrected according to the real-time image, and if the flight path and the image acquisition angle need to be corrected, the step (3) is returned;
(6) after the image acquisition is completed, the image information stored by the acquisition end is transferred to the image processing equipment for processing and further stored as an engineering image file.
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| CN202111289925.9A CN113965683A (en) | 2021-11-02 | 2021-11-02 | Suspension-moving type large-scale project archive image acquisition equipment |
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| CN202111289925.9A CN113965683A (en) | 2021-11-02 | 2021-11-02 | Suspension-moving type large-scale project archive image acquisition equipment |
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