CN114038267A - Unmanned aerial vehicle aerial photogrammetry teaching system - Google Patents
Unmanned aerial vehicle aerial photogrammetry teaching system Download PDFInfo
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- CN114038267A CN114038267A CN202111443649.7A CN202111443649A CN114038267A CN 114038267 A CN114038267 A CN 114038267A CN 202111443649 A CN202111443649 A CN 202111443649A CN 114038267 A CN114038267 A CN 114038267A
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Abstract
The invention belongs to the technical field of aerial photogrammetry, and discloses an unmanned aerial vehicle aerial photogrammetry teaching system, which comprises a sand table model, an unmanned aerial vehicle and a ground station; the sand table model is used for simulating a working environment; n electronic tags are arranged on the edge of the sand table model, and N is more than or equal to 3; a reflecting plate is arranged above the sand table model; the unmanned aerial vehicle is a shooting unmanned aerial vehicle, the unmanned aerial vehicle is used for shooting and measuring the sand table model, and the ground station is used for setting and generating operation parameters of the unmanned aerial vehicle; determining the position information of the unmanned aerial vehicle by detecting the distances between the unmanned aerial vehicle and the electronic tag and between the unmanned aerial vehicle and the reflecting plate; the problem of among the prior art because traditional unmanned aerial vehicle navigation orientation mode can't carry out accurate location to unmanned aerial vehicle in the room of small area, make current indoor teaching aerial survey mode and the unmanned aerial vehicle aerial survey operation of reality have great difference, can't impart knowledge to students to unmanned aerial vehicle aerial photogrammetry comprehensively, teaching effect is poor is solved.
Description
Technical Field
The invention belongs to the technical field of aerial photogrammetry, and particularly relates to an unmanned aerial vehicle aerial photogrammetry teaching system.
Background
Aerial photogrammetry refers to the operation of continuously shooting images on the ground by an aerial photographic instrument on an airplane or other aircrafts, and drawing a topographic map by combining the steps of ground control point measurement, adjustment drawing, three-dimensional mapping and the like. The unmanned aerial vehicle is applied to aerial photogrammetry as a new aircraft, compared with the aerial photogrammetry means of the traditional aircraft, the unmanned aerial vehicle has the characteristics of flexibility, high efficiency, rapidness, fineness, accuracy, low operation cost, wide application range, short production period and the like, and has obvious advantages in the aspect of rapidly acquiring high-resolution images in small areas and areas with difficult flight, so that the operation requirements of the unmanned aerial vehicle aerial photogrammetry are more and more. But the unmanned aerial vehicle aerial photogrammetry that needs to pass through the professional unmanned aerial vehicle aerial photogrammetry teaching is carried out.
In the unmanned aerial vehicle aerial photogrammetry teaching is carried out, because the influence of factors such as weather, safety, place exists a great deal of inconvenience when carrying out field data acquisition teaching. Therefore, prior art uses indoor unmanned aerial vehicle aerial photogrammetry simulation teaching system to teach usually, but traditional unmanned aerial vehicle navigation orientation mode can't carry out accurate location to unmanned aerial vehicle in the room of small area, therefore this teaching system adopts the mode of moving the camera on linear guide to replace unmanned aerial vehicle to carry out aerial photogrammetry usually, be convenient for fix a position the camera, this kind of teaching aerial survey mode has great difference with the unmanned aerial vehicle aerial survey operation of reality, it is very difficult that the student wants to understand theory and practical application, and because the linear rail is fixed, the unable nimble trade of adjusting of camera, lead to can't carry out comprehensive teaching to unmanned aerial vehicle aerial photogrammetry, student's interest is low, teaching quality is very low.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle aerial photogrammetry teaching system, which solves the problems that an indoor teaching aerial survey mode in the prior art is greatly different from actual unmanned aerial vehicle aerial survey operation, and the unmanned aerial vehicle aerial photogrammetry cannot be comprehensively taught, so that students have low learning interest and poor teaching effect.
The basic scheme provided by the invention is as follows: an unmanned aerial vehicle aerial photogrammetry teaching system comprises a sand table model, an unmanned aerial vehicle and a ground station; the sand table model is used for simulating a working environment; n electronic tags are arranged on the edge of the sand table model, and N is more than or equal to 3; a reflecting plate is arranged above the sand table model; the unmanned aerial vehicle is a shooting unmanned aerial vehicle, the unmanned aerial vehicle is used for shooting and measuring the sand table model, and the ground station is used for setting and generating operation parameters of the unmanned aerial vehicle;
the unmanned aerial vehicle is provided with a flight controller, a horizontal distance meter and a vertical distance meter; the horizontal distance meter is used for detecting the horizontal distance from the unmanned aerial vehicle to each electronic tag, the vertical distance meter is used for detecting the vertical distance between the unmanned aerial vehicle and the reflecting plate, and the flight controller is used for determining the relative position information of the unmanned aerial vehicle in the sand table model according to the detected horizontal distance and vertical distance; the flight controller is also used for receiving operation parameters and controlling the unmanned aerial vehicle to operate according to the relative position information and the operation parameters of the unmanned aerial vehicle.
The technical principle and the beneficial effects of the scheme are as follows: in the scheme, a sand table model is used for simulating an operation environment, N electronic tags are arranged at the edge of the sand table model, N is more than or equal to 3, and a reflecting plate is arranged above the sand table model; the unmanned aerial vehicle is provided with a horizontal distance meter and a vertical distance meter, and the relative position information of the unmanned aerial vehicle on the sand table model can be determined by detecting the horizontal distance between the unmanned aerial vehicle and each electronic tag and the vertical distance between the unmanned aerial vehicle and the reflecting plate; the ground station is used for setting and generating operation parameters of the unmanned aerial vehicle, and the unmanned aerial vehicle carries out shooting measurement operation on the sand table model according to the relative position information and the operation parameters; set up electronic tags through setting up reflecting plate and sand table model edge on the sand table model and acquire unmanned aerial vehicle's relative position information, replace traditional unmanned aerial vehicle navigation positioning mode, the problem of using traditional unmanned aerial vehicle navigation positioning mode can't be in the indoor use of small area has been solved, change the positioning mode of linear guide mobile camera, directly use unmanned aerial vehicle to shoot the measurement to the sand table model, make unmanned aerial vehicle's aerial photography measurement teaching be close to actual unmanned aerial vehicle aerial survey operation, can carry out comprehensive detailed teaching to unmanned aerial vehicle aerial photogrammetry, increase student's interest in learning, improve unmanned aerial vehicle aerial photogrammetry teaching effect.
Further, the ground station includes a ground controller and a display; an unmanned aerial vehicle control program is stored in the controller; the unmanned aerial vehicle control program is used for setting and generating operation parameters of the unmanned aerial vehicle; the display is used for obtaining and displaying the operation parameters of the unmanned aerial vehicle.
Has the advantages that: the display is convenient for teacher and student to set for and modify unmanned aerial vehicle's operation parameter, also makes things convenient for the student to look over unmanned aerial vehicle's operation parameter at any time, sets up and generates unmanned aerial vehicle's operation parameter, satisfies the demand that the flight route designed by oneself, improves the quality of teaching.
Further, the operation parameters comprise an operation area, a course overlapping degree, a side overlapping degree, a flying speed, a flight zone distance, a photographing frequency, a flight height and a flight path.
Has the advantages that: set for unmanned aerial vehicle's operation region, course overlap degree, side overlap degree, airspeed, flight band interval, the frequency of shooing, boat height and route through unmanned aerial vehicle control program, accurately control unmanned aerial vehicle and carry out the aerial photogrammetry operation, make unmanned aerial vehicle's aerial shoot measure teaching and the unmanned aerial vehicle aerial survey operation's of reality similarity high, and set up the operation data, satisfy most operation demand and independently design demand, improve the teaching quality.
Further, the unmanned aerial vehicle control program comprises a map module, a display module, a setting module and a generating module;
the map module is used for storing a map of the sand table model;
the display module is used for displaying a map of the sand table model;
the setting module is used for setting a working area on a map; the setting module is also used for setting the flying speed, the course overlapping degree, the side overlapping degree and the altitude;
the generating module is used for generating a route, a flight zone distance and a photographing frequency according to the operation area, the course overlapping degree, the side overlapping degree and the flight height.
Has the advantages that: compared with the calculated and set air route, air belt distance and photographing frequency of an operator, the generated air route and photographing frequency have higher adaptability to the operation area and are more reasonable, the photographed influence is clear and complete, the measured data are more accurate, and the method is more beneficial to understanding of students between practical application and relevant theories.
Further, the operation parameters further comprise a lens mode of the unmanned aerial vehicle, and the lens mode comprises an orthomode and a five-way mode; the orthographic mode is that the direction of a lens is vertical to the horizontal direction; the five-direction mode is that the lens inclines vertically downwards, eastward, westward, southward and northward respectively; the setting module is also used for setting a lens mode.
Has the advantages that: the teacher can select different camera lens modes to shoot the teaching according to the difference of operation demand, increases the teaching case, makes the student can learn more unmanned aerial vehicle aerial photogrammetry knowledge, improves the quality of teaching.
Further, the setting module is further used for setting the inclination angle of the lens when the lens mode is a five-direction mode.
Has the advantages that: the camera lens angle of regulation of camera satisfies different homework demands, makes and shoots measuring result and has the variety, does benefit to the student and learns how to adjust the camera lens angle according to the homework demand.
Further, the unmanned aerial vehicle control program further comprises a virtual position module, wherein the virtual position information module is used for setting virtual position information of the electronic tag, and the virtual position information comprises longitude, latitude and altitude; the virtual position information module is also used for acquiring the relative position information of the unmanned aerial vehicle and calculating the virtual position information of the unmanned aerial vehicle according to the virtual position information of the electronic tag.
Has the advantages that: compared with the relative position information, the position of the unmanned aerial vehicle fed back by using the virtual position information is more visual, and an operator can set the operation parameters more conveniently and quickly; and use virtual position information more similar with the unmanned aerial vehicle aerial survey operation of reality at unmanned aerial vehicle aerial photogrammetry teaching in-process, make the teaching quality higher.
Further, the distance between the reflecting plate and the sand table model is 3m, the range of the unmanned aerial vehicle for adjusting the flight height is 0.6 m-2.4 m, and the flight height adjusting interval of the unmanned aerial vehicle is 0.2m for each adjustment.
Has the advantages that: the unmanned aerial vehicle control range sets for 0.6m ~ 2.4m, makes and keeps certain distance between unmanned aerial vehicle and sand table model and the reflecting plate, guarantees that unmanned aerial vehicle does not collide sand table model and reflecting plate at the operation in-process, ensures the safety and stability of unmanned aerial vehicle, sand table model and reflecting plate at the operation in-process.
Further, the unmanned aerial vehicle control program further comprises an unmanned aerial vehicle adjusting module, and the unmanned aerial vehicle adjusting module is used for adjusting the unmanned aerial vehicle to be in a stop state when the unmanned aerial vehicle finishes operation; the unmanned aerial vehicle adjustment module is also used for adjusting the unmanned aerial vehicle to be in a stop state when detecting that the unmanned aerial vehicle flies out of the sand table area.
Has the advantages that: increase unmanned aerial vehicle adjustment module, if unmanned aerial vehicle in operation in-process operating personnel stop the operation or unmanned aerial vehicle flies out the sand table region, then adjust unmanned aerial vehicle for hovering state, avoid unmanned aerial vehicle to drop or purposeless flight leads to the sand table model to damage, perhaps lead to the fact the threat to indoor personnel.
Further, unmanned aerial vehicle still includes infrared sensor, infrared sensor is arranged in the flight in-process and detects whether there is the barrier around the unmanned aerial vehicle, flight controller still is used for controlling unmanned aerial vehicle to avoid the barrier when infrared sensor detects the barrier.
Has the advantages that: increase unmanned aerial vehicle's obstacle avoidance function, avoid unmanned aerial vehicle mistake to hinder indoor teacher and student at the teaching in-process, guarantee indoor teaching safety.
Drawings
Fig. 1 is a schematic control logic diagram of an embodiment of an unmanned aerial vehicle aerial photogrammetry teaching system of the invention.
Detailed Description
The following is further detailed by way of specific embodiments:
example 1
Example 1 is substantially as shown in figure 1: an unmanned aerial vehicle aerial photogrammetry teaching system comprises a sand table model, an unmanned aerial vehicle and a ground station; the sand table model is used for simulating a working environment; the unmanned aerial vehicle is used for shooting and measuring the sand table model, and the ground station is used for setting and generating operation parameters of the unmanned aerial vehicle; in this embodiment, unmanned aerial vehicle is small-size shooting unmanned aerial vehicle, is equipped with the single-lens camera on the unmanned aerial vehicle, is applicable to indoor simulation teaching.
The ground station comprises a ground controller and a display; the display is used for acquiring and displaying the operation parameters of the unmanned aerial vehicle; an unmanned aerial vehicle control program is stored in the controller; the unmanned aerial vehicle control program is used for setting and generating operation parameters of the unmanned aerial vehicle; the operation parameters comprise an operation area, a course overlapping degree, a side overlapping degree, a flying speed, a flight zone interval, a photographing frequency, a flight height, a flight line and a lens mode.
The unmanned aerial vehicle control program comprises a map module, a display module, a setting module, a generating module, a virtual position module and an unmanned aerial vehicle adjusting module; the map module is used for storing a map of the sand table model; the display module is used for displaying a map of the sand table model; the setting module is used for setting a working area on a map, an operator can select the working area, and the working area can be the whole sand table model or a part of the sand table model; the setting module is also used for setting the flight speed, the course overlapping degree, the side overlapping degree, the altitude and the lens mode;
the lens mode comprises an orthographic mode and a five-way mode; the orthographic mode is that the direction of a lens is vertical to the horizontal direction; the five-direction mode is that the lens inclines vertically downwards, eastward, westward, southward and northward respectively; the setting module is also used for setting the inclination angle of the lens in a lens mode and a five-way mode;
the generating module is used for generating a route, a flight zone distance and a photographing frequency according to the operation area, the course overlapping degree, the side overlapping degree and the flight height; the navigation belt direction defaults to the east-west direction, and an operator can set the navigation belt direction to other directions through the setting module;
the virtual position information module is used for setting virtual position information of the electronic tag, and the virtual position information comprises longitude, latitude and altitude; the virtual position information module is also used for acquiring the relative position information of the unmanned aerial vehicle and calculating the virtual position information of the unmanned aerial vehicle according to the virtual position information of the electronic tag.
The unmanned aerial vehicle adjustment module is used for adjusting the unmanned aerial vehicle to a stop state when the unmanned aerial vehicle finishes operation (namely when an operator stops operating the unmanned aerial vehicle) or when the unmanned aerial vehicle flies out of a sand table area.
In this embodiment, the sand table model is a square model with a size of 12m × 10m, and simulates an area of 1.2km × 1.0km, and the scale bar is 100: 1. the size of the sand table model is matched with the whole indoor space, the length-width ratio of the sand table model is proper, the height of the sand table model and the relative height between elements of the sand table model are reasonable, the terrain and ground feature elements covered by the sand table model are complete as much as possible, and the sand table model specifically comprises elements such as peaks, valleys, rivers, forests, farmlands, high-rise buildings, low-rise buildings, roads, bridges, tracks, villages and the like. The sand table model should contain a part of ground object identification which can be used as a control point, such as a stop line, a zebra crossing and the like; the ground material of the sand table model is the material which is easy to stick the marker, so that the control point can be added conveniently.
N electronic tags are arranged on the edge of the sand table model, and N is more than or equal to 3; in the embodiment, 4 rod-shaped objects are arranged at four vertexes of the sand table model, and each rod-shaped object is provided with an electronic tag which is an FRID card; a flat reflecting plate is arranged at a position 3m above the sand table model; the length and width of the reflecting plate are the same as those of the sand table model; in this embodiment, because the unmanned aerial vehicle operates in the reflecting plate and the sand table model, the range of the height adjustment of the unmanned aerial vehicle is set to be 0.6m to 2.4m, and the adjustment interval is 0.2m for each adjustment.
The unmanned aerial vehicle is provided with a flight controller, a horizontal distance meter, a vertical distance meter and an infrared sensor;
the horizontal distance meter transmits a horizontal signal to the electronic tag, the horizontal signal is reflected back to the horizontal distance meter by the electronic tag, so that horizontal linear distances between the horizontal distance meter and the four electronic tags are obtained, and the relative horizontal position of the unmanned aerial vehicle in the sand table model is calculated by the flight controller according to the horizontal linear distances between the horizontal distance meter and the four electronic tags;
the vertical distance measuring instrument transmits a distance measuring signal in the vertical direction to the reflecting plate and receives the distance measuring signal reflected by the reflecting plate so as to obtain the distance between the vertical distance measuring instrument and the reflecting plate, and the flight controller obtains the distance between the unmanned aerial vehicle and the sand table model through the distance between the vertical distance measuring instrument and the reflecting plate and the distance between the reflecting plate and the sand table model;
infrared sensor is arranged in the flight process and detects whether there is the barrier around the unmanned aerial vehicle, flight controller still is used for controlling unmanned aerial vehicle to avoid the barrier when infrared sensor detects the barrier to this guarantees indoor teaching safety.
Example 2
This example differs from example 1 in that: the unmanned aerial vehicle control program further comprises an acquisition module, an evaluation module and an analysis module;
the controller is also used for recording the obstacle avoidance times of the unmanned aerial vehicle;
the acquisition module is used for acquiring operation parameters of the unmanned aerial vehicle, obstacle avoidance times of the unmanned aerial vehicle and a shooting result of the unmanned aerial vehicle;
the ground controller is also used for controlling the display to display the shooting result of the unmanned aerial vehicle;
the mutual evaluation module is used for grading the operation process of the unmanned aerial vehicle, the grades comprise A grade, B grade, C grade and D grade, the A grade is excellent, and the A grade is reduced in sequence.
The evaluation module is used for evaluating the operation process of the unmanned aerial vehicle; the evaluation criteria are: grading the operation process of the unmanned aerial vehicle according to the shooting result definition of the unmanned aerial vehicle; deducting corresponding fractions when the obstacle avoidance times are increased once;
the analysis module is used for analyzing the operation process of the unmanned aerial vehicle according to the grading result of the evaluation module and giving an improvement suggestion; if the definition of the shooting result is poor, suggesting to adjust the flight speed or the inclination angle of the lens in the unmanned aerial vehicle operation parameters; and if the obstacle avoidance times are too many, the adjustment of the flight route of the unmanned aerial vehicle is suggested.
Has the advantages that: the evaluation module and the analysis module can be arranged to score the flight drilling process of students, so that the students can independently perform flight drilling, and the learning interest of the students is increased; the students can evaluate, study and supervise each other through the mutual evaluation module, so that the study autonomy of the students is improved, and the study desire of the students is stimulated; and the analysis module gives out the student improvement suggestion, promotes the student to think independently, improves the teaching quality.
The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. The utility model provides an unmanned aerial vehicle aerial photogrammetry teaching system which characterized in that: the system comprises a sand table model, an unmanned aerial vehicle and a ground station; the sand table model is used for simulating a working environment; n electronic tags are arranged on the edge of the sand table model, and N is more than or equal to 3; a reflecting plate is arranged above the sand table model; the unmanned aerial vehicle is a shooting unmanned aerial vehicle, the unmanned aerial vehicle is used for shooting and measuring the sand table model, and the ground station is used for setting and generating operation parameters of the unmanned aerial vehicle;
the unmanned aerial vehicle is provided with a flight controller, a horizontal distance meter and a vertical distance meter; the horizontal distance meter is used for detecting the horizontal distance from the unmanned aerial vehicle to each electronic tag, the vertical distance meter is used for detecting the vertical distance between the unmanned aerial vehicle and the reflecting plate, and the flight controller is used for determining the relative position information of the unmanned aerial vehicle in the sand table model according to the detected horizontal distance and vertical distance; the flight controller is also used for receiving operation parameters and controlling the unmanned aerial vehicle to operate according to the relative position information and the operation parameters of the unmanned aerial vehicle.
2. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 1, wherein: the ground station comprises a ground controller and a display; an unmanned aerial vehicle control program is stored in the controller; the unmanned aerial vehicle control program is used for setting and generating operation parameters of the unmanned aerial vehicle; the display is used for obtaining and displaying the operation parameters of the unmanned aerial vehicle.
3. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 2, wherein: the operation parameters comprise an operation area, course overlapping degree, side overlapping degree, flying speed, flight zone distance, photographing frequency, flight height and flight path.
4. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 3, wherein: the unmanned aerial vehicle control program comprises a map module, a display module, a setting module and a generating module;
the map module is used for storing a map of the sand table model;
the display module is used for displaying a map of the sand table model;
the setting module is used for setting a working area on a map; the setting module is also used for setting the flying speed, the course overlapping degree, the side overlapping degree and the altitude;
the generating module is used for generating a route, a flight zone distance and a photographing frequency according to the operation area, the course overlapping degree, the side overlapping degree and the flight height.
5. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 4, wherein: the operation parameters further comprise a lens mode of the unmanned aerial vehicle, and the lens mode comprises an orthomode and a five-way mode; the orthographic mode is that the direction of a lens is vertical to the horizontal direction; the five-direction mode is that the lens inclines vertically downwards, eastward, westward, southward and northward respectively; the setting module is also used for setting a lens mode.
6. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 5, wherein: the setting module is also used for setting the inclination angle of the lens when the lens mode is a five-direction mode.
7. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 6, wherein: the unmanned aerial vehicle control program further comprises a virtual position module, wherein the virtual position information module is used for setting virtual position information of the electronic tag, and the virtual position information comprises longitude, latitude and altitude; the virtual position information module is also used for acquiring the relative position information of the unmanned aerial vehicle and calculating the virtual position information of the unmanned aerial vehicle according to the virtual position information of the electronic tag.
8. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 7, wherein: the distance between the reflecting plate and the sand table model is 3m, the range of the unmanned aerial vehicle for adjusting the flight height is 0.6-2.4 m, and the interval of the unmanned aerial vehicle for adjusting the flight height is 0.2m each time.
9. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 8, wherein: the unmanned aerial vehicle control program further comprises an unmanned aerial vehicle adjusting module, and the unmanned aerial vehicle adjusting module is used for adjusting the unmanned aerial vehicle to be in a stop state when the unmanned aerial vehicle finishes operation; the unmanned aerial vehicle adjustment module is also used for adjusting the unmanned aerial vehicle to be in a stop state when detecting that the unmanned aerial vehicle flies out of the sand table area.
10. The unmanned aerial vehicle aerial photogrammetry teaching system of claim 9, wherein: unmanned aerial vehicle still includes infrared sensor, infrared sensor is arranged in the flight process and detects whether there is the barrier around the unmanned aerial vehicle, flight controller still is used for controlling unmanned aerial vehicle to avoid the barrier when infrared sensor detects the barrier.
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