CN114245098A - Three-dimensional live-action image acquisition system based on walking board - Google Patents

Three-dimensional live-action image acquisition system based on walking board Download PDF

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Publication number
CN114245098A
CN114245098A CN202111442353.3A CN202111442353A CN114245098A CN 114245098 A CN114245098 A CN 114245098A CN 202111442353 A CN202111442353 A CN 202111442353A CN 114245098 A CN114245098 A CN 114245098A
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CN
China
Prior art keywords
module
board
dimensional live
camera
acquisition system
Prior art date
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Pending
Application number
CN202111442353.3A
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Chinese (zh)
Inventor
张科奇
周方成
徐文杰
张兆虎
胡明勋
张采芹
杨俊�
郭勇
胡剑
李娜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Hubei Electric Power Co Ltd
PowerChina Hubei Electric Engineering Co Ltd
Original Assignee
State Grid Hubei Electric Power Co Ltd
PowerChina Hubei Electric Engineering Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by State Grid Hubei Electric Power Co Ltd, PowerChina Hubei Electric Engineering Co Ltd filed Critical State Grid Hubei Electric Power Co Ltd
Priority to CN202111442353.3A priority Critical patent/CN114245098A/en
Publication of CN114245098A publication Critical patent/CN114245098A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/189—Recording image signals; Reproducing recorded image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/194—Transmission of image signals

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)

Abstract

The invention discloses a three-dimensional live-action image acquisition system based on a walking board, which comprises the walking board, a processing module, a camera module, an RTK module, an antenna module and a power supply module, wherein the processing module is used for processing a real-time kinematic (RTK) image; the invention has the following advantages: the utility model provides a three-dimensional live-action image collection system based on walk board, in transmission line stretch-release unwrapping wire work progress, through carrying on camera and the big dipper module on walking the board, gather the image data that contains high accuracy geographical coordinates and elevation information, generate the three-dimensional live-action model of transmission line through the three-dimensional live-action modeling in later stage, can reduce by a wide margin the cost that three-dimensional live-action image produced by unmanned aerial vehicle flight collection.

Description

Three-dimensional live-action image acquisition system based on walking board
Technical Field
The invention relates to the technical field of power transmission line tension and pay-off, in particular to a three-dimensional live-action image acquisition system based on a traveling plate.
Background
With the progress of society and the increasing demand of electric power, the power transmission line network is still expanding. In order to ensure the insulation strength of the line and avoid electric shock hazard to people, ground buildings and other objects, the power transmission line corridor is provided.
At present, a power transmission line corridor is mainly used for completing three-dimensional live-action image acquisition through aerophotography without an airplane after the completion of engineering. On one hand, due to the characteristic that the power transmission line engineering is linear, the problems of unmanned aerial vehicle control, image transmission communication signal transmission and power supply endurance exist; on the other hand, the unmanned aerial vehicle needs professional unmanned aerial vehicle operators to operate when the unmanned aerial vehicle is used for aerial photography, and the overall cost is higher.
Disclosure of Invention
In order to solve the problems or at least partially solve the problems, the invention provides a three-dimensional live-action image acquisition system based on a walking board, which is used for later three-dimensional live-action modeling by acquiring three-dimensional live-action images of a power transmission line corridor in the paying-off construction process so as to effectively solve the problem of the unmanned aerial vehicle in the flight and greatly reduce the cost.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a three-dimensional live-action image acquisition system based on a walking board comprises the walking board, a processing module, a camera module, an RTK module, an antenna module and a power supply module;
the processing module, the camera module, the RTK module, the antenna module and the power supply module are carried on the walking board;
the processing module is used for processing system data, accessing the camera module, providing geographic coordinates and elevation information and storing images;
the camera module is used for acquiring a three-dimensional live-action image;
the RTK module is used for providing higher-precision geographic coordinates and elevation information;
the RTK module is in wireless connection with a reference station through the antenna module to form a data chain and transmit differential signals;
the power module is electrically connected with the board card and supplies power to the processing module, the camera module, the RTK module and the antenna module.
As a preferred scheme, the processing module comprises a board card, an integrated Beidou positioning module and a storage module;
the board card is used for connecting the camera module, the RTK module and the power supply module;
the Beidou positioning module is used for providing geographic coordinates and elevation information for the acquired images;
the storage module is used for storing the images collected by the camera module.
As a preferred scheme, the camera module is connected with the board card and used for acquiring a three-dimensional live-action image and transmitting the image to the storage module for storage.
As a preferred scheme, the RTK module is connected to the board card, and is configured to provide the camera with higher-precision geographic coordinates and elevation information, and write the geographic coordinates and elevation information into the image attribute information.
As a preferred solution, the antenna module is connected to the RTK module, and is configured to form a data chain with the reference station through a wireless connection, and transmit a differential signal.
Preferably, the camera module comprises an oblique photography camera for acquiring three-dimensional live-action images with different angles.
As a preferable scheme, a damping device for reducing interference of vibration in the operation of the walking board on images acquired by the camera is arranged between the walking board and the camera module.
As a preferred scheme, the RTK module is connected to the antenna module, forms a data link with a reference station through a wireless signal, transmits a differential signal, and provides higher-precision geographic coordinates and elevation information.
Preferably, the power module is detachably designed.
The invention has the following advantages: the utility model provides a three-dimensional live-action image collection system based on walk board, in transmission line stretch-release unwrapping wire work progress, through carrying on camera and the big dipper module on walking the board, gather the image data that contains high accuracy geographical coordinates and elevation information, generate the three-dimensional live-action model of transmission line through the three-dimensional live-action modeling in later stage, can reduce by a wide margin the cost that three-dimensional live-action image produced by unmanned aerial vehicle flight collection.
Drawings
Fig. 1 is a schematic connection diagram of a three-dimensional live-action image acquisition system based on a board according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a camera module three-lens oblique photography camera according to an alternative embodiment of the present invention.
Fig. 3 is a schematic diagram of a five-lens oblique photography camera of the camera module according to an alternative embodiment of the present invention.
Fig. 4 is a component arrangement diagram of a three-dimensional live-action image acquisition system based on a board according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As an embodiment of the present invention, the present embodiment provides a three-dimensional live-action image acquisition system based on a board, and referring to fig. 1, the structural connection diagram of the three-dimensional live-action image acquisition system based on a board according to the embodiment of the present invention includes: a board 101, a camera module 102, a processing module 103, a power supply module 104, an antenna module 105, and an RTK module 106.
The invention provides a three-dimensional live-action image acquisition system based on a traveling plate, which is characterized in that in the construction process of carrying out stretching and paying off on a power transmission line, image data containing high-precision geographic coordinates and elevation information are acquired through a camera and a Beidou module which are carried on the traveling plate, and a three-dimensional live-action model of the power transmission line is generated through later three-dimensional live-action modeling, so that the cost generated by acquiring three-dimensional live-action images by unmanned aerial vehicles during flight can be greatly reduced.
In the practical application process, the board camera module is arranged downwards, and the three-dimensional live-action image acquisition system is started before the stretching and paying-off are started. The three-dimensional live-action image acquisition system moves along with the tension paying-off walking board, acquires a three-dimensional live-action image along with the movement of the walking board through the camera module carried on the walking board, acquires high-precision geographical coordinates and elevation information through the Beidou module and the RTK module integrated on the processing module, writes the high-precision geographical coordinates and elevation information into image attributes, and transmits the image to the storage module for storage.
As an alternative embodiment provided by the present invention, the camera module of this embodiment includes a three-lens oblique photography camera, and referring to fig. 2, a schematic diagram of the three-lens oblique photography camera of the camera module provided by the alternative embodiment of the present invention is shown. The method comprises the following steps: camera 202 is tilted vertically downward, camera 203 is tilted 45 ° to the left, and camera 204 is tilted 45 ° to the right.
As an alternative embodiment provided by the present invention, the camera module of this embodiment includes a five-lens oblique photography camera, and referring to fig. 3, a schematic diagram of a three-lens oblique photography camera of the camera module provided by the alternative embodiment of the present invention is shown. The method comprises the following steps: vertical downward camera 302, left 45 ° tilt camera 303, back 45 ° tilt camera 304, forward 45 ° tilt camera 305, right 45 ° tilt camera 306.
As an embodiment of the present invention, this embodiment provides a three-dimensional live-action image acquisition system based on a board, and referring to fig. 4, is a component layout diagram of a three-dimensional live-action image acquisition system based on a board according to an embodiment of the present invention. The method comprises the following steps: a board 401, a camera module 402, a processing module 403, an RTK module 404, a power module 405, and an antenna module 406.
The running plate 401 is redesigned by referring to the size of the running plate actually used in a certain project, and can be matched with an original paying-off tackle for paying-off construction.
The camera module 402, the processing module 403, the RTK module 404, the power module 405, and the antenna module 406 are all referenced to the actual size of the product.
In practical application, according to the practical situation of the stretch paying-off, the photographing interval of the camera can be set so as to meet the requirement of three-dimensional live-action modeling on the image overlapping degree.
According to the three-dimensional live-action image acquisition system based on the walking board, provided by the embodiment of the invention, the shock absorption device is arranged at the joint of the camera and the walking board, so that the interference of the vibration generated by the walking board in operation on the image acquired by the camera can be reduced to a certain extent.
According to the three-dimensional live-action image acquisition system based on the walking board, provided by the embodiment of the invention, the power supply can be rapidly replaced by arranging the detachable power supply module.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. The utility model provides a three-dimensional outdoor scene image acquisition system based on walk board which characterized in that: the device comprises a walking board, a processing module, a camera module, an RTK module, an antenna module and a power supply module;
the processing module, the camera module, the RTK module, the antenna module and the power supply module are carried on the walking board;
the processing module is used for processing system data, accessing the camera module, providing geographic coordinates and elevation information and storing images;
the camera module is used for acquiring a three-dimensional live-action image;
the RTK module is used for providing higher-precision geographic coordinates and elevation information;
the RTK module is in wireless connection with a reference station through the antenna module to form a data chain and transmit differential signals;
the power module is electrically connected with the board card and supplies power to the processing module, the camera module, the RTK module and the antenna module.
2. The board-based three-dimensional live-action image acquisition system according to claim 1, wherein: the processing module comprises a board card, an integrated Beidou positioning module and a storage module;
the board card is used for connecting the camera module, the RTK module and the power supply module;
the Beidou positioning module is used for providing geographic coordinates and elevation information for the acquired images;
the storage module is used for storing the images collected by the camera module.
3. The board-based three-dimensional live-action image acquisition system according to claim 1, wherein: the camera module is connected with the board card and used for collecting the three-dimensional live-action image and transmitting the image to the storage module for storage.
4. The board-based three-dimensional live-action image acquisition system according to claim 1, wherein: the RTK module is connected with the board card and used for providing higher-precision geographic coordinates and elevation information for the camera and writing the geographic coordinates and the elevation information into image attribute information.
5. The board-based three-dimensional live-action image acquisition system according to claim 1, wherein: the antenna module is connected with the RTK module and used for forming a data chain with the reference station through wireless connection and transmitting a differential signal.
6. The board-based three-dimensional live-action image acquisition system according to claim 1, wherein: the camera module comprises an oblique photography camera for collecting three-dimensional live-action images at different angles.
7. The board-based three-dimensional live-action image acquisition system according to claim 1, wherein: and a damping device used for reducing the interference of the vibration of the walking board in operation on the image collected by the camera is arranged between the walking board and the camera module.
8. The board-based three-dimensional live-action image acquisition system according to claim 1, wherein: the RTK module is connected with the antenna module, forms a data chain with the reference station through wireless signals, transmits differential signals and provides higher-precision geographic coordinates and elevation information.
9. The board-based three-dimensional live-action image acquisition system according to claim 1, wherein: the power module is detachable.
CN202111442353.3A 2021-11-30 2021-11-30 Three-dimensional live-action image acquisition system based on walking board Pending CN114245098A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111442353.3A CN114245098A (en) 2021-11-30 2021-11-30 Three-dimensional live-action image acquisition system based on walking board

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111442353.3A CN114245098A (en) 2021-11-30 2021-11-30 Three-dimensional live-action image acquisition system based on walking board

Publications (1)

Publication Number Publication Date
CN114245098A true CN114245098A (en) 2022-03-25

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Application Number Title Priority Date Filing Date
CN202111442353.3A Pending CN114245098A (en) 2021-11-30 2021-11-30 Three-dimensional live-action image acquisition system based on walking board

Country Status (1)

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CN (1) CN114245098A (en)

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