CN114476065B - Unmanned aerial vehicle remote sensing device for surveying and mapping engineering measurement - Google Patents
Unmanned aerial vehicle remote sensing device for surveying and mapping engineering measurement Download PDFInfo
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- Y02T90/10—Technologies relating to charging of electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
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Abstract
The invention discloses an unmanned aerial vehicle remote sensing device for surveying and mapping engineering, which comprises an unmanned vehicle and an unmanned aerial vehicle, wherein the unmanned aerial vehicle is positioned above the unmanned vehicle, and the unmanned aerial vehicle is connected with the unmanned vehicle through a transmission belt; the bottom of the unmanned aerial vehicle is provided with a camera, and the camera is used for obtaining an original image from a lower image; be provided with locator, communicator and central processing unit on the unmanned car, central processing unit has operating processing system, processing system includes: the map updating system comprises an image acquisition module, a map image generation module, a position acquisition module, an electronic map updating module and an electronic map output module. According to the invention, the unmanned vehicle and the unmanned aerial vehicle are combined to shoot outdoor images, the shot images are transmitted to the unmanned vehicle in real time, and the electronic map is updated in real time by combining the unmanned vehicle with the position information of the unmanned vehicle from the original electronic map according to the shot content, so that the updating efficiency is improved.
Description
Technical Field
The invention relates to the field of remote sensing and mapping, in particular to an unmanned aerial vehicle remote sensing device for mapping engineering measurement.
Background
In mapping engineering, the use of electronic maps is an essential tool for workers in work. When in use, in order to improve the working efficiency of workers, the latest electronic map is necessary. At present, when an electronic map is updated, professional outdoor workers often acquire outdoor images outdoors, marks corresponding coordinates on the images after the images are acquired, finally brings the acquired images and the corresponding coordinates back to a laboratory for image recombination, and generates an updated electronic map, so that the updating efficiency is extremely low in the updating of the electronic map.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide the unmanned aerial vehicle remote sensing device for surveying and mapping engineering, an unmanned vehicle and an unmanned aerial vehicle are combined to shoot an outdoor image, and an electronic map is updated in real time according to the shot content, so that the updating efficiency is improved.
Therefore, the invention provides an unmanned aerial vehicle remote sensing device for surveying and mapping engineering, which comprises an unmanned vehicle and an unmanned aerial vehicle, wherein the unmanned aerial vehicle is positioned above the unmanned vehicle, and the unmanned aerial vehicle is connected with the unmanned vehicle through a transmission belt;
the bottom of the unmanned aerial vehicle is provided with a camera, and the camera is used for obtaining an original image from a lower image;
be provided with locator, communicator and central processing unit on the unmanned car, central processing unit is last to have the processing system of operation, processing system includes: the map updating system comprises an image acquisition module, a map image generation module, a position acquisition module, an electronic map updating module and an electronic map output module;
the image acquisition module is used for receiving an original image shot by the unmanned aerial vehicle in real time;
the map image generation module is used for obtaining a preliminary map image by line processing of the original image, and optimizing the preliminary map image to obtain a sub-area map image;
the position acquisition module is used for acquiring the position of the unmanned vehicle acquired by the positioner in real time;
the electronic map updating module is used for updating the corresponding position in the original electronic map image into the sub-area map image according to the position of the unmanned vehicle in the original electronic map, and outputting the updated electronic map image;
and the electronic map output module is used for converting the updated electronic map image to obtain a new electronic map and transmitting the new electronic map to the map application platform.
Further, the top of unmanned vehicle is provided with and is used for parking unmanned aerial vehicle's parking area, the transmission band is connected the central authorities in parking area, the transmission band comprises signal transmission line and energy transmission band, the original image that unmanned aerial vehicle shot passes through signal transmission line transmits to central processing unit.
Furthermore, the parking area and the angle of the included angle between the transmission belts are detected through an included angle sensor, and the processing system of the central processing unit further comprises:
the included angle detection module is used for receiving the degrees detected by the included angle sensor;
the working opening module is used for judging according to the degree obtained by the included angle detection module, and when the degree is 90 degrees, the image acquisition module is controlled to receive the original image shot by the unmanned aerial vehicle in real time.
Further, when the map image generation module obtains a preliminary map image by striping the original image, the method includes the following steps:
acquiring the pixel value of each pixel point of the original image, and comparing the difference value of the pixel values of two adjacent pixel points;
obtaining a corresponding filling color value according to the difference value of the pixel values of two adjacent pixel points;
filling the filling color values corresponding to the two adjacent pixel points into the pixel point with larger original color value to complete the updating of the pixel value of the pixel point;
and traversing each pixel point in the original image to obtain the preliminary map image.
Furthermore, the difference value of the pixel values of the two adjacent pixel points is inversely related to the filling color value.
Further, when the preliminary map image is optimized to obtain a sub-area map image, the map image generation module includes the following steps:
comparing the pixel value of each pixel point of the preliminary map image with a set pixel value respectively;
setting the pixel values of the pixels with the pixel points higher than the set pixel value as uniform pixel values;
and traversing all pixel points in the preliminary map image and the sub-area map image.
Further, no power supply is arranged in the unmanned aerial vehicle, and the unmanned aerial vehicle supplies power to the unmanned aerial vehicle through a transmission band.
The unmanned aerial vehicle remote sensing device for surveying and mapping engineering provided by the invention has the following beneficial effects:
according to the invention, the unmanned vehicle and the unmanned aerial vehicle are combined to shoot an outdoor image, the shot image is transmitted to the unmanned vehicle in real time, and the electronic map is updated in real time by combining the position information of the unmanned vehicle from the original electronic map according to the shot content, so that the updating efficiency is improved;
the unmanned aerial vehicle only has the functions of flying and shooting, the endurance of the unmanned aerial vehicle is ensured, the unmanned vehicle operation and positioning functions are all integrated in the unmanned vehicle in the electronic map updating of a larger area, the energy consumption of the unmanned aerial vehicle is saved, meanwhile, the power can be supplied to the unmanned aerial vehicle, and the electronic map updating requirement of the large area is met;
according to the unmanned aerial vehicle positioning system, the unmanned aerial vehicle and the unmanned vehicle are connected through the transmission belt, when an image is received, the relative position of the unmanned aerial vehicle and the unmanned vehicle is judged according to the included angle between the transmission belt and the top of the unmanned aerial vehicle, and the image receiving and the image processing are completed, so that the positioning of the unmanned aerial vehicle is effectively determined according to the relative position between the positioning of the unmanned vehicle.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic block diagram of a system connection of the processing system of the present invention;
FIG. 3 is a schematic block diagram of a process of obtaining a preliminary map image by striping an original image according to the present invention;
fig. 4 is a schematic block diagram of a process of optimizing the preliminary map image to obtain a sub-area map image according to the present invention.
Detailed Description
One embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the invention is not limited to the embodiment.
In the present application, the type and structure of components that are not specified are all the prior art known to those skilled in the art, and those skilled in the art can set the components according to the needs of the actual situation, and the embodiments of the present application are not specifically limited.
Specifically, as shown in fig. 1 to 4, an embodiment of the invention provides an unmanned aerial vehicle remote sensing device for surveying and mapping engineering, which comprises an unmanned vehicle and an unmanned aerial vehicle, wherein the unmanned aerial vehicle is positioned above the unmanned vehicle, and the unmanned aerial vehicle is connected with the unmanned vehicle through a transmission belt; the bottom of the unmanned aerial vehicle is provided with a camera, and the camera is used for obtaining an original image from a lower image; be provided with locator, communicator and central processing unit on the unmanned car, central processing unit has operating processing system, processing system includes: the map updating system comprises an image acquisition module, a map image generation module, a position acquisition module, an electronic map updating module and an electronic map output module. The following is the operating principle and the operation of the various modules of the processing system.
The image acquisition module is used for receiving an original image shot by the unmanned aerial vehicle in real time; the module is used for receiving the acquired image data, the unmanned aerial vehicle is positioned right above the unmanned vehicle, and the image of the area of the unmanned vehicle is shot, namely the original image.
The map image generation module is used for obtaining a preliminary map image by line processing of the original image and optimizing the preliminary map image to obtain a sub-area map image; the module generates an electronic map, and the electronic map of each position where the unmanned vehicle is located, namely the sub-area map image of the invention, can be obtained by placing the generating part of the electronic map at each area port.
The position acquisition module is used for acquiring the position of the unmanned vehicle acquired by the positioner in real time; the module is used for obtaining the position of the unmanned vehicle on the premise that the sub-area map images correspond to the corresponding positions one by one.
The electronic map updating module is used for updating the corresponding position in the original electronic map image into the sub-area map image according to the position of the unmanned vehicle in the original electronic map, and outputting the updated electronic map image; the module corresponds the sub-area map images with the corresponding positions one by one, and obtains the corresponding electronic map images according to the position combination, thereby completing the updating of the electronic map images.
The electronic map output module is used for converting the updated electronic map image to obtain a new electronic map and transmitting the new electronic map to the map application platform; the module is a process of outputting the updated electronic map, so that the electronic map used by the user is output in real time after being updated.
According to the invention, the unmanned vehicle and the unmanned aerial vehicle are combined to shoot outdoor images, the shot images are transmitted to the unmanned vehicle in real time, and the unmanned vehicle is combined with the position information of the unmanned vehicle from the original electronic map according to the shot content, so that when the unmanned vehicle arrives at an area, the electronic map part of the area can be shot again to perform partial updating, and thus, the electronic map is updated in real time, and the updating efficiency is increased.
Meanwhile, the unmanned vehicle and the unmanned aerial vehicle can be structurally connected through the transmission belt, so that the unmanned aerial vehicle can be conveniently found through the unmanned vehicle when personnel maintain the unmanned aerial vehicle.
In the invention, a parking area for parking the unmanned aerial vehicle is arranged at the top of the unmanned aerial vehicle, the transmission belt is connected to the center of the parking area and consists of a signal transmission line and an energy transmission belt, and an original image shot by the unmanned aerial vehicle is transmitted to the central processing unit through the signal transmission line.
According to the technical scheme, the unmanned aerial vehicle is parked on the unmanned vehicle, so that the unmanned aerial vehicle only communicates with the unmanned vehicle, the unmanned aerial vehicle only carries the camera in the air, other operation parts and the like are not needed, the mass load of the unmanned aerial vehicle during flying is reduced when the unmanned aerial vehicle acquires image data, and the energy consumption of the unmanned aerial vehicle during flying can also be reduced.
In the invention, a power supply is not arranged in the unmanned aerial vehicle, and the unmanned aerial vehicle supplies power to the unmanned aerial vehicle through a transmission belt.
The unmanned aerial vehicle only has the functions of flying and shooting, the endurance of the unmanned aerial vehicle is ensured, the unmanned vehicle operation and positioning functions are all integrated in the unmanned vehicle in the electronic map updating of a larger area, the energy consumption of the unmanned aerial vehicle is saved, meanwhile, the power can be supplied to the unmanned aerial vehicle, and the electronic map updating requirement of the large area is met.
Meanwhile, in the present invention, in order to prevent the obtained image from coinciding with the images of other adjacent regions, the angle of the included angle between the parking zone and the conveyor belt is detected by an included angle sensor, and the processing system of the central processing unit further includes: the device comprises an included angle detection module and a work starting module. The working principle of these two functional modules is as follows.
The included angle detection module is used for receiving the degree detected by the included angle sensor; this module is used for detecting whether unmanned aerial vehicle is in the condition directly over unmanned vehicle vertically, obtains the relative position of unmanned aerial vehicle and unmanned vehicle through the angle.
The working starting module is used for judging according to the degree obtained by the included angle detection module, and controlling the image acquisition module to receive the original image shot by the unmanned aerial vehicle in real time when the degree is 90 degrees; this module is to the judged result of the relative position of unmanned aerial vehicle and unmanned vehicle, decides whether to receive the image that unmanned aerial vehicle shot, only when the relative position of unmanned aerial vehicle and unmanned vehicle is unmanned aerial vehicle directly over the perpendicular of unmanned vehicle, just can receive the image that unmanned aerial vehicle shot.
According to the unmanned aerial vehicle positioning system, the unmanned aerial vehicle and the unmanned vehicle are connected through the transmission belt, when an image is received, the relative position of the unmanned aerial vehicle and the unmanned vehicle is judged according to the included angle between the transmission belt and the top of the unmanned aerial vehicle, and the image receiving and processing are completed, so that the positioning of the unmanned aerial vehicle is effectively determined according to the relative position between the positioning of the unmanned vehicle.
In the present invention, when the map image generation module obtains a preliminary map image by striping the original image, the method includes the following steps:
acquiring the pixel value of each pixel point of the original image, and comparing the difference value of the pixel values of two adjacent pixel points;
secondly, obtaining corresponding filling color values according to the difference value of the pixel values of two adjacent pixel points;
filling the filling color values corresponding to the two adjacent pixel points into the pixel points with larger original color values to finish the updating of the pixel values of the pixel points;
and (IV) traversing each pixel point in the original image to obtain the preliminary map image.
In the above technical solution, the steps (a) - (d) are performed sequentially according to a logic sequence, and the original image is analyzed to obtain the difference between each pixel value and the adjacent pixel value, and when the difference is large, the difference is most likely to be the boundary of the pattern, so that the corresponding filling color value is obtained according to the difference between the pixel values of the two adjacent pixel points, and in such a way, traversing all the pixel points, a line graph similar to sketch can be obtained, that is, the preliminary map image of the present invention, and thus the original image is processed by the image processing method to obtain the preliminary map image, so as to facilitate subsequent operations.
Meanwhile, in the invention, the difference value of the pixel values of the two adjacent pixel points is inversely related to the filling color value. I.e., black is used to represent the shade of the outline, the results obtained are more similar to the sketch.
Meanwhile, in the invention, in order to make the preliminary map image clearer when being viewed, the preliminary map image is processed, and when the preliminary map image is optimized by the map image generation module to obtain a sub-area map image, the map image generation module comprises the following steps:
(1) Comparing the pixel values of all pixel points of the preliminary map image with set pixel values respectively;
(2) Setting the pixel values of the pixel points with the pixel points higher than the set pixel value as uniform pixel values;
(3) And traversing all pixel points in the preliminary map image and the sub-area map image.
In the above technical solution, the steps (1) - (3) are sequentially performed according to a logical sequence, and the lines with faint colors, which are redundant to be described, in the obtained preliminary map image are removed, so that the present invention traverses all the pixel points, sets the pixel values of the pixel points with the pixel points higher than the set pixel value to be uniform pixel values, that is, pixel values of the set colors, and the set colors are not limited to white, so that a clear image is obtained as the sub-region map image, readability of the sub-region map image is increased, and subsequent processing difficulty is reduced.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (4)
1. An unmanned aerial vehicle remote sensing device for surveying and mapping engineering measurement comprises an unmanned vehicle and an unmanned aerial vehicle, and is characterized in that the unmanned aerial vehicle is positioned above the unmanned vehicle, and the unmanned aerial vehicle and the unmanned vehicle are connected through a transmission belt;
the bottom of the unmanned aerial vehicle is provided with a camera, and the camera is used for shooting an image below the unmanned aerial vehicle to obtain an original image;
be provided with locator, communicator and central processing unit on the unmanned car, central processing unit is last to have the processing system of operation, processing system includes: the system comprises an image acquisition module, a map image generation module, a position acquisition module, an electronic map updating module and an electronic map output module;
the image acquisition module is used for receiving an original image shot by the unmanned aerial vehicle in real time;
the map image generation module is used for obtaining a preliminary map image by line processing of the original image and then optimizing the preliminary map image to obtain a sub-area map image;
the position acquisition module is used for acquiring the position of the unmanned vehicle acquired by the positioner in real time;
the electronic map updating module is used for updating the corresponding position in the original electronic map image into the sub-area map image according to the position of the unmanned vehicle in the original electronic map, and outputting the updated electronic map image;
the electronic map output module is used for converting the updated electronic map image to obtain a new electronic map and transmitting the new electronic map to the map application platform;
the top of the unmanned vehicle is provided with a parking area for parking the unmanned aerial vehicle, the transmission belt is connected to the center of the parking area and consists of a signal transmission line and an energy transmission belt, and an original image shot by the unmanned aerial vehicle is transmitted to the central processing unit through the signal transmission line; the unmanned aerial vehicle is not provided with a power supply, and the unmanned aerial vehicle supplies power to the unmanned aerial vehicle through a transmission belt;
park the district with the angle of contained angle between the transmission band detects through the contained angle sensor, central processing unit's processing system still includes:
the included angle detection module is used for receiving the degree detected by the included angle sensor;
the working opening module is used for judging according to the degree obtained by the included angle detection module, and when the degree is 90 degrees, the image acquisition module is controlled to receive the original image shot by the unmanned aerial vehicle in real time.
2. The unmanned remote sensing device for surveying and mapping engineering measurement according to claim 1, wherein when the map image generation module streaks the original image to obtain a preliminary map image, the method includes the steps of:
acquiring the pixel value of each pixel point of the original image, and comparing the pixel values of two adjacent pixel points;
obtaining a corresponding filling color value according to the difference value of the pixel values of two adjacent pixel points;
filling the filling color values corresponding to the two adjacent pixel points into the pixel point with larger original color value to complete the updating of the pixel value of the pixel point;
and traversing each pixel point in the original image to obtain the preliminary map image.
3. The unmanned remote sensing device for surveying and mapping engineering measurement of claim 2, wherein a difference between pixel values of said two adjacent pixel points is inversely related to said fill color value.
4. The unmanned aerial vehicle remote sensing device for surveying and mapping engineering as defined in claim 3, wherein the map image generation module includes the following steps when the preliminary map image is optimized to obtain a sub-area map image:
comparing the pixel values of all pixel points of the preliminary map image with set pixel values respectively;
setting the pixel values of the pixel points with the pixel points higher than the set pixel value as uniform pixel values;
and traversing all pixel points in the preliminary map image and the sub-area map image.
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