TWI626425B - Night motorized topographic scanning apparatus with high mobility and method thereof - Google Patents

Abstract

The invention relates to a nighttime mobile terrain scanning device and method with high mobility, which mainly sends a laser flash module and an image capturing module to an area to be detected, so that the synchronous control unit The laser flash control unit of the flash module and the image capturing control unit of the image capturing module send a synchronous trigger signal, so that the laser flasher projects the linear light onto the ground surface to scan the area to be detected. The aiming projection causes the image capturing device to capture the linear light projected on the surface of the laser flasher, and the analyzing unit respectively receives the position and orientation of the light projection of the laser flasher and the space of the image capturing device. Position, orientation, and image data can be used to calculate the spatial coordinates of any spot. The spot of the entire line can be analyzed to obtain the space coordinates of the points on the entire line. The images captured by different time and position. The spatial coordinates of each point on the whole surface can be deduced, and the terrain scanning operation can be completed; accordingly, not only the scan can detect the terrain to be detected, but also can be used at night, so that It can be widely applied in the fields at night disaster relief, environmental permits and so on.

Description

Nightly maneuvering terrain scanning device and method with high mobility

The invention relates to a nighttime mobile terrain scanning device and method with high mobility, in particular to a terrain which is not only available for scanning to detect the desired terrain, but also can be used at night, so that it can be widely used. It is an innovative designer of night-time mobile terrain scanning devices and methods with high maneuverability in the field of disaster relief and environmental surveys at night.

According to the development of the current image detection technology, various techniques for image measurement using image sensors are often seen. For details, please refer to Announcement No. I503618 of October 11, 2015, "Deep Image Capture Device" And a method for measuring the same, the depth image capturing device includes at least one light projecting device, at least one image sensing device, a mechanism device, and a processing unit, and the light projecting device projects the projection pattern onto the object to be tested, and the image sense The measuring device is controlled to adjust its focal length and focus position, and respectively sense the real image, and the mechanism device adjusts the position and/or convergence of the image sensing device An angle, the processing unit sets a parameter set according to a reference focal length and a plurality of image corresponding to the plurality of preset node distances, respectively, to respectively correct at least one image sensing device to obtain a stereo measurement parameter set at a reference focal length, and according to To calculate the depth map or depth information of the measured object.

In addition, please refer to the No. I514317 “Digital Image Measurement Program Generation System and Method” published on December 21, 2015 to analyze the 3D model file of the product and perform triangle meshing on the analyzed data. The three-dimensional model of the product is obtained. Then, the system uses the image measuring tool to perform the measuring and taking operation on the three-dimensional model, and uses the least square method to fit the coordinate information of the measuring point to obtain the measurement of the measuring point. Information, in the end, the system writes the measurement information of the measurement points into a standard program template to generate a 3D image measurement program for the 3D image measurement machine for 3D image measurement of the actual product. .

However, the above-mentioned "deep image capturing device, its calibration method and measurement method" or "three-dimensional image measurement program generation system and method" can achieve the expected effect of image measurement, but it is also used in its actual operation. It has been found that this type of device can only measure the image only, and it cannot be applied to the measurement of the terrain at night, which causes it to be greatly restricted in use, so that it still exists in the overall structural design. There is room for improvement.

In view of this, the inventors have provided a high-mobility night-time mobile terrain scanning device and method based on the rich experience in design, development and actual production of the relevant industries for many years, and the research and improvement of existing structures and defects. In order to achieve better The purpose of practical value.

The main object of the present invention is to provide a nighttime mobile terrain scanning device and method with high mobility, which is mainly capable of detecting not only the terrain to be detected but also at night, so that it can be used at night. Widely used in night disaster relief and environmental surveys, and in the overall implementation of the use of more practical features.

The main purpose and effect of the high mobility mobile nighttime terrain scanning device of the present invention are achieved by the following specific technical means: The main system includes a laser flash module, an image capturing module, a synchronous control unit, an analyzing unit, a laser flashing aircraft and an image capturing aircraft; wherein: The laser flash module is provided with a laser flasher that projects a linear beam to form a laser beam plane, and a laser flash control unit is connected to the laser flasher. The laser flash control unit is connected with a laser flash satellite positioning module (GPS) and a laser flash three-axis gyroscope for obtaining the longitude, latitude, altitude, inclination angle, angle of rotation and orientation of the laser flash module. Information about the corner; The image capturing module is provided with an image capturing device, and the image capturing device is configured to capture a high-brightness reflective image of the ground, so that the shutter of the image capturing device is longer than the laser flash of the laser flash module. The laser flash delay is delayed, and the shutter is released before the laser flash is triggered by the laser flasher. After the laser flash is finished, the shutter is closed, and an image capturing control unit is connected to the image capturing device. And the image capture control unit is An image capturing satellite positioning module (GPS) and an image capturing three-axis gyroscope are respectively connected to obtain information about the longitude, latitude, altitude, inclination angle, rotation angle and azimuth of the image capturing module; The synchronization control unit is respectively coupled to the laser flash control unit of the laser flash module and the image capturing control unit of the image capturing module to enable the synchronous control unit to control the laser flash The unit and the image capturing control unit send a synchronous trigger signal; The analysis unit receives the signal transmitted by the laser flash control unit of the laser flash module and the image capturing control unit of the image capturing module, and collects the lightning transmitted by the laser flash control unit The spatial data of the flashing light and the spatial data and images captured by the image captured by the image capturing control unit can solve the spatial coordinates of the bright spots in the image to complete the terrain scanning operation; The laser flashing vehicle is provided with the laser flash module, wherein the laser beam plane illuminated by the laser flasher of the laser flash module and the laser flash aircraft have a depression angle of 45 degrees to 135 Between angles; The image capture aircraft is provided for mounting the image capture module.

The preferred embodiment of the present invention provides a highly maneuverable nighttime mobile terrain scanning device, wherein the synchronization control unit is wirelessly coupled to the laser flash control unit and the image capture control unit, respectively.

The preferred embodiment of the nighttime mobile terrain scanning device with high mobility of the invention For example, there is a ground control point, which is composed of a controller and a light source, for the image capture device to capture images to provide more accurate information, and improve the accuracy of the estimated space coordinates. degree.

A preferred embodiment of the high-mobility nighttime mobile terrain scanning device of the present invention, wherein the image capturing module uses the plurality of image capturing devices to capture the laser of the laser flash module from different positions. The linear flash of light that projects on the ground surface.

The main purpose and effect of the high mobility nighttime mobile terrain scanning method of the present invention are achieved by the following specific technical means: the main steps include the following steps: A. Sending the laser flash module to the area to be detected B. Sending the image capture module to the area to be detected; C. causing the synchronization control unit to send the laser flash control unit of the laser flash module and the image capture control unit of the image capture module Synchronizing the trigger signal to control the light on time of the laser flasher connected to the laser flash control unit, and controlling the shutter open time of the image capture device connected to the image capture control unit; D. making the laser The flasher projects the linear ray on the ground surface, and scans the area to be detected, and is matched with the laser flash satellite positioning module (GPS) and the laser flashing three-axis gyro connected by the laser flash control unit. The instrument obtains the longitude, latitude, altitude, inclination angle, rotation angle and azimuth angle when projecting; E. causing the image picker to capture the linear light projected on the surface of the laser flasher, and matching the image captured by the image capturing control unit to capture a satellite positioning module (GPS), image capturing three The axis gyroscope obtains the longitude, latitude, flying height, inclination angle, rotation angle and azimuth angle when the image is captured; F. The analytic unit respectively receives the ray projection position and orientation of the laser flasher and the image capture device, and the spatial position, orientation, and image data of the image sniffer You can calculate the space coordinates of any spot, and analyze the spot of the whole line to get the space coordinates of each point on the whole line. The images captured by different time and position can be calculated on a whole surface. The spatial coordinates of each point complete the terrain scanning operation.

The preferred embodiment of the present invention provides a highly maneuverable nighttime mobile terrain scanning method, wherein the laser flashing module is carried by a laser flashing aircraft above the area to be detected, and the image capturing module is The image capture aircraft is carried above the area to be detected.

The present invention has a highly mobile nighttime mobile terrain scanning method, wherein the analysis unit and the laser flash control unit and the image capturing control unit perform data processing in an instant transmission processing manner.

The present invention has a highly mobile nighttime mobile terrain scanning method, wherein the analysis unit is configured to scan the terrain of the laser flasher and the image capture device, and then obtain the obtained data. Data processing is performed by the laser flash control unit and the image capturing control unit after being transmitted to the analyzing unit.

The present invention has a high mobility night-time mobile terrain scanning method. In order to improve the accuracy of the terrain scanning operation, the ground surface control point light source is used to provide more accurate information on the ground surface. The image of the light source is captured on the image.

The present invention has a highly mobile nighttime mobile terrain scanning method. In order to improve the accuracy of the terrain scanning operation, the image capturing module utilizes a plurality of the image capturing devices from different positions. The linear flash of the laser flash module projected on the ground surface is taken and the position of each light spot in the space is calculated.

(1)‧‧‧Laser flash module

(11)‧‧‧Laser flasher

(12)‧‧‧Laser flash control unit

(13)‧‧‧Laser flash satellite positioning module

(14)‧‧‧Laser flash three-axis gyroscope

(2) ‧‧‧Image capture module

(21)‧‧‧Image capture device

(22)‧‧‧Image capture control unit

(23)‧‧‧Image capture satellite positioning module

(24)‧‧‧Image capture three-axis gyroscope

(3) ‧‧‧Synchronous control unit

(4) ‧ ‧ analysis unit

(5) ‧‧‧ Ground Control Points

(51) ‧ ‧ controller

(52) ‧‧‧Light source

(6) ‧‧‧Laser flash aircraft

(7) ‧‧‧Image capture aircraft

First: Schematic diagram of the overall architecture of the present invention

Second figure: schematic diagram of the state of use of the present invention

Third: Schematic diagram of the laser flash module structure of the present invention

Figure 4: Schematic diagram of the image capture module architecture of the present invention

For a more complete and clear disclosure of the technical content, the purpose of the invention and the effects thereof achieved by the present invention, it is explained in detail below, and please refer to the drawings and drawings: First, please refer to the first embodiment of the present invention and the second diagram of the present invention. The present invention mainly includes a laser flash module (1), Image capture module (2), synchronization control unit (3), analysis unit (4), ground control point (5), laser flash aircraft (6) and image capture aircraft (7); The laser flash module (1), please refer to the third figure, which is shown in the schematic diagram of the laser flash module of the present invention, which is provided with a laser flasher (11), and the laser flasher (11) Projecting a linear beam to form a laser beam plane, a laser flash control unit (12) is connected to the laser flasher (11), and a laser is connected to the laser flash control unit (12) Flash satellite positioning module [GPS] (13) and laser flash three-axis gyroscope (14) for obtaining the longitude, latitude, altitude, inclination angle, rotation angle and azimuth angle of the laser flash module (1) And other relevant information.

The image capture module (2), please refer to the fourth diagram of the image capture module architecture of the present invention, which is provided with an image capture device (21), and the image capture device (21) a high-brightness reflective image for capturing the ground, such that the shutter of the image picker (21) is longer than the laser flash delay of the laser flasher (11) of the laser flash module (1), and The laser flasher (11) releases the shutter before the laser flash is triggered, and the shutter is closed after the laser flash (11) is finished, and the image capturing device (21) is connected with the image capturing control unit (22). And the image capturing control unit (22) is respectively connected with an image capturing satellite positioning module (GPS) (23) and an image capturing three-axis gyroscope (24) for obtaining the image capturing mode. Group (2) longitude, latitude, altitude, inclination angle, angle of rotation and azimuth News.

The synchronization control unit (3) is respectively associated with the laser flash control unit (12) of the laser flash module (1) and the image capturing control unit (22) of the image capturing module (2) Preferably, the wireless connection is preferred, so that the synchronization control unit (3) sends a synchronization trigger signal to the laser flash control unit (12) and the image capture control unit (22).

The analysis unit (4) receives the laser flash control unit (12) of the laser flash module (1) and the image capturing control unit (22) of the image capturing module (2) The transmitted signal collects the spatial data of the laser flash transmitted by the laser flash control unit (12), and the spatial data and images captured by the image captured by the image capturing control unit (22), and can be solved Calculate the space coordinates of the bright spots in the image to complete the terrain scan operation.

The ground control point (5) is composed of a controller (51) and a light source (52), so that the controller (51) controls the light source (52) to continuously emit light, or the controller (51) and the controller The synchronization control unit (3) is coupled to enable the controller (51) to receive the synchronization trigger signal of the synchronization control unit (3) to activate the light source (52), and the light source (52) may be visible or invisible.

a laser flashing vehicle (6) for mounting the laser flash module (1), and a laser beam plane illuminated by the laser flasher (11) of the laser flash module (1) The laser flash aircraft (6) has a depression angle between 45 degrees and 135 degrees.

The image capture aircraft (7) is provided for mounting the image capture module (2).

In this way, the invention is used in operation, and includes the following steps: A. using a laser flash aircraft (6) to carry the laser flash module (1) above the area to be detected; B. using the image 撷Taking the aircraft to carry the image capturing module (2) to the area to be detected; C. causing the synchronization control unit (3) to the laser flashing control unit (12) of the laser flash module (1) and the The image capture control unit (22) of the image capture module (2) sends a synchronization trigger signal to control the light on time of the laser flasher (11) connected to the laser flash control unit (12), and control The shutter capture time of the image capture device (21) connected to the image capture control unit (22); D. causing the laser flasher (11) to project linear rays onto the ground surface to perform the detection area Scanning projection, and with the laser flash satellite positioning module (GPS) (13) and laser flash three-axis gyroscope (14) connected to the laser flash control unit (12), the longitude and latitude of the projection are obtained. , height, inclination angle, angle of rotation and azimuth; E. causing the image picker (21) to capture the laser flasher (11) projected on the surface The linear light on the surface is matched with the image captured by the image capturing control unit (22), the satellite positioning module (GPS) (23), and the image capturing three-axis gyroscope (24). Longitude, latitude, flying height, tilt angle, Rotation angle and azimuth angle; F. The illuminating position and orientation of the laser flasher (11) transmitted by the laser flash control unit (12) and the image capturing control unit (22) are respectively received by the analyzing unit (4) and the image 撷The spatial position, orientation, and image data of the extractor (21) are obtained by the instant transmission processing, or after the laser flasher (11) and the image capturing device (21) scan the terrain, and then obtain the obtained After the data is transmitted to the analysis unit (4), the space coordinates of any light spot can be calculated by the analysis unit (4), and the light spots of the entire line can be analyzed to obtain points on the entire line. The space coordinates, the images captured by different time and position can be used to calculate the space coordinates of each point on the whole surface, and complete the terrain scanning operation.

In order to improve the accuracy of the space coordinates calculated by the terrain scanning operation, the light source (52) of the ground control point (5) can be used to provide more accurate information on the ground surface, and the controller connected by the light source (52) is used. (51) controlling the light source (52) to continuously emit light, or connecting a controller (51) connected to the light source (52) to the synchronous control unit (3) to cause the controller (51) to receive the light source (52) The synchronous trigger signal of the synchronization control unit (3) activates the light source (52) to ensure that the image of the light source (52) captured on the image does not become linear due to a long exposure time and can be determined to be captured. The time of the light source (52) image.

Moreover, in order to improve the accuracy of the terrain scanning operation, the image capturing module (2) can also capture the laser flashing module (1) from different positions by using the plurality of image capturing devices (21). The laser flasher (1) projects linear rays on the ground surface, And to solve the position of each light spot in space, and improve the accuracy of the estimated space coordinates.

The spatial coordinate solution method of the light spot is: the solution of the linear light plane equation of the laser flasher (11) of the laser flash module (1), and the equation can be expressed as follows: a ₁ x + b ₁ y + c ₁ z = d ₁ [1]

Wherein, the plane equation coefficients a ₁ , b ₁ , c ₁ , d ₁ are the GPS coordinates of the laser flasher (11) positioned by the laser flash satellite positioning module (13) ( x _{l 0} , y _{l 0} , z _{l 0} ) and the attitude angles α , t , s of the output of the laser flash three-axis gyroscope (14). Where α is the azimuth angle, which refers to the positive rotation angle of the laser flasher (11) to the reference coordinate z-axis; t is the inclination angle, which means that the laser flasher (11) is in the positive direction of the local coordinate x-axis The angle of rotation; s is the angle of rotation, which refers to the angle of rotation of the laser flasher (11) in the positive direction of its local coordinate y-axis. The integrated GPS coordinates and the attitude angle of the laser flash three-axis gyroscope (14) are: a ₁ =-sin α sin t cos s +cos α sin s [2]

b ₁ =cos α sin t cos s +sin α sin s [3]

c ₁ =cos t cos s [4]

d ₁ = a ₁ x _{l 0} + b ₁ y _{l 0} + c ₁ z _{l 0} [5]

The space coordinate conversion matrix of the image capturing device (21) of the image capturing module (2) can capture the GPS coordinates ( x _c , y _c , z _c ) of the satellite positioning module (23) and the image The image captures the attitude angles A, T, and S output from the three-axis gyroscope (24).

Where [R] is a rotation transformation matrix, and

The image coordinates of the image capture device (21) can be converted by its local coordinates and conform to the following equation:

Where f is the distance between the photosensitive element of the image capturing element and the lens center, that is, the image distance. Substituting [6],

Where r _ij represents the i-th column and j-th row element of the rotation transformation matrix [R] in equation [7].

After arranging the equation [9], two coplanar equations are formed as follows: a ₂ x + b ₂ y + c ₂ z = d ₂ [10]

a ₃ x + b ₃ y + c ₃ z = d ₃ [11]

Where a ₂ = x _im r ₃₁ - r ₁₁ [12]

b ₂ = x _im r ₃₂ - r ₁₂ [13]

c ₂ = x _im r ₃₃ - r ₁₃ [14]

d ₂ = a ₂ x _c + b ₂ y _c + c ₂ z _c [15]

a ₃ = y _im r ₃₁ - r ₂₁ [16]

b ₃ = y _im r ₃₂ - r ₂₂ [17]

c ₃ = y _im r ₃₃ - r ₂₃ [18]

d ₃ = a ₃ x _c + b ₃ y _c + c ₃ z _c [19]

The image capture device (21) captures the solution of the high-brightness reflection point corresponding to the ground point space coordinates, and ( x _im , y _im ) is the image coordinate of the high-brightness reflection point, which is the value directly read from the image. . Therefore, the unknowns in equations [10] and [11] are the spatial coordinates of the ground points corresponding to the image points. Therefore, combined with the coplanar equation [1], there are three equations, which can solve the unique solution of the space coordinates of the ground point.

Therefore, the GPS flasher and other information and image resolution of the laser flasher (11) of the laser flash module (1) and the image capturing device (21) of the image capturing module (2) The method of image reflection point on the ground space coordinates is deduced.

From the above, the implementation description of the present invention shows that the present invention and the existing In contrast, the present invention mainly provides not only the scanning for detecting the terrain to be detected, but also the use at night, so that it can be widely applied in night disaster relief and environmental surveying, etc. The overall implementation of the use of more practical features.

However, the foregoing embodiments or drawings do not limit the structure of the product of the present invention or Appropriate changes or modifications of the art may be made without departing from the scope of the invention.

In summary, the embodiments of the present invention can achieve the expected use efficiency, and The specific structure disclosed has not only been seen in similar products, nor has it been disclosed before the application. Cheng has fully complied with the requirements and requirements of the Patent Law, and has filed an application for invention patents according to law. , it is really sensible.

Claims (9)

The utility model relates to a nighttime mobile terrain scanning device with high mobility, which mainly comprises a laser flash module, an image capturing module, a synchronization control unit, an analyzing unit, a laser flashing aircraft and an image capturing aircraft; wherein: a laser flash module, which is provided with a laser flasher that projects a linear beam to form a laser beam plane, and a laser flash control unit is connected to the laser flasher The flashing flash control unit is connected with a laser flash satellite positioning module (GPS) and a laser flashing three-axis gyroscope for obtaining the longitude, latitude, altitude, tilt angle, swing angle and azimuth of the laser flash module. The image capturing module is provided with an image capturing device for capturing a high-brightness reflective image of the ground, so that the shutter of the image capturing device is longer than the laser flashing module. The laser flashing delay of the laser flasher, and releasing the shutter before the laser flashing of the laser flasher is triggered, the shutter is closed after the laser flashing of the laser flasher is finished, and the image capturing device is connected to the image The image capturing control unit is respectively connected with an image capturing satellite positioning module (GPS) and an image capturing three-axis gyroscope for obtaining the longitude and latitude of the image capturing module. The information about the height, the tilt angle, the swing angle and the azimuth angle; the synchronization control unit is respectively associated with the laser flash control unit of the laser flash module and the image capture control unit of the image capture module Linking the synchronization control unit to the laser flash control unit and the image capture control list The transmitting unit transmits a synchronous trigger signal; the analyzing unit receives the signal transmitted by the laser flash control unit of the laser flash module and the image capturing control unit of the image capturing module, and collects the laser flash The spatial data of the laser flash transmitted by the control unit and the spatial data and images captured by the image captured by the image capturing control unit can solve the spatial coordinates of the bright spots in the image to complete the terrain scanning operation; The laser flashing vehicle is provided with the laser flash module, wherein the laser beam plane illuminated by the laser flasher of the laser flash module and the laser flash aircraft have a depression angle of 45 degrees to 135 Between the angles; the image capture aircraft is provided for carrying the image capture module. The high-mobility night-time mobile terrain scanning device according to the first aspect of the invention, wherein the synchronization control unit is wirelessly coupled to the laser flash control unit and the image capturing control unit. The high-mobility night-time mobile terrain scanning device according to claim 1, wherein the ground control point is composed of a controller and a light source, and the image capturing device is used for capturing the image capturing device. Imagery to provide more accurate information and to improve the accuracy of the estimated space coordinates. The high-mobility night-time mobile terrain scanning device according to the first aspect of the invention, wherein the image capturing module captures the laser flash module from different positions by using the plurality of image capturing devices. The laser flasher projects linear rays of light on the ground surface. The utility model relates to a nighttime mobile terrain scanning method with high mobility, which mainly comprises the following steps: A. sending the laser flash module to the area to be detected; B. sending the image capturing module to the area to be detected The upper control unit sends a synchronous trigger signal to the laser flash control unit of the laser flash module and the image capturing control unit of the image capturing module to control the link of the laser flash control unit. The light opening time of the laser flasher and the shutter opening time of the image capturing device connected to the image capturing control unit; D. causing the laser flasher to project the linear light on the ground surface to be detected Scanning projection is performed in the area, and the laser flashing satellite positioning module (GPS) and the laser flashing three-axis gyroscope connected to the laser flash control unit are used to obtain the longitude, latitude, altitude, inclination angle, and rotation of the projection. Angle and azimuth angle; E. causing the image picker to capture the linear light projected by the laser flasher on the ground surface, and matching the image captured by the image capturing control unit to capture a satellite positioning module [GPS 〕, image capture three-axis gyroscope to obtain the longitude, latitude, flight height, tilt angle, swing angle and azimuth angle of the image capture; F. use the analysis unit to receive the laser flash control unit by instant transmission processing And the position and orientation of the light projection of the laser flasher transmitted by the image capturing control unit and the spatial position, orientation, and image data of the image capturing device, that is, the spatial coordinates of any light spot can be deduced, and the entire The light spot of the line can be analyzed to obtain the space coordinates of each point on the entire line, from different time and position. The captured image can be used to calculate the spatial coordinates of each point on the whole surface to complete the terrain scanning operation. The utility model relates to a nighttime mobile terrain scanning method with high mobility, which mainly comprises the following steps: A. sending the laser flash module to the area to be detected; B. sending the image capturing module to the area to be detected The upper control unit sends a synchronous trigger signal to the laser flash control unit of the laser flash module and the image capturing control unit of the image capturing module to control the link of the laser flash control unit. The light opening time of the laser flasher and the shutter opening time of the image capturing device connected to the image capturing control unit; D. causing the laser flasher to project the linear light on the ground surface to be detected Scanning projection is performed in the area, and the laser flashing satellite positioning module (GPS) and the laser flashing three-axis gyroscope connected to the laser flash control unit are used to obtain the longitude, latitude, altitude, inclination angle, and rotation of the projection. Angle and azimuth angle; E. causing the image picker to capture the linear light projected by the laser flasher on the ground surface, and matching the image captured by the image capturing control unit to capture a satellite positioning module [GPS 〕, the image captures the three-axis gyroscope to obtain the longitude, latitude, flying height, tilt angle, swing angle and azimuth angle of the image capture; F. after the laser flasher and the image picker scan the terrain, Then, the obtained spatial position, orientation, image data, and subsequent processing modes are transmitted to the analysis sheet via the laser flash control unit and the image capturing control unit. By performing data processing, the space coordinates of any light spot can be deduced, and the light points of the entire line can be analyzed to obtain the space coordinates of the points on the entire line, and the images captured by different times and positions can be obtained. Calculate the space coordinates of each point on the whole surface to complete the terrain scanning operation. The high-mobility nighttime mobile terrain scanning method according to the fifth or sixth aspect of the patent application, wherein the laser flashing module is carried by the laser flashing aircraft to the area to be detected, and the image is The module is carried by the image capturing aircraft to the area to be detected. For example, the high-mobility night-time mobile terrain scanning method described in claim 5 or 6, wherein in order to improve the accuracy of the terrain scanning operation, the ground surface control point light source is provided at the ground surface to provide more rate determination. Information to capture the image of the source on the image. The high-mobility nighttime mobile terrain scanning method described in claim 5 or 6, wherein the image capturing module utilizes a plurality of the image capturing devices to improve the accuracy of the terrain scanning operation. The linear light rays projected on the ground surface by the laser flasher of the laser flash module are taken from different positions, and the positions of the light spots in the space are calculated.