WO2015156884A2 - Trajectoire de vol à compensation de mouvement avant - Google Patents

Trajectoire de vol à compensation de mouvement avant Download PDF

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Publication number
WO2015156884A2
WO2015156884A2 PCT/US2015/012323 US2015012323W WO2015156884A2 WO 2015156884 A2 WO2015156884 A2 WO 2015156884A2 US 2015012323 W US2015012323 W US 2015012323W WO 2015156884 A2 WO2015156884 A2 WO 2015156884A2
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WO
WIPO (PCT)
Prior art keywords
airframe
camera
image
flight path
interest
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Application number
PCT/US2015/012323
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English (en)
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WO2015156884A3 (fr
Inventor
Izak Van Cruyningen
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Izak Van Cruyningen
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Publication date
Application filed by Izak Van Cruyningen filed Critical Izak Van Cruyningen
Priority to EP15776110.7A priority Critical patent/EP3097687A4/fr
Publication of WO2015156884A2 publication Critical patent/WO2015156884A2/fr
Publication of WO2015156884A3 publication Critical patent/WO2015156884A3/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • Motion of a camera during image exposure causes blur in the image.
  • one source of camera motion is unexpected gusts or turbulence disturbing the airframe.
  • This motion can be mitigated with gyroscopes such as those produced by Kenyon Labs (US 2811042 and US 2570130); or with image stabilization available in many consumer cameras and smart phones.
  • This image stabilization uses gyroscope, inertial measurement unit (IMU), and accelerometer sensors to moves lenses or the sensor array in the camera, thereby compensating for the camera motion.
  • IMU inertial measurement unit
  • a second source of motion is the planned forward movement of the airframe across the field of view. This motion is present even in wind-still conditions, and generally cannot be detected or compensated by gyros or accelerometers since there is little acceleration or change in angular velocity in straight, level flight.
  • Prior approaches to Forward Motion Compensation include • mechanically translating the film, sensor, or a lens;
  • GSD ground sample distance
  • the GSD is calculated as the object distance times the pixel dimension over the lens focal length. So for a 100m flying height using a camera with .005mm size pixels and a 25mm focal length lens taking vertical pictures, the GSD is 2cm.
  • a common criterion for acceptable blur is that the airframe not move more than a fraction, say 1 ⁇ 2, of a GSD during the exposure time. So for an exposure time of 1/1000 second, this criterion limits the ground speed in this scenario to 1cm in 1/lOOOs or lOm/s (36km/hr or 22mph).
  • Unmanned aerial vehicles operate primarily under autopilot control. They are typically lighter and more maneuverable than manned aircraft, and they fly at much lower heights (smaller GSD) due to government regulations. To achieve good flight speeds with a small GSD, forward motion compensation should be used. UAVs don't need to worry about airsickness.
  • Forward motion compensation reduces blur due to planned airframe motion in images. As described in the following embodiments, this can be done by modifying the flight path to fly an arc around the object of interest during the time of exposure.
  • camera 12 mounted on airframe 10 captures an image of first field of view 20 along first optical axis 21 aimed at first object of interest 23.
  • airframe 10 flies first flight path arc 22 centered on first object of interest 23 with a radius substantially equal to the distance between camera 12 and first object of interest 23.
  • Airframe 10 pivots camera 12 around first object of interest 23 while the shutter in camera 12 is open. This is repeated around each subsequent object of interest to produce a scalloped or slalom path, namely Forward Motion Compensated (FMC) flight path 33.
  • FMC Forward Motion Compensated
  • Fig. L is a perspective view (not to scale) of an aerial survey taking images of multiple overlapping fields of view.
  • Camera 12, autopilot 14, control surfaces 8, and propulsion system 16 are mounted on airframe 10 flying in planned flight path 18.
  • Control surfaces 8 consist of one or more of elevator, rudder, ailerons, flaps, or combinations thereof (e.g. elevon).
  • Camera 12 images first field of view 20 along first optical axis 21 aimed at first object of interest 23.
  • First flight path arc 22 is centered on first object of interest 23 with radius substantially equal to the distance between camera 12 and first object of interest 23 along optical axis 21.
  • Second optical axis 25 points to second object of interest 27 at the center of second field of view 24.
  • Second flight path arc 26 is centered on second object of interest 27 with radius matching the distance between camera 12 when it gets to this point in the flight path and second object of interest 27 along second optical axis 25.
  • Third flight path arc 29 is centered on third object of interest 28 and has radius equal to the distance between camera 12 when it gets to this point in the flight path and third object of interest 28.
  • hill 30 increases the height of the ground so fourth flight path arc 32 has a smaller radius corresponding to the reduced object distance along fourth optical axis 31.
  • the combination of arcs 22, 26, 29, and 32, and the flight segments joining them produces forward motion compensated flight path 33.
  • first flight path arc 22 has radius equal to the distance between first object of interest 23 and camera 12 along first optical axis 21 and is oriented to keep the object end of first optical axis 21 in one position.
  • Airframe 10 pivots camera 12 around the object end of first optical axis 21, i.e. around first object of interest 23, while the shutter in camera 12 is open.
  • Autopilot 14 may also turn off propulsion system 16 to reduce blur due to vibration. Images used for photogrammetry in aerial surveys should be taken vertically, with tilts up to 3 degrees acceptable. For vertical images, first flight path arc 22 is oriented along the pitch axis of airframe 10.
  • the resulting FMC flight path 33 is a series of arcs 22, 26, 29, 32 centered on the objects of interest at the center of the fields of view, connected by more freeform paths shown as dashed lines.
  • Fig. 2. is a section of the flight path along planned flight path 18 for one exposure.
  • a flight plan is usually generated prior to flight to guide autopilot 14. It is often communicated as a series of waypoints that are stored on autopilot 14 prior to flight.
  • Autopilot 14 contains a processor and memory and controls the flight using control surfaces 8.
  • During flight autopilot 14 navigates airframe 10 between waypoints using segments such a planned flight path 18. Images are acquired either as quickly as possible for camera 12, or at predefined waypoints. To take a blur-free image of first field of view 20 along optical axis 21 pointing to object 50 with camera 12 at vertical position 44, the flight path is slightly modified.
  • the flight path is curved from start of arc 42 to end of arc 46, while the shutter on camera 12 is open.
  • the linear translational motion of planned flight path 18 is replaced with angular motion along first flight path arc 22 while the shutter is open.
  • the arc is centered on object 50 and the radius of the arc is object distance 48, from camera 12 to object 50.
  • planned flight path 18 is often straight and level flight.
  • the flight plan may follow the terrain elevations more closely.
  • the object distance is still calculated as the distance from the ground to the camera at the point of exposure.
  • the FMC flight path is a small variation on the flight plan with arcs at each exposure.
  • Fig. 3. is a perspective view (not to scale) of aerial inspection of power lines.
  • shield wires 60 and 62 are l-2cm in diameter and have to be inspected for lighting strikes.
  • Phase conductors 64, 65, and 66 are 3-5 cm in diameter with a steel core and stranded aluminum conductors that have to be inspected for corrosion, broken strands, failing spacers, failing dampers, or splice failures.
  • Phase conductors are ⁇ 10m apart, and towers 68 and 70 are 200-600m apart.
  • Airframe 10 with autopilot 14 is flying a planned catenary arc above shield wire 60 with camera 12 at a side oblique angle along optical axis 72.
  • the planned flight path is a catenary arc to closely follow shield wires 60 and 62 and phase conductors 64, 65, and 66.
  • superimposed on the planned catenary flight path are FMC arcs 74 and 76 to give the FMC catenary flight path 78.
  • Fig. 4 is a section across the transmission lines and flight path 78.
  • camera 12 is oriented with field of view 80.
  • Optical axis 72 is roughly 45 degrees off the horizontal to provide better stereo images when the wires are imaged with a second flight on the other side. The two flights together provide good coverage of the uppermost parts of the wires that are not visible from the ground.
  • Virtual object location 82 is chosen to reduce the forward motion blur for all the wires in the image, as described below.
  • phase conductor 65 To be able to see damage on phase conductor 65 requires resolution of a number of pixels, say 6, across the diameter of the wire. This gives a wire sample distance (by analogy to our GSD) of 40/6 ⁇ 7mm, so for our example camera with 25mm focal length lens and .005mm pixels, camera 12 should be within 33m of phase conductor 65. With a 1/lOOOs exposure time and a blur criterion of 1 ⁇ 2 wire sample distance, this gives a maximum inspection speed of 3.3 m/s. This is painfully slow, and is probably below the stall speed of a fixed wing UAV that can carry even a lightweight consumer camera.
  • autopilot 14 controls airframe 10 to fly a catenary arc to track phase conductor 65 elevation, with superimposed flight path arcs 74, 76, and one more for each inspection image.
  • Flight path arcs 74 and 76 lie in a plane oblique to the horizon in the plane swept out by optical axis 72, with a radius equal to the object distance along optical axis 72.
  • the object in the example of the previous paragraph being phase conductor 65, so the radius is 33m.
  • forward motion corrected catenary flight path 78 is the catenary of the conductors, modified by flight path arcs 74, 76, and one more for each image, as well as the flight segments joining the arcs.
  • a virtual object location 82 can be calculated to reduce forward motion blur for all the objects of interest.
  • camera 12 would be flown in an arc coming out of the page towards the viewer.
  • the relative motion at shield wire 60 and phase conductor 64 would also be out of the page, whereas the relative motion at shield wire 62 and phase conductors 65 and 66 would be into the page, away from the viewer.
  • virtual object location 82 is chosen to be the average of the distances from camera 12 to each of the objects of interest 60, 62, 64, 65, and 66, i.e. at the average location. If some objects are more important, then they can be weighted more heavily in the average. For a known arrangement of objects of interest 60, 62, 64, 65, and 66, virtual object location 82 is calculated using a simple or weighted average by a separate computer doing flight planning (not shown) or during the flight using autopilot 14.
  • the autofocus in consumer cameras calculates object distances for thousands of points and tries to determine the best setting for the focus. However, it does not know, a priori, the importance of different points in the inspection. For a field of view such as 80, it mostly measures the distant ground and not the five wires of interest. For the inspection illustrated in Fig. 3 and 4, the configuration of wires is known. Based on the inspection objectives, a better estimate of virtual location 82 can often be calculated either during flight planning or during flight by autopilot 14.
  • Fig 5 is a front view of a focal plane shutter typical of many consumer cameras.
  • top shutter 84 and bottom shutter 88 Just in front of the photosensitive array are opaque top shutter 84 and bottom shutter 88. Prior to an exposure, both shutters are at the top of the frame. The exposure starts with bottom shutter 88 moving down at a speed -1-10 m/s. For exposure times longer than the flash sync time (typically V125 - 250 s), bottom shutter 88 reaches the bottom of the frame before top shutter 84 starts to move. The whole photosensitive array is exposed during the time of the flash.
  • top shutter 84 starts to move down at the same speed as bottom shutter 88, after a delay equal to the exposure time, thus forming a slit 86 between the shutters.
  • the height of slit 86 divided by the shutter speed equals the exposure time.
  • the focal plane shutters in most consumer cameras are driven by springs and move at 5-8 m/s.
  • the Panasonic Lumix GM1TM uses a shutter stepper motor 89.
  • this camera uses an electronic first curtain which clears the rows of pixels of charge as it moves down the sensor.
  • This shutter has a sync speed of V50 s and it travels at about 1 m/s.
  • the slower speed and controllable shutter stepper motor 89 are a good match for the FMC applications described below. All- electronic shutters can be even slower and potentially easier to match to airframe responsiveness.
  • photosensitive elements are not all exposed at the same instant in time.
  • the top of the image (bottom of the object since the lens inverts) is exposed before the bottom of the image (top of object).
  • rolling shutter artifacts such as leaning forward in the direction of motion.
  • FIG. shows airframe 10 with control surfaces 8, camera 12, autopilot 14, and propulsion system 16 flying along planned flight path 18.
  • Camera 12 is mounted upside down pointing forward and down to image upcoming terrain in forward looking field of view 90 along forward oblique optical axis 91.
  • forward looking field of view 90 is a trapezoid. Further points at larger object distances at the front of trapezoidal field of view 90 need less FMC, whereas closer points at shorter object distances at the back of trapezoidal field of view 90 need more FMC.
  • Decreasing radius FMC arcs 92, 93, and 94 start fairly straight and then pitch more and more in smaller radii during the time of exposure.
  • the exposure time on camera 12 is set shorter than the flash sync time, so slit 86 sweeps across the photosensitive array from bottom to top (camera is upside down compared to Fig 5).
  • the furthest points in forward looking field of view 90 are exposed first. These correspond to large object distances so radius of arc 92 is large at first.
  • As slit 86 sweeps up the photosensitive array closer points in forward looking field of view 90 are exposed, so the object distances decrease, and the radius of arc 92 decreases. This decreasing radius flight arc corresponds well with the response of an airframe to dive or nose down pitch control.
  • Control of the slit speed using shutter stepper motor 89 or an all-electronic shutter allows control over how fast the radius is reduced, making it easier to match to responsiveness of airframe 10. Decreasing radius FMC arcs 93 and 94 correspond to subsequent images and join together with connecting segments to make forward oblique FMC flight path 95.
  • Fig 7. shows airframe 10 with control surfaces 8, camera 12, autopilot 14, and propulsion system 16 flying along planned flight path 18.
  • Camera 12 is mounted upside down pointing sideways and down to image terrain in side looking field of view 96 along side oblique optical axis 97.
  • side looking field of view 96 is a trapezoid. Further points at larger object distances at the far side of trapezoidal field of view 96 need less FMC, whereas closer points at shorter object distances at the near side of trapezoidal field of view 96 need more FMC. Decreasing radius FMC arcs 98 and 99 start fairly straight and then curve in smaller and smaller radii during the time of exposure.
  • the exposure time on camera 12 is set shorter than the flash sync time, so slit 86 sweeps across the photosensitive array from bottom to top (camera is upside down compared to Fig 5).
  • the furthest points in side looking field of view 96 are exposed first. These correspond to large object distances so radius of arc 98 is large at first.
  • As slit 86 sweeps up the photosensitive array closer points in side looking field of view 96 are exposed, so the object distances decrease, and the radius of arc 98 decreases.
  • Decreasing radius FMC arcs 99 corresponds to a subsequent image. These arcs join together with connecting segments to make side oblique FMC flight path 100.
  • Fig. 8 is a flowchart showing how to implement forward motion compensated flight path 33 to take a single image. This would be repeated for each subsequent image.
  • the assumption is that airframe 10 is flying along planned flight path 18 either from the start of the flight, from a prior waypoint, or from taking a prior image.
  • Setup for picture decision 110 is whether airframe 10 is close enough that camera 12 can image field of view 20. Taking a picture has to be anticipated because both camera 12 and airframe 10 take time to set up. Consumer cameras have a delay of 1/20* to 1 ⁇ 4 second from the time they are triggered until the time the shutter opens. This time can be reduced by prefocusing or by using manual focus.
  • An airframe can be very maneuverable and on the edge of stability like a jet fighter, or very stable and slow responsive like an airliner. More maneuverable airframes respond more quickly to changes in control. From the time the controls are adjusted, there will be a delay of tens of milliseconds until the airframe is in the new attitude.
  • the setup times can be measured and stored on autopilot 14 before the flight.
  • the current location and groundspeed can be determined a) from GPS/GNSS or b) from recognizable features on the ground and the airspeed less the wind speed. Given the setup times, the current location, and the current groundspeed, setup for picture decision 110 can be made.
  • airframe 10 If airframe 10 is not close enough to begin setup for picture 110, then it continues flight to waypoint process 112. If airframe 10 is close enough then it has to determine object distance process 114 by one of the means described in the following three paragraphs.
  • the object distance is the height above ground.
  • the ground elevation comes from a map or a digital elevation model (DEM), and the altitude of airframe 10 comes from an altimeter.
  • the distance to the object of interest can be measured with RADAR, LiDAR, SONAR, or other well-known distance measuring tools.
  • the object distance is determined in the flight plan to be close enough to get the desired wire sample distance.
  • the object distance is the distance from the camera to the object.
  • the camera autofocus will measure the distance.
  • a virtual object location 82 may be calculated to reduce the forward motion blur over all the objects of interest. A first approximation is to simply average the distances. Then the radius used for the FMC arc is the distance from camera 12 to virtual object 82.
  • Fig 6 and side oblique imaging Fig 7 use trigonometry with the height above ground, the camera angle of declination, and the lens angle of view to determine the furthest and closest object distances, at the far and near ends of the trapezoidal field of view assuming flat ground.
  • camera 12 has 4800 pixels of dimension 0.005mm in the vertical direction, i.e. the light sensitive sensor is 24mm high. Then with a 25mm focal length lens the vertical angle of view is 51 degrees. If in Fig.
  • forward oblique optical axis 91 is inclined 45 degrees up from vertical, then the furthest points of trapezoid 90 are 71 degrees up from vertical and the closest points of trapezoid 90 are 19 degrees up from vertical.
  • the furthest points at the front of trapezoidal field of view 90 will be 302m away and the closest points at the back of trapezoidal field of view 90 will be 106m away.
  • Arc 92 will start with radius of 302m and decrease to radius 106m as slit 86 is scanned from back to front across light sensitive array of camera 12.
  • Trigger camera, adjust controls, set shutter timer, and optionally turn off propulsion process 116 are four steps to prepare for taking a photo.
  • the order of triggering the camera or adjusting the controls depends on whether the camera or airframe has the greater delay.
  • a shutter timer is set based on the camera delay plus the shutter time, to know when to stop flying FMC arc 22.
  • the propulsion may be turned off to reduce blur due to vibration. This is easy for fixed wing airframes, less so for rotary wings.
  • control surfaces 8 may have to be feathered to maintain the arc, but for an airframe with neutral stability it may be sufficient to get the airframe into the correct configuration.
  • the control surfaces 8 For the reducing radii arcs for the forward oblique Fig 6 and side oblique Fig 7 imaging, the control surfaces 8 have to be adjusted to tighten the arc.
  • the shutter timer is decremented.
  • the airframe will resume flight to next waypoint process 122.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

En référence à la figure 1 de la présente invention, une caméra (12) montée sur une cellule (10) capture une image d'un premier champ de vision (20) le long d'un premier axe optique (21) visant un premier objet d'intérêt (23). Pendant la durée d'exposition, la cellule (10) parcourt un premier arc de trajectoire de vol (22) qui est centré sur le premier objet d'intérêt (23) et qui possède un rayon sensiblement égal à la distance entre la caméra (12) et le premier objet d'intérêt (23). La cellule (10) fait pivoter la caméra (12) autour du premier objet d'intérêt (23) pendant que l'obturateur dans ladite caméra (12) est ouvert. Cette opération est répétée autour de chaque objet d'intérêt ultérieur afin de produire une trajectoire onduleuse ou en slalom, c'est-à-dire une trajectoire de vol (33) à compensation de mouvement avant (FMC).
PCT/US2015/012323 2014-01-22 2015-01-21 Trajectoire de vol à compensation de mouvement avant WO2015156884A2 (fr)

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Application Number Priority Date Filing Date Title
EP15776110.7A EP3097687A4 (fr) 2014-01-22 2015-01-21 Trajectoire de vol à compensation de mouvement avant

Applications Claiming Priority (2)

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US201461930424P 2014-01-22 2014-01-22
US61/930,424 2014-01-22

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WO2015156884A3 WO2015156884A3 (fr) 2015-12-03

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US11050979B2 (en) 2015-01-11 2021-06-29 A.A.A. Taranis Visual Ltd Systems and methods for agricultural monitoring

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EP3097687A2 (fr) 2016-11-30
EP3097687A4 (fr) 2017-04-26
WO2015156884A3 (fr) 2015-12-03

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