WO2021135854A1 - 一种使用无人机进行测距测量的方法和装置 - Google Patents
一种使用无人机进行测距测量的方法和装置 Download PDFInfo
- Publication number
- WO2021135854A1 WO2021135854A1 PCT/CN2020/134484 CN2020134484W WO2021135854A1 WO 2021135854 A1 WO2021135854 A1 WO 2021135854A1 CN 2020134484 W CN2020134484 W CN 2020134484W WO 2021135854 A1 WO2021135854 A1 WO 2021135854A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- scale
- distance
- camera
- ruler
- center
- Prior art date
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000001454 recorded image Methods 0.000 claims description 2
- 241000669003 Aspidiotus destructor Species 0.000 claims 1
- 238000004590 computer program Methods 0.000 claims 1
- 238000000691 measurement method Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
-
- 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
- G01C11/04—Interpretation of pictures
Definitions
- the invention relates to the field of aviation technology and the field of unmanned aerial vehicles, and in particular to a method and device for using an unmanned aerial vehicle to perform distance measurement.
- the present invention provides a method and device for measuring distance using drones, which can measure busy areas (such as roads) without occupying busy areas, and the measurement method is more convenient, faster, and capable of certain The precision.
- Another feature of the present invention is that there is no requirement on the type and focal length of the camera, and the camera can be configured more flexibly, because the distance is not completely dependent on the parameters of the camera, but is calculated by comparison.
- a device for measuring distance using a drone which is characterized by comprising: a drone, a camera, and a software system.
- the drone is a device with a camera and a network module that can transmit the captured image frames, and a pan/tilt (stabilized pan/tilt) can be added to carry the camera to increase the stability and/or maneuverability of the camera.
- a pan/tilt stabilized pan/tilt
- the camera is deployed on an unmanned aerial vehicle or a pan-tilt mounted on the unmanned aerial vehicle, and has a device for capturing image frames with a fixed orientation.
- the software system is a system that obtains or assists in obtaining the distance between two points in the image according to the image frame information of the camera of the drone.
- a method of using drones for distance measurement which is characterized in that it includes:
- the drone is maintained at the same height when collecting (measurement) ground distance.
- the drone can be raised to a corresponding height to ensure that the height difference when acquiring image frame information is close to or the same as the height difference when shooting the scale.
- the camera is fixed in a certain direction (it can be vertical downward, or it can be horizontal in a certain direction) to collect images.
- a larger ruler (which can be drawn on the ground or spread out on the ground) is prepared in advance according to a fixed distance, and the ruler has necessary scales (the scale can be adjusted according to needs), and the working height is used to photograph this ruler, Pass the ruler through the center of the screen, refer to Figure 1.
- this ruler is used to mark a semi-transparent ruler (in the software system), the scale corresponds to the scale, and the working height (or working distance) is recorded.
- the translucent ruler (semi-transparent scale ruler) can rotate around the center of the screen in the center of the screen, and is a translucent ruler drawn on the basis of the image frame.
- the translucent ruler may be a prepared picture.
- the semi-transparent ruler can edit the produced picture in the software system according to the condition of the photographed ground ruler.
- the translucent ruler may be a picture drawn by an artist with reference to a ground ruler photographed by an artist.
- the semi-transparent scale may be a semi-transparent scale scale drawn according to scale information configured by the scale of the photographed ground.
- the software system has a semi-transparent dot (red dot or green dot) in the center of the screen;
- the object can be obtained from the recorded image frame to measure the distance.
- the line segment to be measured can be translated to the center of the screen and compared with the scale ruler to calculate the distance;
- the translucent scale on the screen of the software system can be rotated to get closer to the line segment to be measured to obtain a better measurement (or comparison) effect.
- a gimbal (stabilized gimbal) can be added to the drone to carry a camera to increase the stability and/or maneuverability of the camera.
- the scale of the scale deployed on the ground can be set according to the height, and can be 1 cm to 500 meters, for example, 10 cm, 50 cm, 1 meter, 5 meters, 10 meters, etc.
- the action of rotating the ruler in the software system may be to use the mouse to drag the ruler, and then the angle between the current position of the mouse and the center of the screen is the angle between the center line of the ruler and the center of the screen.
- a number may be added to the translucent scale scale displayed in the software system to assist in identifying the distance more quickly.
- the UAV used can be equipped with a gyroscope to obtain the ground clearance, or it may be equipped with a laser ranging instrument or equipment to obtain the UAV’s ground clearance, or it may be optional to provide the ground clearance.
- the drone with a height above the ground (or upward flight offset) is used to perform the tasks of the present invention.
- Fig. 1 schematically shows a situation where a ruler is laid on the ground, top view.
- Fig. 2 schematically shows a schematic diagram of the effect after the scale in the software system is turned.
- Fig. 3 schematically shows a schematic diagram of an effect after steering for measuring a ground rectangle.
- Step 1 Determine what scale mark is placed on the ground according to the distance between the drone and the ground when you want to measure, for example, 20 meters in height (or vertical distance), and the distance of each scale on the ground is 1 meter ( Or 0.5 meters), for example, a 50-meter scale line is placed on the ground.
- Step 2 The drone flies over this tick mark, hovering directly above the tick mark, and shoots the ground tick mark according to the widest line (diagonal) in the picture (try to let the tick mark pass through the picture, so that you can Test the farthest interval in the image), let the tick mark pass through the center of the picture, then save this picture, and record the height of the drone at this time.
- Step 3 The art creates a scale picture of the same size according to the scale information in the picture saved in Step 2, and saves the diagonal scale information into the direction that coincides with the x-axis of the picture (the x-axis of the picture at this time) It will be wider than the x-axis of the picture saved by the camera), and set the picture to be stored as semi-transparent, and the art can adjust the transparency as needed.
- the artist can cut out the scale in the picture (cut the picture), then make it translucent, and then adjust the angle of the scale picture to be horizontal.
- Step 4 Load the semi-transparent scale mark picture made by art in the software system, superimpose it on the image frame transmitted by the drone, and display the picture to the center point of the drone image frame, which is to make two pictures The center point of is overlapped correspondingly, and then the value of the measured distance is calculated according to the scale.
- the angle of the translucent scale mark can be modified through the contact information of the mouse or the touch screen to facilitate the measurement of the distance.
- the angle of the translucent scale mark can be set according to the angle of the line connecting the current position of the mouse and the center of the image frame.
- Step 5 If you want to measure the distance more accurately for a taller object, you can measure the height of the object, and then instruct the drone to rise the corresponding height directly above the object to re-measure a certain distance of the object.
- the drone's own gyroscope or the drone's own height information you can use the drone's own gyroscope or the drone's own height information, or you can equip the drone with a laser ranging device to measure the altitude relative to the ground or a building. height.
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (7)
- 一种使用无人机进行测距测量的装置,其特征在于,包括:无人机,摄像头,软件系统;所述无人机是带有摄像头和网络模块可以将拍摄的图像帧传送出去的设备;所述摄像头是部署在无人机或无人机搭载的云台上的,有固定朝向的拍摄图像帧的设备;所述软件系统是根据无人机的摄像头的图像帧信息获取或辅助获取图像中两点距离的系统。
- 一种使用无人机进行测距测量的方法,其特征在于,包括:设定某个固定的高度(或距离)来收集摄像头朝向某固定方向的图像帧信息;事先按照此高度(或距离)来拍摄某刻度的刻度尺,用以获得所述软件系统中的刻度标记信息;实际测距测量的时候,选定图像帧画面中的两个点,尽量让这两个点的连线穿过屏幕中心点,然后参照半透明的刻度标尺来计算距离。
- 根据权利要求2所述的方法,其特征在于,“设定某个固定的高度(或距离)来收集摄像头朝向某固定方向的图像帧信息”,还包括:保持无人机在收集(测量)地面距离的时候保持在相同的高度上;进一步地,如果待测物体自身有一定的高度,为了更加精确,可以将无人机提升相应的高度;摄像头固定在某一方向上(可以是垂直向下,可以是水平某方向)来收集图像。
- 根据权利要求2所述的方法,其特征在于,“事先按照此高度(或距离)来拍摄某刻度的刻度尺,用以获得所述软件系统中的刻度标记信息”,还包括:事先按照固定的距离准备一个较大的标尺(可以在地面上绘制,或展开在地面上),标尺上有必要的刻度(根据需要可以调整刻度大小),使用工作高度拍摄这个标尺,让标尺穿过屏幕的中心;使用这个标尺来标记半透明的刻度标尺(在软件系统中),刻度对应上,记录下工作高度(或工作距离);作为一种可选的实施方式,这个刻度标记可以是美术参照图像帧中的地面刻度信息制作的半透明图片;在所述软件系统中所述半透明标尺可以在屏幕中心围绕屏幕中心转动,是在图像 帧的基础上再绘制上的一个半透明标尺;此半透明的刻度标尺的中心与图像帧的中心重叠。
- 根据权利要求2所述的方法,其特征在于,“实际测距测量的时候,选定图像帧画面中的两个点,尽量让这两个点的连线穿过屏幕中心点,然后参照半透明的刻度标尺来计算距离”,还包括:软件系统在屏幕显示的相机图像帧的中心叠加显示一个半透明的点(红点或绿点);实际操作时,尽量让待测的物体(或者说待测的线段)穿过屏幕中心,然后看屏幕上的刻度跨度是多少,来计算距离;作为一种可选的实施方式,可以从录制的图像帧中获取物体来测量距离,此时可以将待测线段平移到屏幕中心与刻度比较以推算距离。
- 一种计算机可读写介质,其上存储有计算机程序和相关数据,其特征在于,所述程序被处理器执行时实现本发明的相关计算功能和内容。
- 一种电子设备,其特征在于,包括:一个或多个处理器;存储装置,用于存储一个或多个程序。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911406987.6A CN111121724A (zh) | 2019-12-31 | 2019-12-31 | 一种使用无人机进行测距测量的方法和装置 |
CN201911406987.6 | 2019-12-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021135854A1 true WO2021135854A1 (zh) | 2021-07-08 |
Family
ID=70506397
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2020/134484 WO2021135854A1 (zh) | 2019-12-31 | 2020-12-08 | 一种使用无人机进行测距测量的方法和装置 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN111121724A (zh) |
WO (1) | WO2021135854A1 (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111121724A (zh) * | 2019-12-31 | 2020-05-08 | 异起(上海)智能科技有限公司 | 一种使用无人机进行测距测量的方法和装置 |
CN112365664A (zh) * | 2020-11-13 | 2021-02-12 | 国网浙江省电力有限公司丽水供电公司 | 一种线路防外破警示的装置及方法 |
CN112650434A (zh) * | 2020-12-29 | 2021-04-13 | 微医云(杭州)控股有限公司 | 刻度尺生成方法、装置、电子设备和存储介质 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1563892A (zh) * | 2004-04-08 | 2005-01-12 | 中国人民解放军南京军区南京总医院 | 超声刀振幅检测装置 |
CN1918451A (zh) * | 2004-01-16 | 2007-02-21 | 微软合并公司 | 用于从单一图像对3d对象进行测量、建模和地图制作的系统、计算机程序和方法 |
US20120169868A1 (en) * | 2010-12-31 | 2012-07-05 | Kt Corporation | Method and apparatus for measuring sizes of objects in image |
CN104949617A (zh) * | 2014-03-31 | 2015-09-30 | 大猩猩科技股份有限公司 | 用于对象包装的对象三维尺寸估测系统及方法 |
CN105324633A (zh) * | 2013-01-30 | 2016-02-10 | 英西图公司 | 提供加强环境感知的增强视频系统 |
CN111121724A (zh) * | 2019-12-31 | 2020-05-08 | 异起(上海)智能科技有限公司 | 一种使用无人机进行测距测量的方法和装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107091636B (zh) * | 2017-04-27 | 2019-07-16 | 深圳空灵科技有限公司 | 一种无人机测量植被面积及长度的方法 |
CN206862355U (zh) * | 2017-05-09 | 2018-01-09 | 武汉大学 | 一种爆堆块度分布无阴影垂直摄像装置 |
CN110032969B (zh) * | 2019-04-11 | 2021-11-05 | 北京百度网讯科技有限公司 | 用于检测图像中的文本区域的方法、装置、设备以及介质 |
-
2019
- 2019-12-31 CN CN201911406987.6A patent/CN111121724A/zh active Pending
-
2020
- 2020-12-08 WO PCT/CN2020/134484 patent/WO2021135854A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1918451A (zh) * | 2004-01-16 | 2007-02-21 | 微软合并公司 | 用于从单一图像对3d对象进行测量、建模和地图制作的系统、计算机程序和方法 |
CN1563892A (zh) * | 2004-04-08 | 2005-01-12 | 中国人民解放军南京军区南京总医院 | 超声刀振幅检测装置 |
US20120169868A1 (en) * | 2010-12-31 | 2012-07-05 | Kt Corporation | Method and apparatus for measuring sizes of objects in image |
CN105324633A (zh) * | 2013-01-30 | 2016-02-10 | 英西图公司 | 提供加强环境感知的增强视频系统 |
CN104949617A (zh) * | 2014-03-31 | 2015-09-30 | 大猩猩科技股份有限公司 | 用于对象包装的对象三维尺寸估测系统及方法 |
CN111121724A (zh) * | 2019-12-31 | 2020-05-08 | 异起(上海)智能科技有限公司 | 一种使用无人机进行测距测量的方法和装置 |
Also Published As
Publication number | Publication date |
---|---|
CN111121724A (zh) | 2020-05-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2021135854A1 (zh) | 一种使用无人机进行测距测量的方法和装置 | |
US10089530B2 (en) | Systems and methods for autonomous perpendicular imaging of test squares | |
US9639960B1 (en) | Systems and methods for UAV property assessment, data capture and reporting | |
US20200218289A1 (en) | Information processing apparatus, aerial photography path generation method, program and recording medium | |
US10810426B2 (en) | Systems and methods for autonomous perpendicular imaging of test squares | |
CN108536863A (zh) | 一种基于无人机的地图中选定区域更新方法及系统 | |
CN105956081B (zh) | 地面站地图更新方法及装置 | |
JP7074126B2 (ja) | 画像処理装置、生育調査画像作成システム及びプログラム | |
US20150070392A1 (en) | Aerial video annotation | |
JP7079125B2 (ja) | 空中写真撮影管理システム及びプログラム | |
TWI444593B (zh) | 地面目標定位系統與方法 | |
WO2020062178A1 (zh) | 基于地图识别目标对象的方法与控制终端 | |
CN110703805A (zh) | 立体物体测绘航线规划方法、装置、设备、无人机及介质 | |
JP4588369B2 (ja) | 撮影装置及び撮影方法 | |
CN108647252A (zh) | 一种基于无人机的地图中选定特征更新方法及系统 | |
JP2007271869A (ja) | 画像処理による地図作成方法、その装置及びそのコンピュータプログラム | |
JP2011169658A (ja) | 撮影位置特定装置および撮影位置特定方法 | |
CN110944154B (zh) | 一种高空瞭望摄像头图像中固定物体的标注与识别方法 | |
CN108492334A (zh) | 一种基于定位定向数据实现商用相机照片地理标定的方法 | |
WO2019061859A1 (zh) | 移动平台、摄像路径生成方法、程序、以及记录介质 | |
KR100893556B1 (ko) | 항공사진 촬영장치 | |
CN116203976A (zh) | 变电站室内巡检方法、装置、无人机和存储介质 | |
WO2018158820A1 (ja) | 距離算出システム、方法及びプログラム | |
JP4491293B2 (ja) | モデル形成装置及びモデル形成方法 | |
JP4523833B2 (ja) | 撮影計画支援装置及びそのためのプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20910984 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20910984 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 22/05/2023) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20910984 Country of ref document: EP Kind code of ref document: A1 |