CN102654940B - Processing method of traffic information acquisition system based on unmanned aerial vehicle and - Google Patents
Processing method of traffic information acquisition system based on unmanned aerial vehicle andDownload PDFInfo
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- CN102654940B CN102654940BCN201210161566.3ACN201210161566ACN102654940BCN 102654940 BCN102654940 BCN 102654940BCN 201210161566 ACN201210161566 ACN 201210161566ACN 102654940 BCN102654940 BCN 102654940B
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Abstract
Description
Technical field
The present invention relates to unmanned spacecraft information acquisition and processing technology field, particularly a kind of based on unmanned spacecraft (UAV) traffic information acquisition system and disposal route thereof.
Background technology
Unmanned spacecraft is that one is used for observation place entry target aerial mobile equipment, is widely used in military war, is used for collecting real-time intelligent information.Compared with traditional information detecting system, be characterized in economical, flexible, there is larger application potential at civil area, comprise traffic control and information acquisition, emergency reaction, environmental pollution, port security and natural disaster monitoring (as snowslide and forest fire) etc.Chinese patent literature CN201138840Y discloses a kind of camera head for using on the unmanned spacecraft going on patrol, the method is: unmanned plane is equipped with digital camera, this digital camera connects wireless mobile communication device and wireless remote control filming apparatus, there is low cost of manufacture, the advantages such as technology is simple and easy to maintenance, be conducive to the universal of unmanned plane and use, being especially applicable to the units such as security company, People's Armed Police and frontier guards for conventional patrol.But the equipment of this unmanned plane designs mainly for specific normal work to do, thereby airborne equipment is relatively fixing, and for observed result without subsequent treatment.Chinese patent literature CN101493699B discloses a kind of aerial unmanned plane ultra-viewing distance remote control method.Mainly in electronic map window, show unmanned plane during flying flight path according to unmanned plane passback data, dynamically show current unmanned plane during flying attitude and positional information at virtual instrument window; Finally, carry out unmanned plane model and image/video fusion according to unmanned plane image/video data at attitude reconstruction window.The topmost feature of this method is to reflect in real time the position and attitude information of current unmanned plane, thereby can directly realize the adjusting to its position by unmanned plane current state.But this invention is mainly from the angle of remote control and communication, and emphasis is considered the message exchange of unmanned plane and ground remote control device, does not relate to application and the data acquisition function of unmanned plane.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, a kind of traffic information acquisition system and disposal route thereof based on unmanned machine is provided, realize high-altitude and gather transport information, make the information of collection comprehensive, and can follow the tracks of at a distance.
For reaching above object, the technical solution used in the present invention is as follows:
A kind of traffic information acquisition system based on unmanned machine, comprise control system, ground control station and the image processing module of unmanned machine, unmanned aerial vehicle, it is characterized in that, image capture device is housed on unmanned machine, image capture device connects Wireless Telecom Equipment, and Wireless Telecom Equipment is for carrying out the transmission of communication and information with ground control station.
Described image capture device is by being fixed on the fixing framework of servomotor in described unmanned machine.
Described image capture device is high-definition camera or digital camera.
The technical parameter of described digital camera is 1200mp, 37-111mm, f2.5-5.4;
Described high-definition camera is that technical parameter is the daylight type colour TV camera of 520TV Lines PAL, or technical parameter is 7-14 μ m, the thermal infrared imaging camera of 625TV Lines PAL.
An information processing method for the traffic information acquisition system based on unmanned machine that should be described, is characterized in that, the method comprises the steps:
1. before flight, course line is inputted to the control system of unmanned machine;
2. in-flight, by the image capture device on unmanned machine, transport information collection is carried out in earth's surface target or the spatial domain of needs monitoring;
The information of 3. collecting transfers to ground control station through Wireless Telecom Equipment, carries out image processing by image processing module; Or the information of collecting is stored in the memory module in unmanned machine, after landing, unmanned machine imports again computer, carry out subsequent treatment.
Unmanned machine is collected the method for transport information: comprise that kind and the implementation method, particularly unmanned plane of collection information are under different situations, collect sample size and the flight path algorithm of multiple traffic data.For example: locality (as crossing or viaduct) Data Collection, linear data are collected sample size demand and unmanned plane during flying route and the placement algorithm of (as road section traffic volume flow, with car and lane change behavior) and area data collection (as local road network).
The method of unmanned machine video communication and image processing: comprise that exploring unmanned aerial vehicle vision audio data imports in real time control center into and utilize image processing techniques automatically to process, extract and transmit the best practice of transport information.
The point, line, surface data of collecting based on unmanned machine, carry out the new application of field of traffic: comprise
1) according to the collection to key node traffic data, extract traffic conflict sample, analyze crossing vehicle behavior, calibration check realistic model, sets up new parameter and checks the traffic capacity of intersection and the rationality of existing signal lamp.
2) utilize key road segment dynamic traffic flow data, optimize vehicle follow gallop model, improvement and verify Traffic Flow Simulation model and research vehicle lane-changing behavior model.
3) the road network face numeric field data observing according to UAV is set up traffic flow Spatio-temporal evolution models, analyzes the reason of generation and dissipation law and the traffic congestion generation of traffic congestion, sets up the Spatio-temporal evolution models of probing into congested in traffic formation and diffusion.
The present invention utilizes unmanned spacecraft, carry image capture device according to course line and the highly automated flight of planning, carry out holographic acquisition of road traffic information and processing, for the application of follow-up intelligent transport system and city emergency management provide basic data support and utilization.
Compared with prior art, the invention has the beneficial effects as follows:
1. aspect the operation ease of monitoring cost and severe weather conditions, there is obvious advantage;
2. be based on unmanned spacecraft to introduce traditional information field, set up the cruise model and algorithm of optimal route of unmanned plane;
3. break through conventional traffic information collecting method, be based upon holographicization aspect and have the land communications holographic information sampling and processing system of the leading level in the world.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention is based on the first embodiment of the traffic information acquisition system of unmanned machine.
Fig. 2 is the vertical view of the embodiment of the present invention.
Fig. 3 is the workflow diagram of the present invention at emergency rating.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated, but should not limit the scope of the invention with this.
The unmanned machine of selecting in the present embodiment is four rotor UAV MD4-1000 of German Microdrones GmbH company.Fig. 1 is the structural representation that the present invention is based on the first embodiment of the traffic information acquisition system of unmanned machine, as shown in the figure, comprise antenna 1, engine 2, cantilever 3, flight control and piggyback pod 4, support 5, detecting devices load compartment 6, image capture device 7, Wireless Telecom Equipment 8, screw propeller 9 and undercarriage 10.Its performance parameter is: fuselage adopts carbon fibre material, size 70cm, deadweight 2.65kg, peak load 2.5kg, cruise speed 48km/h, limiting altitude 150m, flight duration 60-70 minute, voyage 50-60km.
Unmanned plane carries out Driving control by robot pilot, and robot pilot is equipped with GPS navigation module, flight control microcomputer and interface circuit thereof, gyroscope, accelerometer, magnetometer, barometer, thermometer for inertial navigation.When use, can remote measuring and controlling, set at any time flying height, speed, the line of flight of aircraft, also can control in microcomputer and input the default line of flight and flight parameter to flight.
Image capture device 7 adopts high-definition camera or digital camera, in the present embodiment, it is arranged in the detecting devices load compartment 6 of unmanned plane and adopts the fixing framework with servomotor, can realize camera body and camera lens in flight course can be around the horizontal rotation of stationary shaft, thereby reach effective antagonism by causing shake by wind-force in aircraft navigation, solve the shooting angle error causing thus.The technical parameter of the digital camera of selecting is: resolution 1200mp, equivalent focal length 37-111mm, aperture f2.5-5.4; The resolution of daylight type colour TV camera is 520TV Lines PAL; The technical parameter of low-light B/W camera is: minimal illumination 0.0003Lux, resolution 570TV Lines PAL, aperture f1.4; The technical parameter of thermal infrared imaging camera is: response wave length 7-14 μ m, resolution 625TV Lines PAL.The road surface video that the road surface picture that digital camera is captured or video camera are taken.Being connected by unmanned machine manufacturer between image capture device and Wireless Telecom Equipment provides embedded transport module to complete; Image capture device by the signal collected Wireless Telecom Equipment that is transferred to, arrives ground control station by wireless way for transmitting by embedded module.
Wireless Telecom Equipment 8 is installed in the flight control and piggyback pod 4 of unmanned machine, realizes two-way communication between ground, thereby can control the line of flight of unmanned plane, the traffic image of image capture device collection can also be transferred to ground control station simultaneously.
Before use, set the line of flight and the flight parameter of unmanned machine, adjust the flight control system of unmanned machine.When use, first take the mode of manual remote control to make unmanned machine rise to certain height by ground controller, then unmanned machine is transformed into automatic Pilot state.Thereafter, unmanned machine is by the course line of setting and flight parameter flight, and the detection of traffic parameter, burst Mass disturbance is carried out in the earth's surface target to needs monitoring or spatial domain.The data that detect both can have been passed ground control station in real time back, also can be stored in the memory module in unmanned machine, will detect data importing computer, to carry out subsequent treatment after unmanned machine lands again.Online real-time Transmission passage is mainly provided by Wireless Telecom Equipment, and the information that some sensors that arrange on high-definition camera equipment or unmanned machine gather is with the form of simulating signal, by Wireless Telecom Equipment automatic transmission to earth station system.Terminal user can need by self, video is customized to unloading and become the digital format of other universal standards, to further utilize.Its transmission range is determined by unmanned plane self performance, conventionally at 20-30 kilometer.Use and finish, unmanned machine is by ground controller's remote control, and in appointed area, landing is reclaimed.For example, in holographic acquisition of road traffic information application, concrete flying method is as follows:
1, utilize system of the present invention to gather macroscopical large area image and video in high-altitude fixed point, in order to analyze the congested in traffic Spatio-temporal Evolution process that forms and spread, and locality (as crossing or viaduct) traffic data collection.
2, utilize system of the present invention at suitable height, round trip flight with 50-80km speed along specific road section, analyze this road section traffic volume state and driving behavior, or tracking special car, analyze traffic behavior and the driving behavior of point, line, surface, utilize image processing software to obtain the space-time track of all vehicles.
3, utilize UAV equipment to record a video in low latitude establishing shot high-resolution, utilize image processing software to obtain the space-time track of all vehicles, analyze its microscopic behavior (speed, acceleration, with speeding, lane change etc.), thereby explore road section traffic volume flow, with car, lane change behavior.Also can gather the track (can reach the precision of every frame) of pedestrian and non motorized vehicle simultaneously.
,adopt a set of above system of the present invention, turn circle radius can be set, the traffic that realizes many aircrafts and accurately take specified point.
Fig. 3 is the method for work flow process of the present invention at emergency rating, as shown in the figure, suppose that traffic administration or supervision department obtain the alarm of related traffic events, send rapidly unmanned machine to remove love scene, take real time video image information and identifying processing by image capture device 7, by software, event is confirmed and judged whether to carry out manual intervention and intervention degree.Intervention mode is divided into full manual intervention and accurate manual intervention; In total man's work intervention mode, managerial personnel can issue commander and traffic order to love scene in real time by unmanned machine; Not direct intervention of UAS traffic events in accurate artificial mode, only automatically triggering its picture pick-up device is high definition picture photographing mode, obtains first-hand photo data, is stored in local CF card apparatus.The information of collecting transfers to ground control station through Wireless Telecom Equipment 8, carries out image processing by image processing module; Or the information of collecting is stored in the memory module in unmanned machine, after landing, unmanned machine imports again computer, carry out subsequent treatment.
The description of above embodiment is can understand and apply the invention for ease of those skilled in the art.Person skilled in the art obviously can easily make modification to this case study on implementation, and the General Principle of this explanation is applied in other embodiment, and needn't pass through performing creative labour.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not departing from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (1)
1. the information processing method of the utilization traffic information acquisition system based on unmanned machine, this traffic information acquisition system, comprise control system, ground control station and the image processing module of unmanned machine, unmanned machine, it is characterized in that, image capture device (7) is housed on unmanned machine, image capture device (7) connects Wireless Telecom Equipment (8), and Wireless Telecom Equipment (8) is for carrying out the transmission of communication and information with ground control station;
It is characterized in that, this information processing method mainly comprises following content:
1) according to the collection to key node traffic data, extract traffic conflict sample, analyze crossing vehicle behavior, calibration check realistic model, sets up new parameter and checks the traffic capacity of intersection and the rationality of existing signal lamp;
2) utilize key road segment dynamic traffic flow data, optimize vehicle follow gallop model, improvement and verify Traffic Flow Simulation model and research vehicle lane-changing behavior model;
3) the road network face numeric field data observing according to UAV is set up traffic flow Spatio-temporal evolution models, analyzes the reason of generation and dissipation law and the traffic congestion generation of traffic congestion, sets up the Spatio-temporal evolution models of probing into congested in traffic formation and diffusion;
4) under emergency rating, suppose that traffic administration or supervision department obtain the alarm of related traffic events, send unmanned machine to remove love scene, take real time video image information and identifying processing by image capture device (7), by software, event is confirmed and judged whether to carry out manual intervention and intervention degree, in total man's work intervention mode, managerial personnel can issue commander and traffic order to love scene in real time by unmanned machine; Not direct intervention of UAS traffic events in accurate artificial mode, only automatically triggering its picture pick-up device is high definition picture photographing mode, the information of collection can transfer to ground control station through Wireless Telecom Equipment; Or be stored in the memory module in unmanned machine, after landing, carry out again subsequent treatment.
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