A kind of building ground mapping system based on unmanned planeTechnical field
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of building ground mapping system based on unmanned plane.
Background technology
Mapping science is widely used in economic construction and national defense construction.Rural and urban construction plans, land resources utilize,In the work such as environmental protection, it is necessary to carry out land survey and survey and draw various maps, used for planning and management.
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.The peopleWith aspect, unmanned plane+sector application is that unmanned plane has really just been needed；At present taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation,Disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture waveThe application in unrestrained etc. field, has greatly expanded the purposes of unmanned plane in itself, developed country also actively extension sector application withDevelop unmanned air vehicle technique, unmanned plane can not only complete the task of manned aircraft execution, and being more suitable for someone's aircraft should not holdCapable task.
At present, Chinese Patent Application No. is the new mapping system that CN 201610747991.9 discloses a kind of eminence objectSystem, including CPU, controller, external equipment, storage device, image collecting device, unmanned plane；Unmanned plane receives controller and sentControl signal, make action and state of flight is fed back into controller；Controller receives the control signal that CPU is sent, according toUnmanned plane is sent to after the state of flight processing of unmanned plane feedback；External equipment receive external control signal, be sent to CPU and fromCPU receives image information, and shows；Storage device receives the data of CPU transmissions and stores or passed data according to CPU instructionGive CPU；Image acquisition device image information is simultaneously sent to CPU；CPU：Receive the image letter of image acquisition deviceBreath, storage device is sent to after digitlization, is read control parameter from storage device or outside control, is sent as control signalTo controller.The method have the advantages that：It is not required to people's control；Higher building body examination can be painted, it is easy to control.
Chinese Patent Application No. is that CN 201410652551.6 discloses a kind of survey of quick mapping multi-rotor unmanned aerial vehicle againMethod, including frame, flight hoisting mechanism, cradle head mechanism and controlling organization are painted, frame stretches out four horns, body along its bodyBottom is provided with foot stool, and horn and foot stool are folding structure, and flight hoisting mechanism is arranged at the end of four horns, headMechanism is by carry bar carry in being provided with camera on unmanned plane organism bottom, cradle head mechanism, cradle head mechanism is for adjusting cameraOptical axis is all the time perpendicular to ground, and controlling organization is used to control unmanned plane during flying to specified altitude assignment and regulation cradle head mechanism upset；ThisThe mapping method of invention determines the relation between shooting height and imaging scale, resets nothing by analyzing camera lens parameterMan-machine flight path.The invention can quickly obtain mapped results, mapping precision and efficiency high.
Said system can carry out engineering mapping to ground, but their structures or complexity, with high costs, or without realThe ground command system applied, and measured completely using unmanned plane, cause its measurement accuracy poor, work especially regional for someIt is difficult to observe as personnel, it is impossible to accomplish the end in view.
The content of the invention
It is an object of the invention to provide a kind of building ground mapping system based on unmanned plane, to solve in the prior artCaused above-mentioned multinomial defect.
A kind of building ground mapping system based on unmanned plane, including
Ground command center：Including command centre's console, command centre's console is connected with large-screen display, figureAs filing system and sound acquisition module, command centre's console includes computer module；
Ground moving control station：Control computer including earth station, command centre's console passes through internet and controlComputer is communicated to connect, and control computer is connected with data communication module one and wireless image receiving module；
Patrol unmanned machine：Including the flight control system being arranged in unmanned plane body, flight control system is connected with wireless image hairPenetrate module, navigation module, avoidance message processing module, laser lamp and loudspeaker module, the data communication module one be used forThe wireless connection of data communication module two on patrol unmanned machine, the wireless image transmitter module and wireless image receiving module withoutLine is connected, and the flight of unmanned plane can be controlled, and the avoidance message processing module is connected with double-camera video frequency collection mouldBlock, the navigation way that the navigation module is used to be provided according to ground command center carries out inspection flight, and the laser lamp is located atThe bottom of unmanned plane body and its direction of illumination is downwards.
It is preferred that, it is additionally provided with stroboscopic lamp on the unmanned plane body.
It is preferred that, described image filing system is carried out by the microprocessor built in it to the picture shot during inspectionVoluntarily sort out and name.
It is preferred that, the avoidance message processing module connects with double-camera video frequency acquisition module and flight control system respectivelyConnect, avoidance message processing module collects current position and ambient image information from double-camera video frequency acquisition module, and andWhen judge it is current whether need to carry out avoidance flight, the flight path of unmanned plane is then controlled by controlling flight control system.
It is preferred that, temperature sensor, humidity sensor and wind sensor are additionally provided with the patrol unmanned machine, temperatureDegree sensor, humidity sensor and wind sensor are connected with data communication module two.
It is preferred that, described image filing system is also connected on Cloud Server, Cloud Server to be provided with by internet to be addedClose module.
The advantage of the invention is that：
1st, the system uses ground human-computer interaction interface terminal, and it plays a part of being mainly analysis unmanned plane collection and returnedData shown and analyzed, also by command centre console unmanned plane can be controlled accurately to adopt the data special procuredCollection；
2nd, using navigation module, it can be planned with the flight path of unmanned plane, or according to actual ground situation, adjust itFlight path, the datagram collected reaches ground moving control station, then is sent through internet to ground command center, and signal is passedDefeated speed is fast, and stability is good；
3rd, unmanned plane speed controlled range is big, and operation is very simple and effective, there is stronger fault-tolerant ability；Stable system performanceReliably, maneuverability, operation cost is low；
4th, sound acquisition module is provided with ground command center, the administrative staff of command centre can Real Time Observation groundSituation, when needing to carry out emphasis mapping to some areas, to loudspeaker can send voice messaging, ground by sound acquisition moduleAfter dough figurine person hears, operated as indicated, while administrative staff can also control unmanned plane to survey and draw region model along emphasis pointEnclose and flown, and signal is conveyed to by ground mapping worker by laser lamp, help its understand need survey and draw destination andScope；
5th, described image filing system to the picture shot during inspection can also voluntarily sort out and named, convenientManagement；
6th, the avoidance message processing module collects current position and environment map from double-camera video frequency acquisition moduleAs information, and judge currently whether need to carry out avoidance flight in time, then control unmanned plane by controlling flight control systemFlight path.
Brief description of the drawings
Fig. 1 is theory diagram of the invention.
Fig. 2 is the theory diagram of ground command center in the present invention.
Fig. 3 is the theory diagram of ground moving control station in the present invention.
Fig. 4 is the theory diagram of patrol unmanned machine in the present invention.
Embodiment
To be easy to understand the technical means, the inventive features, the objects and the advantages of the present invention, with reference toEmbodiment, is expanded on further the present invention.
As shown in Figures 1 to 4, a kind of building ground mapping system based on unmanned plane, including
Ground command center：Including command centre's console, command centre's console is connected with large-screen display, figureAs filing system and sound acquisition module, command centre's console includes computer module；
Ground moving control station：Control computer including earth station, command centre's console passes through internet and controlComputer is communicated to connect, and control computer is connected with data communication module one and wireless image receiving module；
Patrol unmanned machine：Including the flight control system being arranged in unmanned plane body, flight control system is connected with wireless image hairPenetrate module, navigation module, avoidance message processing module, laser lamp and loudspeaker module, the data communication module one be used forThe wireless connection of data communication module two on patrol unmanned machine, the wireless image transmitter module and wireless image receiving module withoutLine is connected, and the flight of unmanned plane can be controlled, and the avoidance message processing module is connected with double-camera video frequency collection mouldBlock, the navigation way that the navigation module is used to be provided according to ground command center carries out inspection flight, and the laser lamp is located atThe bottom of unmanned plane body and its direction of illumination is downwards.
In the present embodiment, it is additionally provided with stroboscopic lamp on the unmanned plane body.
In the present embodiment, described image filing system by the microprocessor built in it to the figure that is shot during inspectionPiece voluntarily sort out and named.
In the present embodiment, the avoidance message processing module is respectively with double-camera video frequency acquisition module and winged controlSystem connection, avoidance message processing module collects current position and ambient image information from double-camera video frequency acquisition module,And judge currently whether need to carry out avoidance flight in time, the flight rail of unmanned plane is then controlled by controlling flight control systemMark.
In the present embodiment, temperature sensor, humidity sensor and wind-force are additionally provided with the patrol unmanned machine to passSensor, temperature sensor, humidity sensor and wind sensor are connected with data communication module two.
In addition, described image filing system is also connected on Cloud Server, Cloud Server by internet is provided with encryptionModule.
The course of work and principle：
1st, the administrative staff in ground command center send flight directive by command centre's console to patrol unmanned machine,The instruction mainly transfers to patrol unmanned machine by ground moving control station, captures after image information, and unmanned plane is gatheredThe data returned are shown and analyzed, and are mainly shown on large-screen display, can also be controlled by command centre's consoleUnmanned plane is accurately gathered to the data special procured, and described image filing system can also be to the picture that is shot during inspectionVoluntarily sort out and name, convenient management；
2nd, using navigation module, it can be planned with the flight path of unmanned plane, or according to actual ground situation, adjust itFlight path, the datagram collected reaches ground moving control station, employs 2.4G figure biographies, and transmission speed is fast, then through interconnectionNet is sent to ground command center；
3rd, sound acquisition module is provided with ground command center, the administrative staff of command centre can Real Time Observation groundSituation, when needing to carry out emphasis mapping to some areas, to loudspeaker can send voice messaging, ground by sound acquisition moduleAfter dough figurine person hears, operated as indicated, while administrative staff can also control unmanned plane to survey and draw region model along emphasis pointEnclose and flown, and signal is conveyed to by ground mapping worker by laser lamp, help its understand need survey and draw destination andScope；
4th, the avoidance message processing module collects current position and environment map from double-camera video frequency acquisition moduleAs information, and judge currently whether need to carry out avoidance flight in time, then control unmanned plane by controlling flight control systemFlight path
As known by the technical knowledge, the present invention can be by the embodiment party of other essence or essential feature without departing from its spiritCase is realized.Therefore, embodiment disclosed above, for each side, is all merely illustrative, and is not only.InstituteHave within the scope of the present invention or be included in the invention in the change being equal in the scope of the present invention.