A UAV aerial photography modeling system and modeling method thereof

Abstract

The present invention discloses a drone aerial photography modeling system and a modeling method thereof, and relates to the field of space planning technology; in order to solve the problem that the prior art cannot intuitively and completely reflect the topography; the system includes a control module, a wireless communication module, an aerial photography measurement module, a differential GPS module, a three-dimensional modeling module, and a storage module, and the method includes controlling the control module through the wireless communication module and planning the running trajectory of the drone device. The present invention binds the drone device and the shooting and measuring device together by sleeved a rotating connecting column inside a hollow ring, and the bearing connecting plate always keeps parallel to the ground under the gravity of the load-bearing connecting block, the panoramic camera, and the laser rangefinder, and the shaking and turning of the drone device during flight will not affect the state of the bearing connecting plate, thereby ensuring the stability and accuracy of the panoramic camera and the laser rangefinder when shooting and measuring the regional topography.

Description

Technical Field

[0001] The present invention relates to the technical field of space planning, and in particular to an unmanned aerial vehicle (UAV) aerial photography modeling system and a modeling method thereof. Background Art

[0002] Spatial planning includes social and economic coordination, rational development and utilization of land and resources, effective supervision of ecological and environmental protection, orderly promotion of new urbanization, coordination of major cross-regional facilities, and construction of planning management systems. At present, in the existing technology, the drone aerial photography modeling system can only model the terrain and establish a two-dimensional model, but cannot make an accurate three-dimensional model of the terrain. Therefore, there is an urgent need for a drone aerial photography modeling system and its modeling method.

[0003] After searching, the Chinese patent application number CN201810713431.0 discloses a track platform modeling system based on drones, including an aerial photography drone and a three-dimensional modeling module. The aerial photography drone includes a differential GPS module, a wireless communication module, a drive module and an aerial photography module. The differential GPS module and the aerial photography module are connected to the three-dimensional modeling module through the wireless communication module. The aerial photography drone collects modeling data according to the pre-planned flight trajectory, obtains track images through the aerial camera, obtains platform images through the optical sensor, and obtains geographic location information through the differential GPS module, and then sends it to the three-dimensional modeling module through the 4G network. The three-dimensional modeling module processes the platform image and track image data respectively to obtain the track model and the platform model, and then integrates the track model and the platform model according to the geographic location information. Although the track platform modeling system based on drones in the above patent can perform three-dimensional modeling, the drone is easily affected by the external environment during the data collection process, causing shaking, tilting, etc., which makes the data collected by the drone inaccurate, affecting the accuracy of the final three-dimensional modeling. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an unmanned aerial vehicle aerial photography modeling system and a modeling method thereof.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A drone aerial photography modeling system comprises a control module, a wireless communication module, an aerial photography measurement module, a differential GPS module, a three-dimensional modeling module and a storage module; the output end of the control module is connected to the input end of the aerial photography measurement module; the output end of the aerial photography measurement module is connected to the input end of the differential GPS module; the output end of the differential GPS module is connected to the input end of the three-dimensional modeling module; the output end of the three-dimensional modeling module is connected to the input end of the storage module; the output end of the storage module is connected to a client; the output end of the client is connected to the input end of the wireless communication module; the output end of the wireless communication module is connected to the input end of the control module; the output end of the aerial photography measurement module is connected to the input end of the storage module.

[0007] Preferably: the differential GPS module includes a data correction unit and a data calculation unit.

[0008] Preferably, the three-dimensional modeling module includes an integrated model unit and an image processing unit.

[0009] Preferably: the integrated model unit includes a denoising mode and a splicing mode.

[0010] Preferably: the wireless communication module includes a Zigbee unit.

[0011] Further preferably, the storage module includes a data reading unit, a data storage unit and a data storage library.

[0012] As a preferred embodiment of the present invention: the aerial photography measurement module includes an aerial photography measurement unit; the aerial photography measurement unit includes a drone device and a photography measurement device.

[0013] Further: the UAV device includes a UAV body, a supporting connecting rod, a supporting connecting column, a protective bottom column, a hollow ring, a load-bearing connecting column, a driving assembly, and a rotating wing; the outer walls of the UAV body are fixedly connected to the outer wall of one side of the supporting connecting rod; the outer wall of the top end of the supporting connecting rod is fixedly connected to the outer wall of the bottom end of the driving assembly; the output shaft of the driving assembly is connected to the outer wall of the bottom end of the rotating wing through a coupling; the outer wall of the top end of the supporting connecting column is fixedly connected to the outer wall of the bottom end of the UAV body; the outer wall of the top end of the protective bottom column is fixedly connected to the outer wall of the bottom end of the supporting connecting column; the inner wall of one side of the supporting connecting column is processed with a sliding groove; the outer wall of the top end of the load-bearing connecting column is fixedly connected to the outer wall of the bottom end of the UAV body; the outer wall of the top end of the hollow ring is fixedly connected to the outer wall of the bottom end of the load-bearing connecting column.

[0014] As a further solution of the present invention: the shooting and measuring device includes a load-bearing connecting plate, a load-bearing connecting block, a rotating connecting column, a panoramic camera, and a laser rangefinder; the outer walls around the load-bearing connecting plate are slidably connected to the inner wall of one side of the sliding groove; the outer walls on both sides of the rotating connecting column are fixedly connected to the inner wall of one side of the load-bearing connecting plate; the outer walls around the rotating connecting column are rotatably connected to the inner wall of one side of the hollow ring; the top outer wall of the load-bearing connecting block is fixedly connected to the bottom outer wall of the load-bearing connecting plate; the top outer wall of the panoramic camera is fixedly connected to the bottom outer wall of the load-bearing connecting plate; the top outer wall of the laser rangefinder is fixedly connected to the bottom outer wall of the load-bearing connecting plate.

[0015] A method for using a drone aerial photography modeling system comprises the following specific steps:

[0016] S1: Control the control module through the wireless communication module and plan the operation trajectory of the drone device;

[0017] S2: The UAV device carries the photographing and measuring device and uses the panoramic camera and laser rangefinder to photograph and measure the regional topography;

[0018] S3: Correcting the data collected by the photographic measurement through the calculation data unit and the data correction unit in the differential GPS module;

[0019] S4: Using the captured images and the corrected data to perform three-dimensional modeling of the regional topography through the integrated model unit and the image processing unit in the three-dimensional modeling module;

[0020] S5: The three-dimensionally modeled regional topography is stored in a storage module.

[0021] The beneficial effects of the present invention are as follows: the present invention binds the UAV device and the shooting and measuring device together by sleeved rotating connecting columns inside the hollow ring, and the bearing connecting plate always keeps parallel to the ground under the gravity of the load-bearing connecting block, the panoramic camera and the laser rangefinder, and the shaking and turning of the UAV device during flight will not affect the state of the bearing connecting plate, thereby ensuring the stability and accuracy of the panoramic camera and the laser rangefinder when shooting and measuring the regional topography, avoiding the large gap between the actual measurement data detected by the differential GPS module and the GPS positioning data, increasing the calculation amount of the data calculation unit, increasing the system burden, and being unfavorable for the data correction unit to correct the data. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a UAV aerial photography modeling system proposed by the present invention;

[0023] Figure 2 This is a schematic diagram of the connection modules of a drone aerial photography modeling system proposed by the present invention;

[0024] Figure 3It is a schematic diagram of the device structure of a photography and measurement unit of a drone aerial photography modeling system proposed by the present invention;

[0025] Figure 4 It is a structural schematic diagram of a drone device of a drone aerial photography modeling system proposed by the present invention;

[0026] Figure 5 It is a structural schematic diagram of a photography and measurement device of a drone aerial photography modeling system proposed by the present invention;

[0027] Figure 6 It is a flow chart of a modeling method of a UAV aerial photography modeling system proposed by the present invention.

[0028] In the figure: 100-UAV device, 101-UAV body, 102-support connecting rod, 103-support connecting column, 104-protective bottom column, 105-hollow ring, 106-load-bearing connecting column, 107-slideway, 108-driving assembly, 109-rotating wing, 200-shooting and measuring device, 201-load-bearing connecting plate, 202-load-bearing connecting block, 203-rotating connecting column, 204-panoramic camera, 205-laser rangefinder. DETAILED DESCRIPTION

[0029] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0030] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of this patent, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this patent and simplifying the description, and do not limit the referred device, structure or element to have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limitations on this patent.

[0032] Embodiment 1:

[0033] A UAV aerial photography modeling system, such as Figure 1 , Figure 2As shown, it includes a control module, a wireless communication module, an aerial photography measurement module, a differential GPS module, a three-dimensional modeling module, and a storage module; the output end of the control module is connected to the input end of the aerial photography measurement module; the output end of the aerial photography measurement module is connected to the input end of the differential GPS module; the output end of the differential GPS module is connected to the input end of the three-dimensional modeling module; the output end of the three-dimensional modeling module is connected to the input end of the storage module; the output end of the storage module is connected to a client; the output end of the client is connected to the input end of the wireless communication module; the output end of the wireless communication module is connected to the input end of the control module; the other output end of the aerial photography measurement module is connected to the input end of the storage module; the staff enters the system through the client, and operates the control module through the wireless communication module, so that the aerial photography measurement module performs aerial photography measurement on the space and then sends the data to the storage module for storage, and analyzes it with the differential GPS module, and the differential GPS module calculates the correction data and sends the corrected data to the three-dimensional modeling module, and the three-dimensional modeling module performs three-dimensional modeling on the topography inside the area according to the corrected data, and then sends it to the storage module for storage, and then sends it to the client to facilitate the customer to intuitively view the regional topography.

[0034] In order to ensure the normal operation of the UAV aerial photography modeling system; Figure 1 , Figure 3 As shown, the differential GPS module includes a data correction unit and a calculation data unit; the three-dimensional modeling module includes an integrated model unit and an image processing unit; the integrated model unit includes a denoising mode and a splicing mode; the wireless communication module includes a Zigbee unit; the storage module includes a data reading unit, a data storage unit and a data repository; the aerial photography measurement module includes an aerial photography measurement unit; the aerial photography measurement unit includes a drone device 100 and a shooting and measuring device 200; the Zigbee unit can remotely control the system, and then control the drone device 100 to carry the shooting and measuring device 200 to shoot and measure the topography inside the space, and then the collected data is calculated by the differential GPS module and the GPS positioning data through the calculation data unit and then corrected by the data correction unit, and the corrected data is sent to the three-dimensional modeling module, modeling is performed through the image processing unit and the integrated model unit, and the accuracy of regional topography modeling is ensured through the denoising mode and the splicing mode, and then the modeled data is sent to the storage module, and the data model is stored in the data repository through the data storage unit, and it is convenient for staff to view the regional topography.

[0035] In order to ensure the stability of the drone device 100 when carrying the photographing and measuring device 200 for photographing and measuring; Figure 4 , Figure 5As shown, the drone device 100 includes a drone body 101, a supporting link 102, a supporting connecting column 103, a protective bottom column 104, a hollow ring 105, a load-bearing connecting column 106, a driving component 108, and a rotating wing 109; the outer walls of the drone body 101 are fixedly connected to the outer wall of one side of the supporting link 102; the outer wall at the top of the supporting link 102 is fixedly connected to the outer wall at the bottom of the driving component 108; the output shaft of the driving component 108 is connected to the outer wall at the bottom of the rotating wing 109 through a coupling; the outer wall at the top of the supporting connecting column 103 is fixedly connected to the bottom of the drone body 101 The outer wall of the top of the protective bottom column 104 is fixedly connected to the outer wall of the bottom end of the supporting connecting column 103; the inner wall of one side of the supporting connecting column 103 is processed with a sliding groove 107; the outer wall of the top of the load-bearing connecting column 106 is fixedly connected to the outer wall of the bottom end of the drone body 101; the outer wall of the top of the hollow ring 105 is fixedly connected to the outer wall of the bottom end of the load-bearing connecting column 106; the shooting and measuring device 200 includes a load-bearing connecting plate 201, a load-bearing connecting block 202, a rotating connecting column 203, a panoramic camera 204, and a laser rangefinder 205; the outer walls around the load-bearing connecting plate 201 are slidably connected to the inner wall of one side of the sliding groove 107; the rotating connecting The outer walls of the two sides of the column 203 are fixedly connected to the inner wall of one side of the bearing connecting plate 201; the outer walls around the rotating connecting column 203 are rotatably connected to the inner wall of one side of the hollow ring 105; the outer wall of the top of the load-bearing connecting block 202 is fixedly connected to the outer wall of the bottom end of the bearing connecting plate 201; the outer wall of the top of the panoramic camera 204 is fixedly connected to the outer wall of the bottom end of the bearing connecting plate 201; the outer wall of the top of the laser rangefinder 205 is fixedly connected to the outer wall of the bottom end of the bearing connecting plate 201; by putting the rotating connecting column 203 inside the hollow ring 105, the drone device 100 and the shooting and measuring device 200 are bound together, and the bearing connecting plate 201 Under the gravity of the load-bearing connecting block 202, the panoramic camera 204, and the laser rangefinder 205, they always remain parallel to the ground, and the shaking, turning, etc. of the drone device 100 during flight will not affect the state of the load-bearing connecting plate 201, thereby ensuring the stability and accuracy of the panoramic camera 204 and the laser rangefinder 205 when photographing and measuring the regional topography, avoiding the differential GPS module detecting a large gap between the actual measurement data and the GPS positioning data, increasing the calculation amount of the data calculation unit, increasing the system burden, and being unfavorable for the data correction unit to correct the data.

[0036] When the present embodiment is in use, the staff enters the system through the client, and operates the control module through the wireless communication module, so that the aerial photography measurement module performs aerial photography measurement of the space and then sends the data to the storage module for storage and the differential GPS module for analysis. The differential GPS module calculates the correction data and sends the corrected data to the three-dimensional modeling module. The three-dimensional modeling module performs three-dimensional modeling of the topography inside the area according to the corrected data, and then sends it to the storage module for storage, and then sends it to the client for the customer to intuitively view the regional topography. The Zigbee unit and the wireless network unit can remotely control the system, and then control the drone device 100 to carry the shooting and measuring device 200 to shoot and measure the topography inside the space, and then calculate the collected data through the differential GPS module and the GPS positioning data through the data calculation unit, and then correct the data through the data correction unit, and send the corrected data to the three-dimensional modeling module through the image processing unit and the integration module. The model unit is used for modeling, and the accuracy of regional terrain modeling is ensured through the denoising mode and the splicing mode. Then the modeled data is sent to the storage module, and the data model is stored in the data repository through the data storage unit, so as to facilitate the staff to view the regional terrain. By putting the rotating connecting column 203 inside the hollow ring 105, the drone device 100 and the shooting and measuring device 200 are bound together, and the bearing connecting plate 201 always keeps parallel to the ground under the gravity of the load-bearing connecting block 202, the panoramic camera 204, and the laser rangefinder 205, and the shaking and turning of the drone device 100 during the flight will not affect the state of the bearing connecting plate 201, thereby ensuring the stability and accuracy of the panoramic camera 204 and the laser rangefinder 205 when shooting and measuring the regional terrain, avoiding the large gap between the actual measurement data detected by the differential GPS module and the GPS positioning data, increasing the calculation amount of the calculation data unit, increasing the system burden, and being not conducive to the data correction unit to correct the data.

[0037] Embodiment 2:

[0038] A modeling method for a drone aerial photography modeling system, such as Figure 6 As shown, the specific steps are as follows:

[0039] S1: Control the control module through the wireless communication module and plan the running trajectory of the drone device 100;

[0040] S2: The drone device 100 carries the photographing and measuring device 200 and uses the panoramic camera 204 and the laser rangefinder 205 to photograph and measure the regional topography;

[0041] S3: Correcting the data collected by the photographic measurement through the calculation data unit and the data correction unit in the differential GPS module;

[0042] S4: Using the captured images and the corrected data to perform three-dimensional modeling of the regional topography through the integrated model unit and the image processing unit in the three-dimensional modeling module;

[0043] S5: The three-dimensionally modeled regional topography is stored in a storage module.

[0044] The above is a preferred specific implementation of the present invention, but it is not the only specific implementation of the present invention. Any modification, equivalent substitution and improvement made by any technician familiar with the field within the technical scope disclosed by the present invention in combination with the existing technology or public common sense within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. An unmanned aerial photography modeling system, comprising a control module, a wireless communication module, an aerial photography measurement module, a differential GPS module, a three-dimensional modeling module, and a storage module, characterized in that: The output end of the control module is connected to the input end of the aerial photography measurement module; the output end of the aerial photography measurement module is connected to the input end of the differential GPS module; the output end of the differential GPS module is connected to the input end of the three-dimensional modeling module; the output end of the three-dimensional modeling module is connected to the input end of the storage module; the output end of the storage module is connected to the client; the output end of the client is connected to the input end of the wireless communication module; the output end of the wireless communication module is connected to the input end of the control module; another output end of the aerial photography measurement module is connected to the input end of the storage module; The aerial photography measurement module comprises an aerial photography measurement unit; the aerial photography measurement unit comprises an unmanned aerial vehicle device (100) and a photography measurement device (200); The drone device (100) comprises a drone body (101), a supporting connecting rod (102), a supporting connecting column (103), a protective bottom column (104), a hollow ring (105), a load-bearing connecting column (106), a driving component (108), and a rotating wing (109); the outer walls of the drone body (101) are fixedly connected to the outer wall of one side of the supporting connecting rod (102); the outer wall at the top end of the supporting connecting rod (102) is fixedly connected to the outer wall at the bottom end of the driving component (108); the output shaft of the driving component (108) is connected to the driving component (108) through The coupling is connected to the outer wall of the bottom end of the rotating wing (109); the outer wall of the top end of the supporting connecting column (103) is fixedly connected to the outer wall of the bottom end of the drone body (101); the outer wall of the top end of the protective bottom column (104) is fixedly connected to the outer wall of the bottom end of the supporting connecting column (103); a sliding groove (107) is processed on the inner wall of one side of the supporting connecting column (103); the outer wall of the top end of the bearing connecting column (106) is fixedly connected to the outer wall of the bottom end of the drone body (101); and the outer wall of the top end of the hollow ring (105) is fixedly connected to the outer wall of the bottom end of the bearing connecting column (106); The photographing and measuring device (200) comprises a bearing connecting plate (201), a load-bearing connecting block (202), a rotating connecting column (203), a panoramic camera (204), and a laser rangefinder (205); the outer walls around the bearing connecting plate (201) are slidably connected to the inner wall of one side of the sliding groove (107); the outer walls on both sides of the rotating connecting column (203) are fixedly connected to the inner wall of one side of the bearing connecting plate (201); the outer walls around the rotating connecting column (203) are rotatably connected to the inner wall of one side of the hollow ring (105); the top outer wall of the load-bearing connecting block (202) is fixedly connected to the bottom outer wall of the bearing connecting plate (201); the top outer wall of the panoramic camera (204) is fixedly connected to the bottom outer wall of the bearing connecting plate (201); and the top outer wall of the laser rangefinder (205) is fixedly connected to the bottom outer wall of the bearing connecting plate (201).

2. The unmanned aerial photography modeling system according to claim 1, characterized in that: The differential GPS module includes a data correction unit and a data calculation unit.

3. The unmanned aerial photography modeling system according to claim 2, characterized in that: The three-dimensional modeling module includes an integrated model unit and an image processing unit.

4. The unmanned aerial photography modeling system according to claim 3, characterized in that: The integrated model unit includes a denoising mode and a splicing mode.

5. The unmanned aerial photography modeling system according to claim 4, characterized in that: The wireless communication module includes a Zigbee unit.

6. The unmanned aerial photography modeling system according to claim 5, characterized in that: The storage module includes a data reading unit, a data storage unit and a data storage library.

7. A modeling method based on the unmanned aerial photography modeling system according to claim 6, characterized in that: The steps include: S1: controlling the control module through the wireless communication module and planning the running trajectory of the drone device (100); S2: The unmanned aerial vehicle device (100) carries the photographing and measuring device (200) and operates to photograph and measure the regional topography through a panoramic camera (204) and a laser rangefinder (205); S3: Correcting the data collected by the photographic measurement through the calculation data unit and the data correction unit in the differential GPS module; S4: Using the captured images and the corrected data to perform three-dimensional modeling of the regional topography through the integrated model unit and the image processing unit in the three-dimensional modeling module; S5: The three-dimensionally modeled regional topography is stored in a storage module.

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