A land surveying and mapping data monitoring and management system and its application method

Abstract

The present invention provides a land surveying and mapping data monitoring and management system and an application method thereof applied in the field of land surveying and mapping data management. An aerial acquisition device is provided to collect and shoot high-definition images of the land. The aerial acquisition device can intelligently monitor the shooting timing of the high-definition camera by providing a monitoring camera and a high-definition camera, and can ensure that the high-definition camera has sufficient operating clearance to ensure the shooting quality. A ground acquisition device is provided to compare and analyze the images collected by the aerial acquisition device and the ground acquisition device in real time and synchronously. At the same time, the contour lines generated by the distance detection module of the ground acquisition device are combined with the bird's-eye view pattern collected by the aerial acquisition device to accurately identify and determine the edges of the buildings, thereby providing identification assistance for the range of the regional model.

Description

Technical Field

[0001] The present invention relates to the field of data management, and in particular to a land surveying and mapping data monitoring and management system and an application method thereof. Background Art

[0002] In the past, land surveying and mapping was mainly carried out by surveyors using surveying equipment on the ground to gradually count and map the land. However, the technical level, work experience and working status of surveyors will directly affect the quality of land surveying and mapping. The lack of long-term vision of designers or lack of professional knowledge of temporary staff may lead to large errors in surveying and mapping data.

[0003] With the development of existing high-definition cameras and the rapid development of image computing and intelligent analysis capabilities, drone technology has gradually been used in land surveying and mapping. However, the existing drones will deviate in flight altitude as the environment changes and the movement process, which will lead to errors in the relative size of the captured images and the area. Therefore, how to improve image recognition technology and reduce this part of the error is the main improvement direction of new land surveying and mapping technologies. Summary of the invention

[0004] The purpose of the present invention is to propose a land surveying and mapping data monitoring and management system and an application method thereof in view of the existing deficiencies.

[0005] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions:

[0006] A land surveying and mapping data monitoring and management system, comprising: a ground collection device, an aerial collection device and a control platform, wherein:

[0007] A ground acquisition device, used for acquiring image data from the ground;

[0008] Aerial acquisition device, used to collect image data from the air;

[0009] The control platform is connected to the ground collection device and the aerial collection device in communication;

[0010] The control platform includes: a splicing module, a comparison and calibration module and a path planning module;

[0011] A comparison and calibration module is used to compare and calibrate the images collected by the aerial collection device;

[0012] A stitching module is used to sort and stitch the calibrated pictures in sequence to generate a land image;

[0013] A path planning module is used to generate a moving path for the aerial collection device and the ground collection device to move with reference;

[0014] A communication control module, used for sending transmission information and sending control instructions;

[0015] The ground acquisition device includes a first frame and a first moving module, a first shooting and acquisition module, a distance detection module, a first positioning module, and a first control module all arranged on the first frame, wherein the first moving module is used to drive the ground acquisition device to move, the first shooting and acquisition module is used to shoot to generate a first image, the distance detection module is used to monitor the distance from the ground acquisition device to the comparison object, the first positioning module is used to position the ground acquisition device, and the first control module is used to communicate with the aerial acquisition device and the control platform, and is also used to send control instructions to the first moving module, the first shooting and acquisition module, the distance detection module, and the first positioning module and receive feedback information;

[0016] The distance monitoring module is configured as an infrared rangefinder;

[0017] The aerial acquisition device includes a second frame and a second moving module, a second shooting and acquisition module, a second positioning module, and a second control module all arranged on the second frame, wherein the second moving module is used to drive the aerial acquisition device to fly and move, the second shooting and acquisition module is used to shoot to generate a second image, the second positioning module is used to position the aerial acquisition device, and the second control module is used to communicate with the ground acquisition device and the control platform, and is also used to send control instructions to the second moving module, the second shooting and acquisition module, and the second positioning module and receive feedback information;

[0018] The second shooting and acquisition module includes a monitoring camera and a high-definition camera, wherein the monitoring camera is used to acquire path monitoring images, and the high-definition camera is used to capture high-definition land images;

[0019] The viewing angle range of the high-definition camera is 60-80°;

[0020] The stitching module includes a sorting unit and a stitching unit, wherein the sorting unit is used to sort the collected images according to the time sequence and the path position of the shooting point, and the stitching unit is used to cut and stitch the various related images;

[0021] The application method of the land surveying and mapping data monitoring and management system comprises:

[0022] S1, first segment analysis and comparison: the first shooting and acquisition module of the ground acquisition device performs shooting and acquisition to generate a first monitoring image with continuous images, and the aerial acquisition device performs shooting and acquisition to generate a second monitoring image;

[0023] The acquisition method of the aerial acquisition device is as follows: the monitoring camera shoots an image to generate a first image, two identification areas are respectively set in the first image, namely, a starting identification area and a critical area, to identify and mark image blocks in the starting position area, and as the aerial acquisition device moves, the position of the image block changes in the picture, and when it is identified that the image block moves to the critical area in the first image picture, the first control module sends a command to the high-definition camera to control the high-definition camera to shoot, and acquire a second monitoring image;

[0024] Determine the comparison target of the ground acquisition device and the aerial acquisition device, and determine the analysis boundary of the comparison target;

[0025] Calculate the size of the analysis screen R de ;

[0026]

[0027] Where pj is the perspective coefficient, which is set by the operator according to the camera lens model and experience value, lp is the distance comparison reference value, which is set by the operator according to experience value, l ave It is the arithmetic mean of the distance values ​​detected by the distance detection module to the same comparison target, in meters, S de is the converted size of the analysis boundary in the first monitoring image, in pixels;

[0028] The transformation size S of the analysis boundary in the first monitoring image is de It can be obtained by the following formula:

[0029] S de =S e / cosθ

[0030] S e The size of the frame in the first image for analyzing the boundary;

[0031] θ is the angle between the extension direction of the analysis boundary and the shooting plane, which can be obtained by the following formula:

[0032]

[0033] ti is the time interval between two detections of the distance detection module, Δl is the distance value difference between the two detections, where Δl = l a -l b , l a is the distance data detected by the distance detection module the last time, and lb is the distance data detected by the distance detection module the previous time;

[0034] Get the image size S of the analysis boundary in the second monitoring image fe, for comparison Is it equal to the comparison threshold U? If so, it is determined that the size of the second monitoring image is correct. If not, the corresponding second monitoring image is enlarged or reduced until

[0035] S2, the splicing module sorts the second monitoring images collected by the high-definition camera during the movement of the initial path segment according to the acquisition time sequence, and then performs partial deletion and splicing to generate the second monitoring image chain of the first segment;

[0036] The movement mode of the aerial data collection device planned by the path planning module includes an "S"-shaped or "L"-shaped movement mode;

[0037] S3. Since, in the moving path planning, there is an overlap between the monitoring image screen captured by the high-definition camera in the second moving path and the monitoring image screen of the first moving path, when the comparison and calibration module recognizes that the size of the overlapping part with the same characteristics does not match, the comparison and calibration module adjusts the image size of the second segment so that the images of the overlapping part completely overlap, that is, the calibration of the newly received image of the high-definition camera is completed. When the second monitoring images of the segment are calibrated, the second monitoring images are spliced ​​by the splicing module to generate a monitoring image chain. The subsequent images are calibrated and spliced ​​with the images of the previous segment as a reference, until the second monitoring images in the entire moving path are calibrated and spliced, thereby generating a land image;

[0038] The beneficial effects achieved by the present invention are:

[0039] By setting up an aerial collection device, high-definition images of the land can be collected and photographed;

[0040] The aerial acquisition device can intelligently monitor the shooting timing of the HD camera by setting up monitoring cameras and HD cameras, and at the same time ensure that the HD camera has sufficient operating clearance to ensure the quality of shooting;

[0041] By setting up a ground acquisition device, the images collected by the aerial acquisition device and the ground acquisition device are compared and analyzed synchronously in real time.

[0042] At the same time, the contour lines generated by the distance detection module of the ground acquisition device are combined with the bird's-eye view pattern collected by the aerial acquisition device to accurately identify and determine the edge of the building, thereby providing recognition assistance for the range of the regional model;

[0043] By setting up a control platform, cloud-edge collaborative computing can be achieved to alleviate the computing load of the server center and further improve the efficiency of intelligent analysis and land surveying. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0045] Figure 1 It is a schematic block diagram of the ground acquisition device, the aerial acquisition device and the control platform of the present invention.

[0046] Figure 2 Schematic diagram of path planning of the path planning module of the present invention.

[0047] Figure 3 It is a schematic diagram of the camera angles of the ground acquisition device and the aerial acquisition device of the present invention.

[0048] Figure 4 A schematic diagram of an image sample collected by the ground collection device of the present invention.

[0049] Figure 5 It is a schematic diagram of the generation principle of the second monitoring image chain of the present invention.

[0050] Figure 6 It is a schematic diagram of the angle relationship between the shooting plane and the analysis boundary of the ground acquisition device of the present invention.

[0051] Figure 7 It is a schematic diagram of the "L"-shaped path of the aerial data collection device of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail in conjunction with its embodiments below; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. For those skilled in the art, other systems, methods and / or features of this embodiment will become apparent after reviewing the following detailed description. It is intended that all such additional systems, methods, features and advantages are included in this specification, included within the scope of the present invention, and protected by the appended claims. Additional features of the disclosed embodiments are described in the following detailed description, and these features will be apparent from the following detailed description.

[0053] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0054] Embodiment 1.

[0055] like Figure 1 As shown, a land surveying and mapping data monitoring and management system includes: a ground collection device, an aerial collection device and a control platform, wherein:

[0056] A ground acquisition device, used for acquiring image data from the ground;

[0057] Aerial acquisition device, used to collect image data from the air;

[0058] The control platform is connected to the ground collection device and the aerial collection device in communication;

[0059] The control platform includes: a splicing module, a comparison and calibration module and a path planning module;

[0060] A comparison and calibration module is used to compare and calibrate the images collected by the aerial collection device;

[0061] A stitching module is used to sort and stitch the calibrated pictures in sequence to generate a land image;

[0062] A path planning module is used to generate a moving path for the aerial collection device and the ground collection device to move with reference;

[0063] A communication control module, used for sending transmission information and sending control instructions;

[0064] The ground acquisition device includes a first frame and a first moving module, a first shooting and acquisition module, a distance detection module, a first positioning module, and a first control module all arranged on the first frame, wherein the first moving module is used to drive the ground acquisition device to move, the first shooting and acquisition module is used to shoot to generate a first image, the distance detection module is used to monitor the distance from the ground acquisition device to the comparison object, the first positioning module is used to position the ground acquisition device, and the first control module is used to communicate with the aerial acquisition device and the control platform, and is also used to send control instructions to the first moving module, the first shooting and acquisition module, the distance detection module, and the first positioning module and receive feedback information;

[0065] The distance monitoring module is configured as an infrared rangefinder;

[0066] The aerial acquisition device includes a second frame and a second moving module, a second shooting and acquisition module, a second positioning module, and a second control module all arranged on the second frame, wherein the second moving module is used to drive the aerial acquisition device to fly and move, the second shooting and acquisition module is used to shoot to generate a second image, the second positioning module is used to position the aerial acquisition device, and the second control module is used to communicate with the ground acquisition device and the control platform, and is also used to send control instructions to the second moving module, the second shooting and acquisition module, and the second positioning module and receive feedback information;

[0067] Embodiment 2: This embodiment is a further description of the above embodiment. It should be understood that this embodiment includes all the above technical features and is further described in detail:

[0068] The control platform also includes a regional model division module, which is used to generate regional identifications based on regional attributes of the calibration image;

[0069] The second shooting and acquisition module includes a monitoring camera and a high-definition camera, wherein the monitoring camera is used to acquire path monitoring images, and the high-definition camera is used to capture high-definition land images;

[0070] The viewing angle range of the high-definition camera is 60-80°;

[0071] The stitching module includes a sorting unit and a stitching unit, wherein the sorting unit is used to sort the collected images according to the time sequence and the path position of the shooting point, and the stitching unit is used to cut and stitch the various related images;

[0072] Embodiment 3: This embodiment is a further description of the above embodiment. It should be understood that this embodiment includes all the above technical features and is further described in detail:

[0073] Further integration Figures 2 to 7As shown, the application method of the land surveying and mapping data monitoring and management system includes:

[0074] S1, first segment analysis and comparison: the first shooting and acquisition module of the ground acquisition device performs shooting and acquisition to generate a first monitoring image with continuous images, and the aerial acquisition device performs shooting and acquisition to generate a second monitoring image;

[0075] The acquisition method of the aerial acquisition device is as follows: the monitoring camera shoots an image to generate a first image, two identification areas are respectively set in the first image, namely, a starting identification area and a critical area, to identify and mark image blocks in the starting position area, and as the aerial acquisition device moves, the position of the image block changes in the picture, and when it is identified that the image block moves to the critical area in the first image picture, the first control module sends a command to the high-definition camera to control the high-definition camera to shoot, and acquire a second monitoring image;

[0076] Determine the comparison target of the ground acquisition device and the aerial acquisition device, and determine the analysis boundary of the comparison target;

[0077] The analysis boundary is the boundary of the comparison target that can be captured by both the ground acquisition device and the high-definition camera at the same time. For example, in actual detection, the top boundary of the outer wall of the room facing the ground acquisition device is the analysis boundary.

[0078] Calculate the size of the analysis screen R de ;

[0079]

[0080] Where pj is the perspective coefficient, which is set by the operator according to the camera lens model and experience value, lp is the distance comparison reference value, which is set by the operator according to experience value, l ave It is the arithmetic mean of the distance values ​​detected by the distance detection module to the same comparison target, in meters, S de is the converted size of the analysis boundary in the first monitoring image, in pixels;

[0081] The transformation size S of the analysis boundary in the first monitoring image is de It can be obtained by the following formula:

[0082] S de =S e / cosθ

[0083] S e The size of the frame in the first image for analyzing the boundary;

[0084] θ is the angle between the extension direction of the analysis boundary and the shooting plane, which can be obtained by the following formula:

[0085]

[0086] ti is the time interval between two detections of the distance detection module, Δl is the distance value difference between the two detections, where Δl = l a -l b , l a is the distance data detected by the distance detection module the last time, and lb is the distance data detected by the distance detection module the previous time;

[0087] Get the image size S of the analysis boundary in the second monitoring image fe , for comparison Is it equal to the comparison threshold U? If so, it is determined that the size of the second monitoring image is correct. If not, the corresponding second monitoring image is enlarged or reduced until

[0088] By setting the perspective ratio conversion method to restore the corresponding size of each target under the same conditions, accurate comparison can be achieved;

[0089] When the ground acquisition device is moving, it measures the distance between the device and the nearest obstacle through the distance detection module, and generates a contour line based on the detected distance data;

[0090] The contour lines generated by the distance detection module of the ground acquisition device and the bird's-eye view pattern collected by the aerial acquisition device can be combined to accurately identify and determine the edge of the building, thereby providing identification assistance for the scope of the regional model;

[0091] S2, the splicing module sorts the second monitoring images collected by the high-definition camera during the movement of the initial path segment according to the acquisition time sequence, and then performs partial deletion and splicing to generate the second monitoring image chain of the first segment;

[0092] The deleted part of the local deletion is to cut off the repeated parts of the overlapping parts in each second monitoring image;

[0093] The comparison and calibration module analyzes and compares the first monitoring image chain with the second monitoring image chain, thereby correcting the shooting height error existing in the first monitoring image chain;

[0094] The position of the recognition area in the first image frame is set by the operator according to the acquisition frequency and experience requirements;

[0095] Using image blocks as identification features to identify the moving direction and distance of the monitoring aerial collection device;

[0096] The movement mode of the aerial data collection device planned by the path planning module includes an "S"-shaped or "L"-shaped movement mode;

[0097] The path planning of the path planning module meets the following conditions: the initial path segment of the aerial acquisition device is parallel to the path of the ground acquisition device;

[0098] The path planning logic of the path planning module for the aerial data collection device is: there is an overlap between the shooting picture of the return path of the latter section and the shooting picture of the previous section, and the ratio of the area of ​​the overlapping part to the area of ​​the picture is the overlap rate;

[0099] In this embodiment, the overlap rate of path planning is 15%-20%;

[0100] S3. Since, in the moving path planning, there is an overlap between the monitoring image screen captured by the high-definition camera in the second moving path and the monitoring image screen of the first moving path, when the comparison and calibration module recognizes that the size of the overlapping part with the same characteristics does not match, the comparison and calibration module adjusts the image size of the second segment so that the images of the overlapping part completely overlap, that is, the calibration of the newly received image of the high-definition camera is completed. When the second monitoring images of the segment are calibrated, the second monitoring images are spliced ​​by the splicing module to generate a monitoring image chain. The subsequent images are calibrated and spliced ​​with the images of the previous segment as a reference, until the second monitoring images in the entire moving path are calibrated and spliced, thereby generating a land image;

[0101] The regional model division module divides and marks regional plates in the land image according to the area and regional attributes of each plate in the land image, and generates a land regional division model.

[0102] Although the present invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the present invention. That is, the methods, systems and devices discussed above are examples. Various configurations may appropriately omit, replace or add various processes or components. For example, in alternative configurations, the method may be performed in an order different from the order described, and / or various components may be added, omitted and / or combined. Moreover, the features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configurations may be combined in a similar manner. In addition, the elements therein may be updated as the technology develops, i.e., many elements are examples and do not limit the scope of the present disclosure or claims.

[0103] Specific details are given in the specification to provide a thorough understanding of the exemplary configurations including implementations. However, the configurations may be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary details to avoid obscuring the configurations. This description provides only example configurations and does not limit the scope, applicability, or configurations of the claims. On the contrary, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made to the functions and arrangements of the elements without departing from the spirit or scope of the present disclosure.

[0104] In summary, it is intended that the above detailed description is considered to be illustrative rather than restrictive, and it should be understood that the above embodiments should be understood to be only used to illustrate the present invention and not to limit the scope of protection of the present invention. After reading the contents of the present invention, the technician can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope defined by the claims of the present invention.

Claims

1. An application method for land surveying and mapping data monitoring and management system, characterized in that: The land surveying and mapping data monitoring and management system includes: ground collection device, aerial collection device and control platform, among which: The control platform includes: a splicing module, a comparison and calibration module and a path planning module; The ground acquisition device includes a first frame and a first moving module, a first shooting acquisition module, a distance detection module, a first positioning module, and a first control module, all of which are arranged on the first frame; The aerial data acquisition device includes a second frame and a second moving module, a second shooting and acquisition module, a second positioning module, and a second control module, all of which are arranged on the second frame; The second shooting and acquisition module includes a monitoring camera and a high-definition camera, wherein the monitoring camera is used to acquire path monitoring images, and the high-definition camera is used to capture high-definition land images; The application method comprises: S1, first segment analysis and comparison: the first shooting and acquisition module of the ground acquisition device performs shooting and acquisition to generate a first monitoring image with continuous images, and the aerial acquisition device performs shooting and acquisition to generate a second monitoring image; Determine the comparison target of the ground acquisition device and the aerial acquisition device, and determine the analysis boundary of the comparison target; Calculate the size of the analysis boundary R de ; Where pj is the perspective coefficient, which is set by the operator according to the camera lens model and experience value, lp is the distance comparison reference value, which is set by the operator according to experience value, l ave It is the arithmetic mean of the distance values ​​detected by the distance detection module to the same comparison target, in meters, S de is the converted size of the analysis boundary in the first monitoring image, in pixels; The transformation size S of the analysis boundary in the first monitoring image is de It can be obtained by the following formula: S de =S e / cosθ S e The size of the frame in the first image for analyzing the boundary; θ is the angle between the extension direction of the analysis boundary and the shooting plane; Get the image size S of the analysis boundary in the second monitoring image fe , for comparison Is it equal to the comparison threshold U? If so, it is determined that the size of the second monitoring image is correct. If not, the corresponding second monitoring image is enlarged or reduced until S2, the splicing module sorts the second monitoring images collected by the high-definition camera during the movement of the initial path segment according to the acquisition time sequence, and then performs partial deletion and splicing to generate the second monitoring image chain of the first segment; The path planning of the path planning module meets the following conditions: the initial path segment of the aerial acquisition device is parallel to the path of the ground acquisition device; The movement mode of the aerial data collection device planned by the path planning module includes an "S" shape or an "L" shape movement mode; S3. Since, in the moving path planning, there is an overlap between the monitoring image screen captured by the high-definition camera in the second section of the moving path and the monitoring image screen of the first section of the moving path, when the comparison and calibration module recognizes that the size of the overlapping part with the same feature does not match, the comparison and calibration module adjusts the image size of the second section so that the images of the overlapping part are completely overlapped, that is, the calibration of the newly received image of the high-definition camera is completed. When the second monitoring images of this section are calibrated, the second monitoring images are spliced ​​by the splicing module to generate a monitoring image chain, and the subsequent images are calibrated and spliced ​​with the images of the previous section as a reference, until the second monitoring images in the entire moving path are calibrated and spliced, thereby generating a land image.

2. The application method for land surveying and mapping data monitoring and management system according to claim 1, characterized in that: The second monitoring image acquisition method of the aerial acquisition device is: the monitoring camera shoots an image to generate a first image. Two recognition areas are set in the first image, namely the starting recognition area and the critical area. The image block in the starting position area is identified and marked. As the aerial acquisition device moves, the position of the image block changes in the picture. When it is identified that the image block moves to the critical area in the first image, the first control module sends an instruction to the high-definition camera to control the high-definition camera to shoot and acquire the second monitoring image.

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