Remote sensing image acquisition device based on computer vision

Abstract

The invention discloses a remote sensing image acquisition device based on computer vision, and the device comprises a device driving assembly, the upper surface of the device driving assembly is fixedly provided with a fixed bearing plate, the fixed bearing plate is horizontally and fixedly provided with a sliding rail, and the sliding rail is slidably provided with three groups of sliding positioning clamping blocks; a microwave radiometer, an optical camera and an infrared camera are respectively clamped and assembled on the three groups of sliding positioning clamping blocks; an annular fixing track is fixedly assembled in the middle of the device driving assembly, a machine adjusting and displacement assembly is arranged at the upper end of the annular fixing track, a shooting holder is fixedly assembled on the machine adjusting and displacement assembly, and an automatic clamping anti-disengaging mechanism is arranged on the shooting holder.

Description

Technical Field

[0001] The present invention relates to the technical field of remote sensing image acquisition, and in particular to a remote sensing image acquisition device based on computer vision. Background Art

[0002] The application of computer vision in remote sensing image acquisition will bring a series of significant improvements and advantages. First of all, computer vision technology can greatly improve the automation and intelligence level of remote sensing image acquisition. By automatically identifying and tracking targets, the system can achieve fast and accurate imaging of specific areas, greatly improving the efficiency and accuracy of acquiring remote sensing images. Secondly, the image processing and analysis capabilities of computer vision make it easier to extract useful information from remote sensing images. For example, through techniques such as image segmentation, feature extraction and classification, we can identify different types of objects such as buildings, roads, vegetation, etc. from remote sensing images, and accurately measure and analyze them. This has important application value in urban planning, environmental monitoring, resource surveys and other fields.

[0003] However, there are many ways to acquire remote sensing images, and each has its own advantages and disadvantages. Large-scale image acquisition devices are easily blocked by clouds or surface cover and cannot fully and effectively acquire specific images of the required area. Small-scale image acquisition devices are relatively slow and cannot quickly present image content.

[0004] Therefore, it is necessary to provide a remote sensing image acquisition device based on computer vision to solve the above problems. Summary of the invention

[0005] To achieve the above object, the present invention provides the following technical solution: a remote sensing image acquisition device based on computer vision, comprising:

[0006] The device driving component has a fixed bearing plate fixedly mounted on its upper surface, a sliding track fixedly mounted on the fixed bearing plate horizontally, three groups of sliding position adjustment clamping blocks slidingly mounted on the sliding track, and a microwave radiometer, an optical camera, and an infrared camera are clamped and mounted on the three groups of sliding position adjustment clamping blocks respectively;

[0007] A circular fixed track is fixedly installed in the middle of the device driving component, a machine adjustment and displacement component is arranged on the upper end of the circular fixed track, a shooting platform is fixedly installed on the machine adjustment and displacement component, and an automatic clamping and anti-slipping mechanism is arranged on the shooting platform.

[0008] Further, as a preference, the device driving assembly comprises:

[0009] A fixed frame, with two sets of motion conversion components fixedly mounted on both sides, and the two sets of motion conversion components on the same side are arranged in a mirror image, each set of motion conversion components is fixedly mounted with a hollow wheel hub on the outside, and each set of the hollow wheel hubs is coaxially fixedly mounted with a ground tire on the outside;

[0010] The outer sides of the hollow wheel hubs are fixedly mounted with rotor motors, and the output shafts of each set of rotor motors are coaxially fixedly mounted with flying rotors.

[0011] Further, as a preference, the fixing frame comprises:

[0012] A fixed carrier frame, wherein a ring track fixing groove for fixing the ring track is provided in the middle thereof, shock-absorbing suspensions are provided on both sides of the fixed carrier frame, and two sets of driving components of the shock-absorbing suspensions are connected to a first driving motor through a transmission rod, and the first driving motor is fixedly assembled inside the fixed carrier frame;

[0013] A power supply group is arranged inside the fixed carrier frame.

[0014] Further, preferably, the motion conversion component comprises:

[0015] A fixed plate is fixedly assembled on one side of the fixed frame, and two groups of first fixed columns are fixedly assembled on it. A rotating plate is rotatably arranged on the two groups of the first fixed columns. Two groups of first hydraulic cylinders are rotatably assembled on the lower end of the rotating plate, and the other ends of the two groups of first hydraulic cylinders are rotatably assembled on the fixed plate.

[0016] Further, as a preference, two groups of second fixed columns are fixedly mounted on the fixed plate, a second hydraulic cylinder is rotatably provided on each group of the second fixed columns, a self-locking block is rotatably mounted on the other end of the second hydraulic cylinder, and the self-locking block is rotatably mounted on the corresponding second fixed column.

[0017] Further, as a preference, a fixed track is fixedly mounted on the upper end of the rotating plate, a sliding plate is slidably mounted on the fixed track, and a hollow hub is fixedly mounted on the upper end of the sliding plate.

[0018] Further, as a preference, the machine adjustment displacement assembly comprises:

[0019] A fixed track block, fixedly assembled on the inner ring of the annular fixed track;

[0020] A sliding track block is slidably assembled on the outer ring of the annular fixed track;

[0021] A combined rotating groove is provided in the middle of the fixed track block and the sliding track block, on which a rotating block is rotatably mounted, and two sets of transmission mechanisms are provided inside the rotating block to respectively control the sliding of the sliding track block on the annular fixed track and the sliding of the rotating block on the rotating groove, and both sets of transmission mechanisms are provided with a second driving motor, and the two sets of second driving motors are respectively fixedly mounted on the two sides of the rotating block.

[0022] Furthermore, as a preference, a central control system and a computer vision system are provided outside the device, and the central control system can automatically query the satellite remote sensing system.

[0023] Compared with the prior art, the present invention provides a remote sensing image acquisition device based on computer vision, which has the following beneficial effects:

[0024] 1. In the present invention, through the combination of the central control system and the computer vision system, the driving device completes the image acquisition work of the entire area, and under the integration of the computer vision system, it can avoid repeated or unnecessary acquisition of certain areas to the greatest extent, greatly improving work efficiency. At the same time, the central control system and the computer vision system can plan the most convenient and quickest route for the operation of the device, further improving work efficiency.

[0025] 2. In the present invention, the device driving component arranged thereon can be converted into a flight mode (UAV) and a ground mode (driving vehicle) according to actual conditions through a motion conversion component, thereby meeting the acquisition requirements of different collection points, and selecting a suitable mode according to local conditions can further improve work efficiency. At the same time, multiple groups of image acquisition devices are arranged, and they can be adaptively selected according to actual conditions under the action of a sliding adjustment clamping block, a machine adjustment displacement component, and a shooting gimbal, and then moved to a suitable position through the machine adjustment displacement component. Multiple image acquisition devices complement each other, so that the device can obtain more accurate remote sensing images more efficiently, and in actual work, other remote sensing image acquisition devices can be added according to specific conditions, or the above-mentioned remote sensing image acquisition devices can be reduced to adapt to changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of a remote sensing image acquisition device based on computer vision;

[0027] Figure 2 It is a schematic diagram of the structure of the device drive component;

[0028] Figure 3 It is a schematic diagram of another form of the device driving component;

[0029] Figure 4 is a schematic diagram of the fixed frame structure;

[0030] Figure 5 It is a schematic diagram of the structure of the motion conversion component;

[0031] Figure 6 It is a schematic diagram of the self-locking state of the self-locking block;

[0032] Figure 7 Schematic diagram of the structure of the machine adjustment displacement assembly;

[0033] Figure 8 It is a schematic diagram of the operation of the external equipment of the device;

[0034] In the figure: 1, device driving assembly; 2, fixed bearing plate; 3, sliding track; 4, sliding adjustment clamping block; 5, microwave radiometer; 6, optical camera; 7, infrared camera; 8, circular fixed track; 9, machine adjustment displacement assembly; 10, shooting gimbal; 11, fixed frame; 12, motion conversion assembly; 13, hollow wheel hub; 14, ground tire; 15, rotor motor; 16, flying rotor; 111, fixed bearing frame; 112, circular track fixing groove ; 113, shock-absorbing suspension; 114, first drive motor; 115, transmission rod; 116, power supply group; 121, fixed plate; 122, first fixed column; 123, rotating plate; 124, first hydraulic cylinder; 125, second fixed column; 126, second hydraulic cylinder; 127, self-locking block; 128, fixed track; 129, sliding plate; 91, fixed track block; 92, sliding track block; 93, rotating groove; 94, rotating block; 95, second drive motor. DETAILED DESCRIPTION

[0035] See also Figures 1 to 8 The present invention provides a remote sensing image acquisition device based on computer vision, comprising:

[0036] The device driving component 1 has a fixed bearing plate 2 fixedly mounted on its upper surface, a sliding track 3 fixedly mounted horizontally on the fixed bearing plate 2, three groups of sliding adjustment clamping blocks 4 slidably arranged on the sliding track 3, and a microwave radiometer 5, an optical camera 6, and an infrared camera 7 are clamped and mounted on the three groups of sliding adjustment clamping blocks 4 respectively;

[0037] A circular fixed track 8 is fixedly mounted in the middle of the device driving assembly 1, a machine adjustment displacement assembly 9 is arranged on the upper end of the circular fixed track 8, and a shooting platform 10 is fixedly mounted on the machine adjustment displacement assembly 9, and an automatic clamping and anti-slipping mechanism is arranged on the shooting platform 10;

[0038] As a preferred embodiment, the device driving component 1 can be converted into a flight mode (drone) and a ground mode (driving vehicle) according to actual conditions, so as to meet the acquisition requirements of different collection points. The sliding adjustment clamping block 4 can clamp the microwave radiometer 5, the optical camera 6, and the infrared camera 7, and adjust their positions at the same time to facilitate their fixation on the shooting gimbal 10. The microwave radiometer 5, the optical camera 6, and the infrared camera 7 each have advantages and disadvantages. Among them, the microwave radiometer 5 can penetrate the clouds and part of the surface cover to obtain surface information and is less affected by the weather, but the complexity of data analysis and processing is relatively high, and the cost is relatively high. The optical camera 6 has high imaging quality and high resolution, and can capture detailed information of the surface, but is greatly affected by weather and lighting conditions. For example, it may not work if it is blocked by clouds or fog or at night. The infrared camera 7 can obtain thermal radiation information of surface objects, which is particularly effective for surface monitoring at night or under conditions of cloud cover, but its sensitivity to temperature changes may lead to complex image interpretation. The microwave radiometer 5, the optical camera 6, and the infrared camera 7 are selected according to the actual situation and complement each other, so that the device can obtain more accurate remote sensing images more efficiently. In actual work, other remote sensing image acquisition devices can be added according to the specific situation, or the above-mentioned remote sensing image acquisition devices can be reduced to adapt to changes. The machine adjustment displacement component 9 can replace the appropriate image acquisition device under the action of the shooting platform 10, and adjust its position on the circular fixed track 8 according to the mode of the device (in the flight mode, the shooting platform 10 should be below the device, and in the ground mode, the shooting platform 10 is above the device) to facilitate image acquisition. The shooting platform 10 is provided with an automatic clamping anti-slip mechanism, which can fix the image acquisition device to prevent it from falling off during operation and causing damage. At the same time, the shooting platform 10 will adjust the image acquisition device on it to a suitable angle by rotating during the operation of the device, thereby reducing the difficulty of image acquisition and improving image quality.

[0039] Further, the device driving component 1 comprises:

[0040] A fixed frame 11, with two sets of motion conversion components 12 fixedly mounted on both sides thereof, and the two sets of motion conversion components 12 on the same side are arranged in a mirror image, and a hollow wheel hub 13 is fixedly mounted on the outer side of each set of motion conversion components 12, and a ground tire 14 is coaxially fixedly mounted on the outer side of each set of the hollow wheel hub 13;

[0041] The outer side of the hollow wheel hub 13 is fixedly equipped with a rotor motor 15, and the output shaft of each set of the rotor motor 15 is coaxially fixedly equipped with a flight rotor 16

[0042] As a preferred embodiment, the motion conversion component 12 can, under its drive, convert the hollow hub 13 and the ground tire 14 thereon from vertical to horizontal, thereby converting it from a ground state to a flying state. The setting of the hollow hub 13 maintains a certain air flow for the lower end of the flying rotor 16 without affecting the movement in the ground mode, so that it can complete the flight. In actual work, while ensuring the hardness of the device, suitable materials should be selected for the production of each component to minimize the dead weight of the device to avoid the device being too heavy and affecting the device's endurance. At the same time, in the flight mode, the hollow hub 13 and the ground tire 14 can further protect the flying rotor 16 and prevent it from being damaged.

[0043] Further, the fixing frame 11 comprises:

[0044] A fixed carrier frame 111, wherein a circular track fixing groove 112 for fixing the circular fixed track 8 is provided in the middle thereof, shock-absorbing suspensions 113 are provided on both sides of the fixed carrier frame 111, and the driving components of the two sets of shock-absorbing suspensions 113 are connected to the first driving motor 114 through a transmission rod 115, and the first driving motor 114 is fixedly assembled inside the fixed carrier frame 111;

[0045] A power supply group 116 is disposed inside the fixed carrier frame 111;

[0046] As a preferred embodiment, the shock-absorbing suspension 113 can reduce the vibration during the operation of the device in the ground mode, and while protecting the device, it can keep the image acquisition equipment (microwave radiometer 5, optical camera 6, infrared camera 7) as stable as possible, further ensuring image acquisition.

[0047] Further, the motion conversion component 12 includes:

[0048] A fixed plate 121 is fixedly assembled on one side of the fixed frame 11, and two groups of first fixed columns 122 are fixedly assembled thereon, and a rotating plate 123 is rotatably arranged on the two groups of the first fixed columns 122, and two groups of first hydraulic cylinders 124 are rotatably assembled on the lower end of the rotating plate 123, and the other ends of the two groups of the first hydraulic cylinders 124 are rotatably assembled on the fixed plate 121;

[0049] As a preferred embodiment, the two groups of first hydraulic cylinders 124 always operate synchronously. When the two groups of first hydraulic cylinders 124 are in an extended state, the hollow wheel hub 13 and the ground tires 14 thereon are in a horizontal state, and the device is in a flight mode. When the two groups of first hydraulic cylinders 124 are in a contracted state, the hollow wheel hub 13 and the ground tires 14 thereon are in a vertical state, and the device is in a ground mode.

[0050] Furthermore, two groups of second fixing columns 125 are fixedly mounted on the fixing plate 121, and a second hydraulic cylinder 126 is rotatably mounted on each group of the second fixing columns 125. A self-locking block 127 is rotatably mounted on the other end of the second hydraulic cylinder 126, and the self-locking block 127 is rotatably mounted on the corresponding second fixing column 125;

[0051] As a preferred embodiment, the setting of the second fixed column 125 can effectively limit the rotation state of the rotating plate 123. At the same time, under the action of the self-locking block 127, the rotating plate 123 and the fixed plate 121 can be kept fixed in a parallel state to each other, preventing them from being separated due to vibration or bumps during operation in the ground mode, thereby causing damage to the device.

[0052] Furthermore, a fixed track 128 is fixedly mounted on the upper end of the rotating plate 123, a sliding plate 129 is slidably mounted on the fixed track 128, and a hollow wheel hub 13 is fixedly mounted on the upper end of the sliding plate 129;

[0053] As a preferred embodiment, after the rotating plate 123 is converted from a parallel state to a vertical state with respect to the fixed plate 121, the overall length of the upper end of the motion conversion assembly 12 will increase (the sum of the length of the rotating plate 123 and the length of the first fixed column 122). Therefore, during installation, the center axis of the corresponding hollow hub 13 is not in the same straight line with the center axis of the rotating shaft at both ends of the shock-absorbing suspension 113 at the first time when the device is converted from the flight mode to the ground mode. Therefore, when the device is converted from the flight mode to the ground mode, it is necessary to control the sliding plate 129 to drive the hollow hub 13 to move, so that the center axis of the corresponding hollow hub 13 is in the same straight line with the center axis of the rotating shaft at both ends of the shock-absorbing suspension 113, so that the device can move in the ground mode.

[0054] Further, the machine adjustment displacement component 9 includes:

[0055] A fixed track block 91, fixedly mounted on the inner ring of the annular fixed track 8;

[0056] A sliding track block 92, slidably assembled on the outer ring of the annular fixed track 8;

[0057] A combined rotating groove 93 is provided in the middle of the fixed track block 91 and the sliding track block 92, on which a rotating block 94 is rotatably mounted. Two sets of transmission mechanisms are provided inside the rotating block 94 to respectively control the sliding of the sliding track block 92 on the annular fixed track 8 and the sliding of the rotating block 94 on the rotating groove 93, and the two sets of transmission mechanisms are provided with a second driving motor 95, and the two sets of second driving motors 95 are respectively fixedly mounted on the two sides of the rotating block 94;

[0058] As a preferred embodiment, the fixed track block 91 is always fixed in the initial state directly above the inner ring of the annular fixed track 8, and the sliding track block 92 is located directly above the outer ring of the annular fixed track 8. At this time, the rotating groove 93 is in a complete state, and the corresponding second driving motor 95 can be the rotating block 94 that drives the shooting platform 10 on its upper side to rotate, and stops after it rotates 180°, and with the assistance of the sliding track 3 and the sliding adjustment clamping block 4, the shooting platform 10 clamps a suitable image acquisition device, and then continues to rotate 180° to return to the initial position, and then, driven by another set of second driving components 95, the sliding track block 92 drives the rotating block 94 and the shooting platform 10 and the image acquisition device thereon to adjust to a suitable position (no operation is required in the ground mode, and the sliding track block 92 and the components thereon need to be rotated 18° along the annular fixed track 8 in the flight mode), and then the image acquisition work is performed under the operation of the device.

[0059] Furthermore, a central control system and a computer vision system are provided outside the device, and the central control system can automatically query the satellite remote sensing system;

[0060] As a preferred embodiment, the computer vision system is used to process and screen images, and the central control system serves as a transfer mechanism for images and commands. At the same time, according to the processing and screening results of the computer vision system, the coordinated operation between the components of the control device is controlled.

[0061] When implemented specifically, the following steps are included: when working, it is necessary to first determine the range of remote sensing image acquisition, and then operate the central control system to acquire a rough image of the area through satellite remote sensing equipment, and then upload the image to the computer vision system. The computer vision system will analyze and process it, and screen out the areas blocked by clouds and surface cover and unclear areas, and then upload the locations of these areas to the central control system, which will drive the device in a flying state, select the microwave radiometer 5 to carry out targeted acquisition of the areas blocked by clouds and surface cover and unclear areas, and upload the acquisition results to the computer vision system. The computer vision system will review the acquired images as soon as possible. If the acquired images of the area do not meet the requirements, the device will be driven to descend in the area, and after the descent is completed, it will be adjusted to the ground mode, and the optical camera 6 or the infrared camera 7 will be selected according to the actual situation below for supplementary image acquisition. After completing the image acquisition, it will be switched to the flight mode again to acquire images of the next area, until the image acquisition of all areas is completed, the device will return under the control of the central control system, and the computer vision system will integrate all images to finally obtain a complete and clear remote sensing image.

[0062] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A remote sensing image acquisition device based on computer vision, characterized in that: include: A device driving component (1) is fixedly mounted on its upper surface with a fixed bearing plate (2), a sliding track (3) is fixedly mounted horizontally on the fixed bearing plate (2), three groups of sliding position adjustment clamping blocks (4) are slidably mounted on the sliding track (3), and a microwave radiometer (5), an optical camera (6), and an infrared camera (7) are clamped and mounted on the three groups of sliding position adjustment clamping blocks (4); The device driving component (1) is fixedly equipped with an annular fixed track (8) in the middle, the upper end of the annular fixed track (8) is provided with a machine adjustment displacement component (9), and the machine adjustment displacement component (9) is fixedly equipped with a shooting platform (10), and the shooting platform (10) is provided with an automatic clamping and anti-slipping mechanism.

2. The remote sensing image acquisition device based on computer vision according to claim 1, characterized in that: The device driving component (1) comprises: A fixed frame (11) is provided with two sets of motion conversion components (12) fixedly mounted on both sides thereof, and the two sets of motion conversion components (12) on the same side are arranged in a mirror image, and each set of motion conversion components (12) is fixedly mounted with a hollow wheel hub (13) on the outer side, and each set of the hollow wheel hub (13) is coaxially fixedly mounted with a ground tire (14) on the outer side; A rotor motor (15) is fixedly mounted on the outer side of the hollow wheel hub (13), and a flight rotor (16) is coaxially fixedly mounted on the output shaft of each set of the rotor motors (15).

3. The remote sensing image acquisition device based on computer vision according to claim 2, characterized in that: The fixing frame (11) comprises: A fixed carrier frame (111), wherein a circular track fixing groove (112) for fixing the circular fixed track (8) is provided in the middle thereof, shock-absorbing suspensions (113) are provided on both sides of the fixed carrier frame (111), and the driving components of the two sets of shock-absorbing suspensions (113) are connected to a first driving motor (114) through a transmission rod (115), and the first driving motor (114) is fixedly assembled inside the fixed carrier frame (111); A power supply group (116) is arranged inside the fixed support frame (111).

4. The remote sensing image acquisition device based on computer vision according to claim 2, characterized in that: The motion conversion component (12) comprises: A fixed plate (121) is fixedly mounted on one side of the fixed frame (11), and two groups of first fixed columns (122) are fixedly mounted thereon; a rotating plate (123) is rotatably mounted on the two groups of the first fixed columns (122); two groups of first hydraulic cylinders (124) are rotatably mounted on the lower end of the rotating plate (123); and the other ends of the two groups of first hydraulic cylinders (124) are rotatably mounted on the fixed plate (121).

5. The remote sensing image acquisition device based on computer vision according to claim 4, characterized in that: Two groups of second fixed columns (125) are fixedly mounted on the fixed plate (121), and a second hydraulic cylinder (126) is rotatably mounted on each group of the second fixed columns (125). A self-locking block (127) is rotatably mounted on the other end of the second hydraulic cylinder (126), and the self-locking block (127) is rotatably mounted on the corresponding second fixed column (125).

6. The remote sensing image acquisition device based on computer vision according to claim 4, characterized in that: A fixed track (128) is fixedly mounted on the upper end of the rotating plate (123), a sliding plate (129) is slidably mounted on the fixed track (128), and a hollow wheel hub (13) is fixedly mounted on the upper end of the sliding plate (129).

7. The remote sensing image acquisition device based on computer vision according to claim 1, characterized in that: The machine adjustment and displacement component (9) comprises: A fixed track block (91) fixedly mounted on the inner ring of the annular fixed track (8); A sliding track block (92) is slidably mounted on the outer ring of the annular fixed track (8); A combined rotating groove (93) is provided in the middle of the fixed track block (91) and the sliding track block (92), on which a rotating block (94) is rotatably mounted. Two sets of transmission mechanisms are provided inside the rotating block (94), which respectively control the sliding of the sliding track block (92) on the annular fixed track (8) and the sliding of the rotating block (94) on the rotating groove (93). Second drive motors (95) are provided on both sets of transmission mechanisms, and the two sets of second drive motors (95) are respectively fixedly mounted on two side surfaces of the rotating block (94).

8. The remote sensing image acquisition device based on computer vision according to claim 1, characterized in that: A central control system and a computer vision system are provided outside the device, and the central control system can automatically query the satellite remote sensing system.

Images