In inspection or monitoring using an UAV, it is possible to set an appropriate route of the UAV with respect to the target and to capture the UAV from an appropriate position. A surveying system includes a surveying device (200), a UAV (300), and a processor (400), wherein the surveying device includes a combination of a first camera with known external calibration paramters, a laser scanner and a total station; the UAV is provided with a second camera and can fly autonomously. The processor (400) includes an image data receiving unit receiving image data of images captured by the first camera and the second camera; a laser scanning data receiving unit receiving laser scanning data received by the laser scanner; a specified part receiving unit receiving specification of a specified part in an image captured by the first camera; a flight plan setting unit which sets a flight path of the UAV (300), including a position of a viewpoint for viewing the desired part, on the basis of laser scanning data; and a camera direction setting unit that sets directions of the second camera during flight of the UAV along the flight route, on the basis of the laser scanning data.
在使用了UAV的检查或监视中,能够进行UAV相对于对象的适当的航线的设定及从适当位置的UAV的拍摄。测量系统由将外部标定要素的关系已知的第一摄像头、激光扫描仪及全站仪复合化的测量装置(200)、搭载第二摄像头且能够自主飞行的UAV(300)、处理装置(400)构成,处理装置(400)具备:图像数据接收单元,接收第一摄像头及第二摄像头拍摄的图像的图像数据;激光扫描数据接收单元,接收由所述激光扫描仪获得的激光扫描数据;指定部分接收单元,接收所述第一摄像头拍摄的图像中的特别指定的部分的指定;飞行计划设定单元,基于所述激光扫描数据设定包含将所述指定部分纳入视野的视点的位置的所述UAV(300)的飞行路径;摄像头的朝向设定部,基于所述激光扫描数据设定沿着所述飞行路径的所述UAV的飞行中的所述第二摄像头的朝向。
SURVEYING SYSTEM, SURVEYING METHOD, AND SURVEYING PROGRAM
测量系统、测量方法以及测量用程序
2022-01-28
Patent
Elektronische Ressource
Chinesisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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