基于树莓派的无人机吊装测量系统  

Research on UAV Hoisting Measurement System Based on Raspberry

作　　者：乌云娜 曹利赛 路鹏[2] 王秋爽[3] WU Yunna;CAO Lisai;LU Peng;WANG Qiushuang(Big Data and Network Management Center,Jilin University,Changchun 130012,China;College of Geoexploration Science and Technology,Jilin University,Changchun 130062,China;College of Computer Science and Technology,Jilin University,Changchun 130012,China)

机构地区：[1]吉林大学大数据和网络管理中心,长春130012 [2]吉林大学地球探测科学与技术学院,长春130062 [3]吉林大学计算机科学与技术学院,长春130012

出　　处：《吉林大学学报（信息科学版）》2022年第5期720-726,共7页Journal of Jilin University（Information Science Edition）

基　　金：吉林省产业技术研究与开发基金资助项目(2021C045-8);教育部科技发展中心基金资助项目(2020ITA05048)。

摘　　要：为解决特殊场景下无法近距离接触的物体三维测量的问题,基于无人机以及树莓派设计并实现了一种无人机吊装测量系统。该系统采用级联树莓派实现图传与数传链路,利用激光传感器、GNSS(Global Navigation Satellite System)传感器和监控镜头实现信息采集,结合电动伸缩杆实现测量装置的垂直调整,并利用双目摄像头采集信息实现场景三维建模和物体三维精准测量。测试结果表明,无人机吊装测量系统可快速有效自动构建三维测量场景,并完成目标物体实际三维尺寸测量,平均误差在1%左右,满足预期目标。In order to solve the problem of three-dimensional measurement of objects that cannot be contacted closely in special scenes, the UAV(Unmanned Aerial Vehicle) hoisting measurement system is designed and implemented based on UAV and raspberry. The cascaded raspberry is used to realize image transmission and data transmission link. The laser sensor, GNSS(Global Navigation Satellite System)sensor and monitoring lens sensor are utilized to realize information acquisition and combined with electric telescopic rod to realize the vertical adjustment of measuring device. The binocular camera is used to collect information to realize scene three-dimensional modeling and object three-dimensional accurate measurement. The UAV hoisting measurement system is composed of five parts: power system part, image transmission and data transmission integrated link part, positioning and height acquisition part, electric telescopic rod part and object three-dimensional measurement part. The test results show that the UAV hoisting measurement system can quickly, effectively and automatically construct the three-dimensional measurement scene and complete the actual three-dimensional dimension measurement of the target object. The accuracy error is up to 1%, and the expected effect is achieved.

关 键 词：无人机 尺寸测量 三维建模 树莓派 双目摄像头 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]