CA2783767A1 - Measuring device - Google Patents
Measuring device Download PDFInfo
- Publication number
- CA2783767A1 CA2783767A1 CA2783767A CA2783767A CA2783767A1 CA 2783767 A1 CA2783767 A1 CA 2783767A1 CA 2783767 A CA2783767 A CA 2783767A CA 2783767 A CA2783767 A CA 2783767A CA 2783767 A1 CA2783767 A1 CA 2783767A1
- Authority
- CA
- Canada
- Prior art keywords
- measuring device
- measuring instrument
- drive element
- measuring
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 239000000725 suspension Substances 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 description 5
- 230000010006 flight Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
Abstract
The invention relates to a measuring device (1), in particular for remote sensing, the measuring device (1) having a measuring instrument (2) and an apparatus for movable mounting of the measuring instrument (2), the apparatus having two non-parallel rotation axes (7, 9), the rotation axes (7, 9) not being the same as a longitudinal axis of the measuring instrument, the measuring instrument (2) being connected to a rotatable drive element (10) via a power transmission element.
Description
r Measuring device The invention relates to a measuring device, in particular for remote sensing, the measuring device having a measuring instrument and an apparatus for movable mounting of the measuring instrument.
In air-based remote sensing, the sensor system or, in general terms, the measuring instrument is usually directed vertically downward (nadir). Orthomosaic and surface models, for example, may be derived therefrom. A particular configuration is seen in so called oblique systems, which have at least one obliquely facing sensor (for example a matrix camera) (photogrammetric oblique aerial images with the Aerial Oblique System AOS, Albert Wiedemann, DGPF Tagungsband 18/2009). The data from such oriented sensors can be used either to produce/improve orthophotos or for texturing surfaces that rise up (in particular building facades). There is an array of systems with one or more permanently mounted sensors that face in various directions. This approach leads to a significant conflict of aims: if the aim is to collect data with the lowest possible outlay on flying, the manufacturers increase the number of simultaneously active sensors. There are solutions that jointly drive one obliquely facing sensor, for example a camera, each for all four cardinal directions. The result of this is that the systems are large, heavy and cost intensive, and require correspondingly large platforms. Measuring systems with fewer sensors do not have these disadvantages to the same extent, but they do require substantially more outlay on flights so that the measurement provides areal coverage.
Air-based remote sensing systems having moving sensors exist, inter alia, for matrix cameras. Because of their disadvantages to date, they are available only sporadically, and will be explained below.
A suspended camera system is, for example, Visionmap A3 (VisionMap A3 ¨ The New Digital Aerial Survey and Mapping System; M. Pechatnikow et al., FIG Working Week 2009 Surveyors Key Role in Accelerated Development, Eilat, Israel, 3-8 May 2009), which pivots about the roll axis of the aircraft. It is only the two oblique views transverse to the flight direction that are imaged in this case. Forward- and backward-facing views and an orientation between the cardinal direction axes are not possible. Such views require additional outlay on flights.
An azimuthally movable camera system is, for example, Azicam from GetMapping Plc.
(Getmapping Reveals New 'AZICAM' Oblique Camera System, Press Release June 2009). In this case, the obliquely facing camera is rotated by motor into one of the four cardinal directions. However, rotating the camera housing about the optical axis has two grave disadvantages. Firstly, without specific technical solutions cable torsion renders =
continuous rotation by 360 impossible, something which leads to time-intensive restoration to the initial position, and secondly the camera image undergoes rotation by all three possible angles o), cp and K. This complicates the perspective representation in the photogrammetric process, since the image has to be rotated about its optical axis (lc). The long azimuth shaft harbors a considerable distortion potential, something which leads to imprecise orientation with respect to an inertial navigation system and/or a further camera.
Also known is a camera system that can be pivoted about the azimuth axis and uses two cameras. In this case, the principle of oblique view is that the two cameras are arranged on a vertical plane and have an angular offset. At one instant, a camera faces obliquely forward, and the second camera obliquely backward. By rotating the measurement setup by 90 , the cameras face in both directions transverse to the flight movement.
All four cardinal directions are covered with the aid of two cameras in this way. The problems relating to continuous complete rotation (it takes time to stop the buildup and to restart backwards) and rotation by all three angles with the associated consequences already addressed are present here.
The invention is based on the technical problem of providing a measuring device, in particular for remote sensing, that can be used to attain various viewing directions with a low outlay on control.
The solution to the technical problem results from the subject matters having the features of claim 1. Further advantageous refinements of the invention follow from the subclaims.
In this case, the measuring device has a measuring instrument and an apparatus for movable mounting of the measuring instrument, the apparatus having two non-parallel rotation axes, the rotation axes not being the same as a longitudinal axis of the measuring instrument, the measuring instrument being connected to a rotatable drive element via a power transmission element. This permits a very simple and compact design, it being possible to move the drive element by a simple uniaxial drive, in order thus to impart a defined tumbling movement to the measuring instrument in the apparatus, that is to say the longitudinal axis of the measuring instrument moves through a defined path curve that, depending on configuration, can be from zero to infinity. In the case of zero, the drive element is correspondingly not driven, and in that of infinity the drive element executes a complete revolution, thus producing a closed path curve, preferably a circular path. In this case, a rotation about the longitudinal axis of the measuring instrument is avoided and, at the same time, all relevant viewing directions are gone through. It may be remarked at this juncture that when the measuring instrument is a camera the longitudinal axis is the same as the optical axis.
In one embodiment, the apparatus comprises a universal joint in the case of which the two rotation axes are at right angles to one another. Universal joints have the advantage of being able to describe a tumbling movement very easily.
In one embodiment, the universal joint has a base suspension that has an inner ring mounted rotatably uniaxially, the inner ring bearing the measuring instrument mounted uniaxially. Here, the base suspension is preferably arranged rigidly on a suitable platform, for example in a flying device.
In a further embodiment, the drive element is designed as a drive disk.
The drive element is preferably permanently connected to a shaft that can be driven rotatably by a drive unit. Here, the drive unit is preferably arranged in an immobile fashion and outside the moving parts. This avoids a necessary balancing of mass as well as joining of cables by comparison with designs where a drive unit (motor) is mounted on the inner ring.
In a further embodiment, there is provided for the drive element a rigid guide element that prevents uncontrolled movements of the drive element and/or of the shaft.
In a further embodiment, the guide element is rigidly connected to the base suspension.
By way of example it is also possible in principle for the guide element to be fastened on the rigid drive unit or on another rigid platform.
In a further embodiment, the measuring device has a sensor system for detecting or determining a rotation angle of the drive element, it being possible to determine the angles of the rotation axes from the rotation angle of the drive element, and to determine the viewing direction of the measuring instrument therefrom. In this case, the sensor system can directly detect the angle on the drive element. However, it is also possible, alternatively or cumulatively, to detect the rotor position on the drive unit and to infer from the rotor position the angle of the shaft that is driving the drive element.
In a further embodiment, the power transmission element is designed as a rigid connection. In this case, the connection must also be suitably guided during the rotation of the drive element. In one embodiment, the rigid connection is designed in this case as a connecting rod that is preferably connected to the drive element via a spherical head bearing.
In a further embodiment, the measuring instrument is designed as a camera.
In a further embodiment, the drive element executes an n x 3600 rotation, with n> 1.
Because of the fact that cable torsion cannot come about, since the measuring instrument itself does not rotate, the drive element may be rotated continuously in one direction.
Consequently, the measuring instrument also does not need to be braked in order to be able to return to its initial position. Consequently, the drive unit can be designed with smaller dimensions, and the energy requirement can be reduced, and this, in turn, results in a smaller and lighter overall system.
The invention is explained in more detail below with the aid of a preferred exemplary embodiment. The sole figure shows a perspective illustration of a measuring device for remote sensing.
The measuring device 1 comprises a measuring instrument 2 in the form of a camera, and an apparatus for movable mounting of the measuring instrument 2. To this end, the apparatus comprises a base suspension 3. The base suspension 3 is designed as a square or rectangular plate that has a preferably circular opening 4. An inner ring 6 is rotatably mounted on an inner edge 5 of the base suspension 3 via a first rotation axis 7.
The measuring instrument 2 is rotatably mounted on an inner wall 8 of the inner ring 6 via a second rotation axis 9. The two rotation axes 7, 9 are in this case perpendicular to one another and form a universal joint. Furthermore, the measuring device 1 has a drive element 10 in the form of a drive disk. The drive disk is connected to a shaft 12 that can be rotatably driven by a drive unit (not illustrated). By way of example, the drive unit is designed in this case as a stepping motor. The drive element 10 is therefore also rotated by a rotation of the shaft 12. The shaft 12 is guided in this case by a guide element 11 that is arranged above the drive element 10. The guide element 11 is rigidly connected in this case to the base suspension 3 via connecting rods 13. Consequently, the guide element 11 guides the shaft 12, on the one hand, and the drive element 10, on the other hand. The measuring instrument 2 is connected to the drive element 10 via a rigid connecting rod 14 and a spherical head bearing 15, the connection being acentric. In this case, the connecting rod 14 is flush with the longitudinal axis of the measuring instrument.
If the shaft 12 is now driven, the drive disk also rotates. This rotation is then transmitted via the connecting rod 13 to the measuring instrument 2, which carries out a defined tumbling movement in the universal joint, and so the viewing direction of the measuring instrument 2 likewise changes in a permanently defined fashion.
An evaluation unit (not illustrated) can in this case determine the respective viewing direction from the angular position of the shaft 12 or drive disk, since there is a fixed relationship between the angle of the shaft 12 and the angles on the rotation axes 7, 9.
The viewing direction can in this case simultaneously be stored with the recorded data of the measuring instrument 2. However, it can also be provided to make additional use of sensor systems for detecting the angles of the rotation axes 7, 9, for example in order to detect the viewing direction more accurately, or for the purposes of redundancy.
In addition to aerial photography flights with cameras of all types, the measuring device can also be used, for example, for 3D city modelling or mappings. By way of example, the measuring device can also be used for laser scanning or for acoustic pressure investigations.
In air-based remote sensing, the sensor system or, in general terms, the measuring instrument is usually directed vertically downward (nadir). Orthomosaic and surface models, for example, may be derived therefrom. A particular configuration is seen in so called oblique systems, which have at least one obliquely facing sensor (for example a matrix camera) (photogrammetric oblique aerial images with the Aerial Oblique System AOS, Albert Wiedemann, DGPF Tagungsband 18/2009). The data from such oriented sensors can be used either to produce/improve orthophotos or for texturing surfaces that rise up (in particular building facades). There is an array of systems with one or more permanently mounted sensors that face in various directions. This approach leads to a significant conflict of aims: if the aim is to collect data with the lowest possible outlay on flying, the manufacturers increase the number of simultaneously active sensors. There are solutions that jointly drive one obliquely facing sensor, for example a camera, each for all four cardinal directions. The result of this is that the systems are large, heavy and cost intensive, and require correspondingly large platforms. Measuring systems with fewer sensors do not have these disadvantages to the same extent, but they do require substantially more outlay on flights so that the measurement provides areal coverage.
Air-based remote sensing systems having moving sensors exist, inter alia, for matrix cameras. Because of their disadvantages to date, they are available only sporadically, and will be explained below.
A suspended camera system is, for example, Visionmap A3 (VisionMap A3 ¨ The New Digital Aerial Survey and Mapping System; M. Pechatnikow et al., FIG Working Week 2009 Surveyors Key Role in Accelerated Development, Eilat, Israel, 3-8 May 2009), which pivots about the roll axis of the aircraft. It is only the two oblique views transverse to the flight direction that are imaged in this case. Forward- and backward-facing views and an orientation between the cardinal direction axes are not possible. Such views require additional outlay on flights.
An azimuthally movable camera system is, for example, Azicam from GetMapping Plc.
(Getmapping Reveals New 'AZICAM' Oblique Camera System, Press Release June 2009). In this case, the obliquely facing camera is rotated by motor into one of the four cardinal directions. However, rotating the camera housing about the optical axis has two grave disadvantages. Firstly, without specific technical solutions cable torsion renders =
continuous rotation by 360 impossible, something which leads to time-intensive restoration to the initial position, and secondly the camera image undergoes rotation by all three possible angles o), cp and K. This complicates the perspective representation in the photogrammetric process, since the image has to be rotated about its optical axis (lc). The long azimuth shaft harbors a considerable distortion potential, something which leads to imprecise orientation with respect to an inertial navigation system and/or a further camera.
Also known is a camera system that can be pivoted about the azimuth axis and uses two cameras. In this case, the principle of oblique view is that the two cameras are arranged on a vertical plane and have an angular offset. At one instant, a camera faces obliquely forward, and the second camera obliquely backward. By rotating the measurement setup by 90 , the cameras face in both directions transverse to the flight movement.
All four cardinal directions are covered with the aid of two cameras in this way. The problems relating to continuous complete rotation (it takes time to stop the buildup and to restart backwards) and rotation by all three angles with the associated consequences already addressed are present here.
The invention is based on the technical problem of providing a measuring device, in particular for remote sensing, that can be used to attain various viewing directions with a low outlay on control.
The solution to the technical problem results from the subject matters having the features of claim 1. Further advantageous refinements of the invention follow from the subclaims.
In this case, the measuring device has a measuring instrument and an apparatus for movable mounting of the measuring instrument, the apparatus having two non-parallel rotation axes, the rotation axes not being the same as a longitudinal axis of the measuring instrument, the measuring instrument being connected to a rotatable drive element via a power transmission element. This permits a very simple and compact design, it being possible to move the drive element by a simple uniaxial drive, in order thus to impart a defined tumbling movement to the measuring instrument in the apparatus, that is to say the longitudinal axis of the measuring instrument moves through a defined path curve that, depending on configuration, can be from zero to infinity. In the case of zero, the drive element is correspondingly not driven, and in that of infinity the drive element executes a complete revolution, thus producing a closed path curve, preferably a circular path. In this case, a rotation about the longitudinal axis of the measuring instrument is avoided and, at the same time, all relevant viewing directions are gone through. It may be remarked at this juncture that when the measuring instrument is a camera the longitudinal axis is the same as the optical axis.
In one embodiment, the apparatus comprises a universal joint in the case of which the two rotation axes are at right angles to one another. Universal joints have the advantage of being able to describe a tumbling movement very easily.
In one embodiment, the universal joint has a base suspension that has an inner ring mounted rotatably uniaxially, the inner ring bearing the measuring instrument mounted uniaxially. Here, the base suspension is preferably arranged rigidly on a suitable platform, for example in a flying device.
In a further embodiment, the drive element is designed as a drive disk.
The drive element is preferably permanently connected to a shaft that can be driven rotatably by a drive unit. Here, the drive unit is preferably arranged in an immobile fashion and outside the moving parts. This avoids a necessary balancing of mass as well as joining of cables by comparison with designs where a drive unit (motor) is mounted on the inner ring.
In a further embodiment, there is provided for the drive element a rigid guide element that prevents uncontrolled movements of the drive element and/or of the shaft.
In a further embodiment, the guide element is rigidly connected to the base suspension.
By way of example it is also possible in principle for the guide element to be fastened on the rigid drive unit or on another rigid platform.
In a further embodiment, the measuring device has a sensor system for detecting or determining a rotation angle of the drive element, it being possible to determine the angles of the rotation axes from the rotation angle of the drive element, and to determine the viewing direction of the measuring instrument therefrom. In this case, the sensor system can directly detect the angle on the drive element. However, it is also possible, alternatively or cumulatively, to detect the rotor position on the drive unit and to infer from the rotor position the angle of the shaft that is driving the drive element.
In a further embodiment, the power transmission element is designed as a rigid connection. In this case, the connection must also be suitably guided during the rotation of the drive element. In one embodiment, the rigid connection is designed in this case as a connecting rod that is preferably connected to the drive element via a spherical head bearing.
In a further embodiment, the measuring instrument is designed as a camera.
In a further embodiment, the drive element executes an n x 3600 rotation, with n> 1.
Because of the fact that cable torsion cannot come about, since the measuring instrument itself does not rotate, the drive element may be rotated continuously in one direction.
Consequently, the measuring instrument also does not need to be braked in order to be able to return to its initial position. Consequently, the drive unit can be designed with smaller dimensions, and the energy requirement can be reduced, and this, in turn, results in a smaller and lighter overall system.
The invention is explained in more detail below with the aid of a preferred exemplary embodiment. The sole figure shows a perspective illustration of a measuring device for remote sensing.
The measuring device 1 comprises a measuring instrument 2 in the form of a camera, and an apparatus for movable mounting of the measuring instrument 2. To this end, the apparatus comprises a base suspension 3. The base suspension 3 is designed as a square or rectangular plate that has a preferably circular opening 4. An inner ring 6 is rotatably mounted on an inner edge 5 of the base suspension 3 via a first rotation axis 7.
The measuring instrument 2 is rotatably mounted on an inner wall 8 of the inner ring 6 via a second rotation axis 9. The two rotation axes 7, 9 are in this case perpendicular to one another and form a universal joint. Furthermore, the measuring device 1 has a drive element 10 in the form of a drive disk. The drive disk is connected to a shaft 12 that can be rotatably driven by a drive unit (not illustrated). By way of example, the drive unit is designed in this case as a stepping motor. The drive element 10 is therefore also rotated by a rotation of the shaft 12. The shaft 12 is guided in this case by a guide element 11 that is arranged above the drive element 10. The guide element 11 is rigidly connected in this case to the base suspension 3 via connecting rods 13. Consequently, the guide element 11 guides the shaft 12, on the one hand, and the drive element 10, on the other hand. The measuring instrument 2 is connected to the drive element 10 via a rigid connecting rod 14 and a spherical head bearing 15, the connection being acentric. In this case, the connecting rod 14 is flush with the longitudinal axis of the measuring instrument.
If the shaft 12 is now driven, the drive disk also rotates. This rotation is then transmitted via the connecting rod 13 to the measuring instrument 2, which carries out a defined tumbling movement in the universal joint, and so the viewing direction of the measuring instrument 2 likewise changes in a permanently defined fashion.
An evaluation unit (not illustrated) can in this case determine the respective viewing direction from the angular position of the shaft 12 or drive disk, since there is a fixed relationship between the angle of the shaft 12 and the angles on the rotation axes 7, 9.
The viewing direction can in this case simultaneously be stored with the recorded data of the measuring instrument 2. However, it can also be provided to make additional use of sensor systems for detecting the angles of the rotation axes 7, 9, for example in order to detect the viewing direction more accurately, or for the purposes of redundancy.
In addition to aerial photography flights with cameras of all types, the measuring device can also be used, for example, for 3D city modelling or mappings. By way of example, the measuring device can also be used for laser scanning or for acoustic pressure investigations.
Claims (10)
1. A measuring device (1), in particular for remote sensing, the measuring device (1) having a measuring instrument (2) and an apparatus for movable mounting of the measuring instrument (2), characterized in that the apparatus has two non-parallel rotation axes (7, 9), the rotation axes (7, 9) not being the same as a longitudinal axis of the measuring instrument, the measuring instrument (2) being connected to a rotatable drive element (10) via a power transmission element.
2. The measuring device as claimed in claim 1, characterized in that the apparatus comprises a universal joint.
3. The measuring device as claimed in claim 2, characterized in that the universal joint has a base suspension (3) that has an inner ring (6) mounted rotatably about an axis, the inner ring (6) bearing the measuring instrument (2) mounted on an axis.
4. The measuring device as claimed in one of the preceding claims, characterized in that the drive element (10) is designed as a drive disk.
5. The measuring device as claimed in one of the preceding claims, characterized in that the drive element (10) is permanently connected to a shaft (12) that can be driven rotatably by a drive unit.
6. The measuring device as claimed in one of the preceding claims, characterized in that a rigid guide element (11) is provided for the drive element (10).
7. The measuring device as claimed in claim 6, characterized in that the guide element (11) is rigidly connected to the base suspension (3).
8. The measuring device as claimed in one of the preceding claims, characterized in that a sensor system detects or determines a rotation angle of the drive element (10), it being possible to determine the angles of the universal joint from the rotation angle of the drive element (10), and to determine the viewing direction of the measuring instrument (2) therefrom
9. The measuring device as claimed in one of the preceding claims, characterized in that the power transmission element is designed as a rigid connecting rod (14) that is connected to the drive element (10) via a spherical head bearing (15).
10. The measuring device as claimed in one of the preceding claims, characterized in that the drive element (10) executes an n x 360° rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2783767A CA2783767C (en) | 2012-07-25 | 2012-07-25 | Measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2783767A CA2783767C (en) | 2012-07-25 | 2012-07-25 | Measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2783767A1 true CA2783767A1 (en) | 2014-01-25 |
| CA2783767C CA2783767C (en) | 2016-01-05 |
Family
ID=49993287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2783767A Expired - Fee Related CA2783767C (en) | 2012-07-25 | 2012-07-25 | Measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2783767C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018082065A1 (en) * | 2016-11-04 | 2018-05-11 | 深圳市道通智能航空技术有限公司 | Pan-tilt and unmanned aerial vehicle |
-
2012
- 2012-07-25 CA CA2783767A patent/CA2783767C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018082065A1 (en) * | 2016-11-04 | 2018-05-11 | 深圳市道通智能航空技术有限公司 | Pan-tilt and unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2783767C (en) | 2016-01-05 |
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| MKLA | Lapsed |
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