CN102829768A - Helicopter aerial-photographing device - Google Patents
Helicopter aerial-photographing device Download PDFInfo
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- CN102829768A CN102829768A CN2012103154040A CN201210315404A CN102829768A CN 102829768 A CN102829768 A CN 102829768A CN 2012103154040 A CN2012103154040 A CN 2012103154040A CN 201210315404 A CN201210315404 A CN 201210315404A CN 102829768 A CN102829768 A CN 102829768A
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- plane
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Abstract
The invention discloses a helicopter aerial-photographing device capable of recording the vertical height of a helicopter and the earth surface or an earth surface building roof in an aerial-photographing process. The helicopter aerial-photographing device comprises an aerial-photographing cloud terrace and a digital camera, wherein the aerial-photographing cloud terrace is fixed on the helicopter; the digital camera is arranged in the aerial-photographing cloud terrace; and a distance measuring instrument is arranged in the aerial-photographing cloud terrace. By adopting the structure, the helicopter aerial-photographing device disclosed by the invention can calculate the altitude value of an aerial-photographing area according to the distance value of the helicopter and the ground, which is recorded by the distance measuring instrument by combining with a plurality of GPS (Global Position System) positioning points arranged in the aerial-photographing area, thereby establishing the three-dimensional geographic and geomorphic image in a surveying and drawing area on the basis of a spliced plane map in the surveying and drawing area.
Description
Technical field
The present invention relates to the survey field of taking photo by plane, especially a kind of helicopter that is applicable to that depopulated helicopter and manned helicopter use device of taking photo by plane.
Background technology
Taking photo by plane and claiming takes photo in the sky or aeroplane photography, is meant from aerial shooting earth landforms, obtains vertical view.Present stage, the technology of taking photo by plane by widespread in every field, for different fields, take desired effect and also be not quite similar.Make an inspection tour like large-scale group activity, TV, film, city security protection, require steady and audible real time video image usually, and need fix a point to take when taking, it is comparatively suitable therefore to use helicopter to take photo by plane; For earth monitor, forest fire protection, electric power line walking etc., also be the steady and audible real time video image of requirement, because the scope of patrol is bigger, therefore, use the meeting of fixed-wing unmanned plane efficient higher, when needing fixed point monitoring, general use dish patrols realizes monitoring.
For mapping, traffic survey and design, water conservation survey design, small town planning design etc., need obtain can be in order to make photo map, that strict engineer's scale and accuracy requirement are arranged, at present still to use the fixed-wing unmanned plane to take as the leading factor.The fixed-wing unmanned plane that adopt in this field has the advantages that level speed is fast, efficient is high, and fuselage is small and exquisite, simple in structure, is sent by manual remote control to fly, and the surface work station is controlled autonomous flight and taken.Digital camera flight is installed on the unmanned plane,, obtains the roughly striograph of landforms of a zone through guaranteeing taking photo by plane and the simple software picture mosaic of Duplication, convenient and swift.Yet the landing of fixed-wing unmanned plane receives the place restriction, because rapid speed, the monitoring of can only spiraling can not be hovered, and radius of turn is had certain requirement, therefore is not suitable for carrying out zone mapping among a small circle and takes photo by plane.In contrast; Helicopter can remedy the above-mentioned defective of fixed-wing unmanned plane in mapping is taken photo by plane: helicopter can VTOL; Can carry out hovering, side and fly, retreat and action such as fly, seldom receive the restriction of place landing, also can take by safe flight around buildings; On the other hand, helicopter flight speed can be very slow, thereby guarantee higher the taking photo by plane of Duplication, and its flying height is low, is fit to take the picture of taking photo by plane of high definition, and then more can guarantee the accuracy of surveying and drawing.
Though use to take photo by plane to survey and draw in the prior art and have above-mentioned plurality of advantages; Yet can only obtain the vertical image information in mapping zone; According to these information; Can not obtain the sea level elevation value of each point in the zone, therefore can only splice the plane map in the zone of surveying and drawing, can't set up the three-dimensional topography and geomorphology image in this zone.On the other hand, when using helicopter to survey and draw to take photo by plane, camera is installed on the helicopter below through the The Cloud Terrace of taking photo by plane usually, and the glissando of the The Cloud Terrace of taking photo by plane surely has crucial effects as effect to taking photo by plane.And the The Cloud Terrace of taking photo by plane of the prior art, can't satisfy helicopter take photo by plane the mapping steady picture require.
Summary of the invention
The technical matters that the present invention will solve provides a kind of helicopter that can write down the vertical height on helicopter and the face of land in the process of taking photo by plane or surface buildings top device of taking photo by plane.
For addressing the above problem, a kind of helicopter of the present invention device of taking photo by plane comprises the The Cloud Terrace of taking photo by plane that is fixed on the helicopter, and is installed in the digital camera in the The Cloud Terrace of taking photo by plane, and in the said The Cloud Terrace of taking photo by plane stadimeter is installed also.
Said stadimeter is a laser range finder, and this laser range finder is provided with data memory module.
The said The Cloud Terrace of taking photo by plane comprises support, balance measuring device and the balance adjusting device that links to each other with balance measuring device; Wherein balance measuring device is used to measure helicopter flight attitude, and balance adjusting device is used for according to the measurement result of balance measuring device digital camera in the The Cloud Terrace of taking photo by plane and stadimeter being carried out angular setting.
Said balance measuring device is a gyroscope.
Said balance adjusting device comprises controller and steering wheel link gear, and wherein the steering wheel link gear comprises mutually nested housing, center and inside casing; Digital camera and stadimeter are installed in inside casing inside; Inside casing is connected through longitudinal axis with center, and this longitudinal axis one end is fixed on the inside casing, and the other end links to each other with the clutch end of first steering wheel on being fixed on center; Center is connected through lateral shaft with housing, and this lateral shaft one end is fixed on the center, and the other end links to each other with the clutch end of second steering wheel on being fixed on housing; Housing is connected through vertical axes with support, and this vertical axes one end is fixed on the support, and the other end links to each other with the clutch end of the 3rd steering wheel on being fixed on housing; Said controller links to each other with first steering wheel, second steering wheel, the 3rd steering wheel and balance measuring device respectively.
The lateral wall of said stadimeter links to each other with the clutch end of a stepper motor, this stepper motor and inside casing relative fixed.
The said helicopter device of taking photo by plane also comprises with digital camera and takes auxiliary camera or the video camera that direction is inclined to set, said auxiliary camera or video camera and inside casing relative fixed.
Said auxiliary camera or video camera are four, lay respectively at four orientation, front, rear, left and right of digital camera.
Adopt the helicopter of the structure of the present invention device of taking photo by plane; According to helicopter that stadimeter write down distance value apart from ground; In conjunction with the some GPS anchor points that are provided with in advance in the zone of taking photo by plane; Can calculate the sea level elevation value in the zone of taking photo by plane, and then survey and draw on the basis of regional plane map, set up the three-dimensional topography and geomorphology image in this zone splicing.The employed helicopter of taking photo by plane among the present invention can be a depopulated helicopter, also can be manned helicopter.Simultaneously, the The Cloud Terrace of taking photo by plane is provided with balance adjusting device, can guarantee the stable of image of taking photo by plane.
Description of drawings
Fig. 1 is the take photo by plane perspective view of device of helicopter of the present invention.
Fig. 2 is the take photo by plane synoptic diagram of device medium-height trestle of helicopter of the present invention.
Fig. 3 is the take photo by plane synoptic diagram of the structure of balance adjusting device in the device of helicopter of the present invention.
Fig. 4 is the take photo by plane assembling synoptic diagram of inside casing in the device, center and housing of helicopter of the present invention.
Fig. 5 is the take photo by plane assembling synoptic diagram of stadimeter and stepper motor in the device of helicopter of the present invention.
Synoptic diagram when Fig. 6 finds range to ground for helicopter among the present invention.
Fig. 7 is digital camera among the present invention and laser range finder debugging scheme of installation.
Embodiment
In order to make those skilled in the art person understand technical scheme of the present invention better, the present invention is done further detailed description below in conjunction with accompanying drawing and embodiment.
Shown in Fig. 1 to 5; A kind of helicopter device of taking photo by plane, the helicopter of the present invention device of taking photo by plane comprises and takes photo by plane The Cloud Terrace 2 and be installed in the digital camera 3 in the The Cloud Terrace 2 of taking photo by plane; The The Cloud Terrace 2 of taking photo by plane can be fixed on the helicopter bottom, when using manned helicopter to take photo by plane, also can be fixed on the sidepiece of helicopter.The The Cloud Terrace bottom end opening of taking photo by plane, the camera lens of digital camera 3 is provided with straight down, is the vertical view of in the vertical direction in order to the take photo by plane vertical image in zone of shooting; Digital camera 3 links to each other with the automatic control system of taking photo by plane, and can take photo by plane automatically and take photo by plane with remote manual control; The said digital camera 3 and the automatic control system of taking photo by plane can be used equipment in the prior art, such as the high definition digital camera of self-powered system that can in market, buy and storage unit.
The said helicopter device of taking photo by plane also comprises the stadimeter 1 that is arranged in the The Cloud Terrace 2 of taking photo by plane; This stadimeter 1 can be laser range finder; Certainly can also replace with ultrasonic range finder or infrared ambulator, but, select laser range finder in the embodiments of the invention for use in order to guarantee distance accuracy.
Laser range finder can select that LDM30x series, LDM4x are serial, the ZMD Series Industrial is used laser range finder for use; With the downward continuous detecting of certain frequency, and can in real time measurement data be sent back the Ground Control platform through pre-set program through data transmission device; For guaranteeing the integrality of measurement data; Avoid data in transmission course, to lose; Can laser range finder 1 be connected through circuit with data storage device (for example portable notebook computer), the real time record helicopter to ground or the buildings apex distance that is positioned at ground leave.
When using depopulated helicopter to take photo by plane mapping; Get into running status simultaneously through Ground Control platform remote control laser range finder and digital camera; The zero-time that zero-time that laser range finder carries out continuous detecting and digital camera are taken continuously is identical, and then is convenient to the data preparation in later stage.
Adopt the helicopter of the structure of the present invention device of taking photo by plane to take photo by plane before the mapping, some reference points are set at first on the ground, the GPS locating device is installed on each reference point.Illustrate below and how the regional sea level elevation of taking photo by plane to be calculated through stadimeter record data:
As shown in Figure 6, the GPS locating device through each reference point setting obtains two adjacent reference point C, the sea level elevation x of D
1, x
2
The arbitrary some E that need to calculate sea level elevation of the setting that between C, D, rest on the ground, the position that flies to two reference point C, D and some E when overhead when aircraft is c, d, e, gathers the distance h of helicopter flight to the measured helicopter of c, d, e apart from ground
1, h
2, h
3, promptly the some c among Fig. 6 is respectively h to some D, some e to the distance of some E to some C, some d
1, h
2, h
3
According to two reference point C that obtain, the sea level elevation x of D
1, x
2And measured helicopter is apart from the distance h on ground
1, h
2, calculate the sea level elevation y of 2 of c, d
1, y
2:
y
1=x
1+h
1
y
2=x
2+h
2
Measure the horizontal range s between two reference point C, the D
1And reference point C is to the horizontal range s that puts between the E
2Wherein, s
1Can measure through the GPS locating device, also can according to the image of taking photo by plane that configures engineer's scale measure and in proportion chi amplify and to draw; s
2Can according to the image of taking photo by plane that configures engineer's scale measure and in proportion chi amplify and to draw.
Suppose that the sea level elevation that helicopter is taken photo by plane remains at y
1Highly, calculate helicopter through formula and fly to an E when overhead corrected range h apart from ground
3', said formula is:
And through this corrected range h
3' correct the sea level elevation that calculates an E is y
1-h
3'.
The said The Cloud Terrace of taking photo by plane comprises support 201, balance measuring device (not shown) and the balance adjusting device that links to each other with balance measuring device.Wherein, balance measuring device is used to measure helicopter flight attitude, and balance adjusting device is used for according to the measurement result of balance measuring device digital camera in the The Cloud Terrace of taking photo by plane 3 and stadimeter 1 being carried out angular setting.When in helicopter is being taken photo by plane process, occurring tilting; Balance measuring device can be measured the angle of inclination of helicopter; And this measurement result passed to balance adjusting device; And then balance adjusting device logarithmic code camera and stadimeter carry out angular setting, guarantees that its shooting angle can not occur tilting significantly and influences the mapping effect.
Said balance measuring device can be gyroscope.
Said balance adjusting device comprises controller (not shown) and steering wheel link gear, and wherein the steering wheel link gear comprises mutually nested housing 204, center 203 and inside casing 202; Digital camera 3 and stadimeter 1 are installed in inside casing 202 inside; Inside casing 202 is connected through longitudinal axis 205 with center 203; These longitudinal axis 205 1 ends are fixed on the inside casing 202; The other end links to each other with the clutch end of first steering wheel 206 on being fixed on center 203, and it is that axis rotates with longitudinal axis 205 in center 203 that said first steering wheel 206 can drive inside casing 202;
Said controller links to each other with first steering wheel 206, second steering wheel 208, the 3rd steering wheel 210 and balance measuring device respectively.Wherein, described steering wheel adopts steering wheel of the prior art to get final product, and for example the patent No. is 201020693853.5 the disclosed a kind of steering wheel of patent, certainly, is not limited to the disclosed steering wheel of this patent.
Because helicopter is basically along rectilinear flight; Therefore the track of stadimeter 1 range finding also is straight line basically; In order to enlarge the sensing range of stadimeter 1; PTO with a stepper motor 211 on the lateral wall of said stadimeter 1 links to each other, and this stepper motor 211 fixes with inside casing 202.Through this stepper motor 211, can make stadimeter 1 along preset angular velocity and amplitude axis direction left rotation and right rotation around the stepper motor PTO, move ahead thereby make the track of stadimeter 1 range finding be Z-shaped.Stepper motor 211 brings into operation with stadimeter 1 synchronously, through calculating the angle of laser range finder rotation its working time.Because laser range finder and vertical direction form an angle; Therefore need again helicopter to be calculated apart from the vertical height of check point: supposition stadimeter detection side is when being 30 ° with the vertical direction angle; Measured range data apart from check point is 100m; Then helicopter is the product of 100m and cos30 ° apart from the vertical height of this check point, and approximates 86.603m.
The said helicopter device of taking photo by plane also comprises with digital camera 3 and takes the auxiliary camera 4 that directions are inclined to set; Said auxiliary camera 4 and inside casing 202 relative fixed; And said auxiliary camera is four, lays respectively at four orientation, front, rear, left and right of digital camera 3.In helicopter is taken photo by plane process; Digital camera 3 obtains the vertical view of above ground structure; Through this auxiliary camera 4, can cross the side characteristic pattern that obtains above ground structure, through the side of buildings characteristic pattern that photographs is had an X-rayed post-processed such as stretching; Then can obtain the side view of buildings, thereby be convenient to make the regional 3-dimensional image figure of mapping that takes photo by plane.
Certain said auxiliary camera 4 also can be with video camera and replaces.
Before taking photo by plane, need debug installation to digital camera in the inside casing 202 3 and laser range finder 100 on ground, parallel with the Laser emission light beam of assurance laser range finder 100 and the axis of digital camera 3 camera lenses.As shown in Figure 7; At first there is the inside casing 202 of digital camera 3 and laser range finder 100 to be placed on ground open region inside; Be provided with reference to wall A in the place ahead apart from inside casing 202 certain distances; Make the centre focus point A1 of digital camera 3 and the Laser emission hot spot A2 of laser range finder can drop on this with reference on the wall A, said certain distance can be between 50m～100m.Measure digital camera 3 optical centers and put the distance L 1 of laser range finder Laser emission end, and with reference to the distance L 2 of the A1 on the wall A to A2.If the numerical values recited that compares L1 and L2 is the two equal and opposite in direction, then proof debugging installation; Otherwise the angle of logarithmic code camera 3 and laser range finder 1 is proceeded debugging.
Claims (8)
1. helicopter device of taking photo by plane comprises the The Cloud Terrace of taking photo by plane that is fixed on the helicopter, and is installed in the digital camera in the The Cloud Terrace of taking photo by plane, and it is characterized in that: in the said The Cloud Terrace of taking photo by plane stadimeter is installed also.
2. the helicopter as claimed in claim 1 device of taking photo by plane, it is characterized in that: said stadimeter is a laser range finder, and this laser range finder is provided with data memory module.
3. the helicopter as claimed in claim 2 device of taking photo by plane; It is characterized in that: the said The Cloud Terrace of taking photo by plane comprises support, balance measuring device and the balance adjusting device that links to each other with balance measuring device; Wherein balance measuring device is used to measure helicopter flight attitude, and balance adjusting device is used for according to the measurement result of balance measuring device digital camera in the The Cloud Terrace of taking photo by plane and stadimeter being carried out angular setting.
4. the helicopter as claimed in claim 3 device of taking photo by plane, it is characterized in that: said balance measuring device is a gyroscope.
5. the helicopter as claimed in claim 4 device of taking photo by plane, it is characterized in that: said balance adjusting device comprises controller and steering wheel link gear, and wherein the steering wheel link gear comprises mutually nested housing, center and inside casing; Digital camera and stadimeter are installed in inside casing inside; Inside casing is connected through longitudinal axis with center, and this longitudinal axis one end is fixed on the inside casing, and the other end links to each other with the clutch end of first steering wheel on being fixed on center; Center is connected through lateral shaft with housing, and this lateral shaft one end is fixed on the center, and the other end links to each other with the clutch end of second steering wheel on being fixed on housing; Housing is connected through vertical axes with support, and this vertical axes one end is fixed on the support, and the other end links to each other with the clutch end of the 3rd steering wheel on being fixed on housing; Said controller links to each other with first steering wheel, second steering wheel, the 3rd steering wheel and balance measuring device respectively.
6. the helicopter as claimed in claim 5 device of taking photo by plane, it is characterized in that: the lateral wall of said stadimeter links to each other with the clutch end of a stepper motor, this stepper motor and inside casing relative fixed.
7. like claim 5 or the 6 described helicopters device of taking photo by plane, it is characterized in that: the said helicopter device of taking photo by plane also comprises with digital camera and takes auxiliary camera or video camera, said auxiliary camera and the inside casing relative fixed that direction is inclined to set.
8. the helicopter as claimed in claim 7 device of taking photo by plane, it is characterized in that: said auxiliary camera or video camera are four, lay respectively at four orientation, front, rear, left and right of digital camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012103154040A CN102829768A (en) | 2012-03-08 | 2012-08-30 | Helicopter aerial-photographing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210063245.X | 2012-03-08 | ||
| CN201210063245XA CN102607530A (en) | 2012-03-08 | 2012-03-08 | Helicopter aerial shooting device |
| CN2012103154040A CN102829768A (en) | 2012-03-08 | 2012-08-30 | Helicopter aerial-photographing device |
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| CN102829768A true CN102829768A (en) | 2012-12-19 |
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| CN201210063245XA Pending CN102607530A (en) | 2012-03-08 | 2012-03-08 | Helicopter aerial shooting device |
| CN2012103154040A Pending CN102829768A (en) | 2012-03-08 | 2012-08-30 | Helicopter aerial-photographing device |
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Cited By (7)
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| CN103336281A (en) * | 2013-07-10 | 2013-10-02 | 贵州大学 | Multifunctional distance detection early warning device |
| CN106488131A (en) * | 2016-11-16 | 2017-03-08 | 贵州斯凯威科技有限公司 | A kind of VR shoots unmanned plane and image pickup method |
| CN106672252A (en) * | 2016-12-07 | 2017-05-17 | 国网北京市电力公司 | Unmanned aerial vehicle |
| CN110741625A (en) * | 2018-07-23 | 2020-01-31 | 深圳市大疆创新科技有限公司 | Motion estimation method and mobile device |
| CN110758738A (en) * | 2019-11-26 | 2020-02-07 | 山东省地质测绘院 | Unmanned aerial vehicle for surveying and mapping |
| CN111765868A (en) * | 2020-06-12 | 2020-10-13 | 中国二十冶集团有限公司 | Earth measurement method based on oblique photography technology and divided according to different grids |
| CN111765870A (en) * | 2020-06-12 | 2020-10-13 | 中国二十冶集团有限公司 | Earth volume calculation method based on oblique photography technology and regional accumulation |
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- 2012-03-08 CN CN201210063245XA patent/CN102607530A/en active Pending
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| JP2000171249A (en) * | 1998-12-03 | 2000-06-23 | Asia Air Survey Co Ltd | Position acquiring device |
| CN101592955A (en) * | 2009-04-08 | 2009-12-02 | 孙卓 | A kind of full-automatic unmanned aerial vehicle control system |
| CN101811578A (en) * | 2010-04-23 | 2010-08-25 | 福建省电力有限公司福州电业局 | Special photoelectric nacelle of power patrol unmanned helicopter |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103336281A (en) * | 2013-07-10 | 2013-10-02 | 贵州大学 | Multifunctional distance detection early warning device |
| CN106488131A (en) * | 2016-11-16 | 2017-03-08 | 贵州斯凯威科技有限公司 | A kind of VR shoots unmanned plane and image pickup method |
| CN106672252A (en) * | 2016-12-07 | 2017-05-17 | 国网北京市电力公司 | Unmanned aerial vehicle |
| CN110741625A (en) * | 2018-07-23 | 2020-01-31 | 深圳市大疆创新科技有限公司 | Motion estimation method and mobile device |
| CN110741625B (en) * | 2018-07-23 | 2022-06-21 | 深圳市大疆创新科技有限公司 | Motion estimation method and photographic equipment |
| CN110758738A (en) * | 2019-11-26 | 2020-02-07 | 山东省地质测绘院 | Unmanned aerial vehicle for surveying and mapping |
| CN111765868A (en) * | 2020-06-12 | 2020-10-13 | 中国二十冶集团有限公司 | Earth measurement method based on oblique photography technology and divided according to different grids |
| CN111765870A (en) * | 2020-06-12 | 2020-10-13 | 中国二十冶集团有限公司 | Earth volume calculation method based on oblique photography technology and regional accumulation |
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| Publication number | Publication date |
|---|---|
| CN102607530A (en) | 2012-07-25 |
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Application publication date: 20121219 |