CN103438867B - Small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more - Google Patents
Small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more Download PDFInfo
- Publication number
- CN103438867B CN103438867B CN201310404613.7A CN201310404613A CN103438867B CN 103438867 B CN103438867 B CN 103438867B CN 201310404613 A CN201310404613 A CN 201310404613A CN 103438867 B CN103438867 B CN 103438867B
- Authority
- CN
- China
- Prior art keywords
- digital camera
- looks
- master
- aerial vehicle
- unmanned aerial
- 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.)
- Active
Links
Abstract
The present invention relates to photogrammetric measurement equipment technical field, particularly small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more, comprise fuselage and be arranged at the camera system on fuselage, camera system comprises digital camera, digital camera comprises master and looks digital camera and auxiliary digital camera, and auxiliary digital camera includes two, along the heading of fuselage, master looks digital camera and auxiliary digital camera spread configuration on same straight line, is all arranged at master and looks the tail side of digital camera near fuselage; The main master comprised for gathering graphical information depending on digital camera looks digital camera, and auxiliary digital camera comprises the auxiliary digital camera for gathering graphical information; Along the heading perpendicular to fuselage, auxiliary digital camera is divided into the main both sides looking digital camera, and auxiliary digital camera and master look angle at 45 ° respectively between digital camera.System of the present invention, improves the work efficiency of digital city three-dimensional modeling.
Description
Technical field
The present invention relates to photogrammetric measurement equipment technical field, more particularly, particularly small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more.
Background technology
Be applied in the construction of digital city depending on three-dimensional airborne remote sensing system more than existing, but this type of instruments weight is more than 50 kilograms, volume is at about 1 cubic metre, for mapping and the quick three-dimensional modeling of the small size such as Digital Community, intelligence community, because large aircraft startup is complicated, spatial domain limits, duty cycle is longer, cost is comparatively large, is difficult to meet need of production.
And small-sized unmanned plane has maneuverability, the high and low cost of resolution, simple to operate, the advantage such as runway that do not need specialty.But, the camera system of installing due to SUAV (small unmanned aerial vehicle) only includes the digital camera in a vertical, the end face image information of buildings etc. can only be gathered, during the three-dimensional modeling of digital city, the side line unity and coherence in writing of buildings needs artificial collection, collection period is long, difficulty is large, and work efficiency is lower.
Summary of the invention
The object of the present invention is to provide a kind of method of three-dimensional imaging and a kind of device for three-dimensional imaging, to solve the above problems.
The invention provides small-sized unmanned aerial vehicle onboard and look three-dimensional airborne remote sensing system more, comprise fuselage and be arranged at the camera system on described fuselage, described camera system includes digital camera, described digital camera includes master and looks digital camera and auxiliary digital camera, described auxiliary digital camera includes two, along the heading of described fuselage, described master looks digital camera and described auxiliary digital camera spread configuration on same straight line, is all arranged at described master and looks the tail side of digital camera near described fuselage; The master that described master includes for gathering graphical information depending on digital camera looks digital camera, and described auxiliary digital camera includes the auxiliary digital camera for gathering graphical information; Along the heading perpendicular to described fuselage, described auxiliary digital camera is divided into the both sides that described master looks digital camera, and described auxiliary digital camera and described master look angle at 45 ° respectively between digital camera.
In the present invention, provide especially two kinds of digital cameras its be respectively main and look digital camera and auxiliary digital camera.Master is depending on digital camera when arranging, and it adopts the set-up mode of vertical ground for the camera carrying out taking pictures, and it can be taken in the region of putting centered by unmanned plane, obtains the orthography taking the photograph district.In order to gather the side grain of buildings, present invention also offers auxiliary digital camera, along the heading of described fuselage, described auxiliary digital camera and described master look digital camera spread configuration on same straight line, the tail side of digital camera is all looked close described master, state auxiliary digital camera and be divided into the both sides that described master looks digital camera, described auxiliary digital camera and described master look angle at 45 ° respectively between digital camera.
Setting like this, due to digital camera inclination angle, can take side of buildings, thus obtains side of buildings texture, decreases the work of artificial structure's texture collection, thus improves the work efficiency of digital city three-dimensional modeling.
Accompanying drawing explanation
Fig. 1 is the structural representation of camera system in an embodiment of the present invention;
In Fig. 1, the corresponding relation of component names and Reference numeral is:
Master looks digital camera 1; Erecting frame 2.
Embodiment
Also by reference to the accompanying drawings the present invention is described in further detail below by specific embodiment.
Please refer to Fig. 1, Fig. 1 is the structural representation of camera system in an embodiment of the present invention.
The invention provides small-sized unmanned aerial vehicle onboard and look three-dimensional airborne remote sensing system more, for carrying out mapping and the quick three-dimensional modeling of the small size such as Digital Community, intelligence community.
In the prior art, unmanned plane aerial photography system includes fuselage and is arranged on fuselage for carrying out the camera system of taking.Camera system mainly includes digital camera, and digital camera can be taken continuous image under the control system of unmanned plane.
Design based on said structure, look three-dimensional in airborne remote sensing system at small-sized unmanned aerial vehicle onboard provided by the invention more, digital camera includes master and looks digital camera 1 and auxiliary digital camera, auxiliary digital camera includes two, along the heading of fuselage, master looks digital camera 1 and auxiliary digital camera spread configuration on same straight line, all in the main close tail side looking digital camera 1; Auxiliary digital camera includes the auxiliary digital camera for gathering graphical information, and master looks digital camera 1 camera depending on digital camera 1 master included for gathering graphical information; Along the heading perpendicular to fuselage, auxiliary digital camera is divided into the main both sides looking digital camera 1 camera, auxiliary digital camera and the main angle depending on having 45 ° between digital camera 1 camera.
A specific embodiment of the present invention:
Auxiliary digital camera includes two, and master includes one depending on digital camera 1.The main camera depending on digital camera 1 adopts the mode of vertical fuselage (just to ground under state of flight) to arrange.Along the work heading of unmanned plane, two auxiliary digital cameras and master are located along the same line depending on digital camera 1.Meanwhile, one of them mode adopting camera to offset 45 ° left of two auxiliary digital cameras is arranged, and the mode that the camera of another auxiliary digital camera then offsets 45 ° is to the right arranged.The deviation angle of two auxiliary digital cameras is identical, can improve the symmetry of image acquisition, thus is convenient to the post-processed of image.
When making a video recording to continuous image, because digital camera 1 camera is along vertical, the top image information of ground scenery can only be collected, side grain required during the three-dimensional modeling of digital city needs artificial collection, so not only needs to drop into a large amount of manpower and materials, greatly increases the cost of digital city three-dimensional modeling, simultaneously, owing to gathering difficulty, the cycle is long, has also had a strong impact on the efficiency of digital city three-dimensional modeling.
And in the present invention, provide especially two kinds of digital cameras 1 its be respectively main and look digital camera 1 and auxiliary digital camera.Master is depending on digital camera 1 when arranging, and it adopts the set-up mode of vertical ground for the camera carrying out taking pictures, and it can be taken in the region of putting centered by unmanned plane, obtains the orthography taking the photograph district.Present invention also offers auxiliary digital camera, auxiliary digital camera is along the heading perpendicular to fuselage, auxiliary digital camera is divided into the main both sides looking digital camera 1 camera, and auxiliary digital camera is divided into the main angle depending on having 45 ° between digital camera 1 camera.Setting like this, can obtain the side grain of buildings while orthography shooting, the manpower and materials avoiding artificial structure's side grain to gather drop into, and reduce the cost of digital city three-dimensional modeling, shorten the cycle of three-dimensional modeling, increase work efficiency.
It should be noted that at this: when the heading of fuselage specifically refers to that unmanned plane works, the direction that its flight is advanced.
Particularly, in an embodiment of the invention, small-sized unmanned aerial vehicle onboard is looked three-dimensional airborne remote sensing system more and is also comprised erecting frame 2 for installing camera system, and erecting frame 2 includes three framework unit for fixing digital camera 1.Erecting frame 2 adopts framework design, structural strength required when it can not only ensure to install digital camera 1, simultaneously, also there is the simple advantage of structure, be convenient to the installation and removal of digital camera 1, and reduce the total quality of whole unmanned plane, farthest extend the cruising time of unmanned plane.
Erecting frame 2 includes three framework unit, and a framework unit looks digital camera 1 or auxiliary digital camera for installing a digital camera 1(master).
Such as, for installing the main framework unit looking digital camera 1, it includes framework main body and back up pad, and back up pad is arranged in framework main body, and back up pad adopts and is horizontally disposed with.Be connected to after in back up pad depending on digital camera 1 when main, can ensure that master looks the camera of digital camera 1 just to ground.
Particularly, in a specific embodiment of the present invention, erecting frame 2 is aluminium alloy erecting frame 2.
In another embodiment of the present invention, erecting frame 2 can also be steelframe.
Based on above-described embodiment, the surface of erecting frame 2 is the oxide layer by closed oxidation processes, and oxide layer can be rendered as black.
In order to improve the structural strength of erecting frame 2, in the present embodiment, erecting frame 2 is integral type structural design.
Particularly, digital camera 1 is removably connected by screw and framework unit.
In an embodiment of the invention, small-sized unmanned aerial vehicle onboard is looked three-dimensional airborne remote sensing system more and is also included unmanned aerial vehicle control system, unmanned aerial vehicle control system includes for the main controller that also can send exposed pulse depending on digital camera 1 and auxiliary digital camera interlock shooting, and controller is connected depending on digital camera 1 and auxiliary digital camera signal with main.Adopt above-mentioned shutter linkage technique that winner is exposed depending on digital camera 1 and auxiliary digital camera simultaneously, main simultaneity of looking the image of digital camera 1 and auxiliary digital collected by camera can be ensured.
Particularly, erecting frame 2 and fuselage are removably connected by bolt.
Improvement provided by the invention focuses on: based on small-sized unmanned aerial vehicle platform, carries out structural design to aviation digital camera.Adopt shutter linkage technique to realize three camera synchronization exposures simultaneously.Can be used for acquisition three and look stereopsis, realize mapping, texture collection is integrated with three-dimensional modeling, greatly improve the efficiency of cities and towns three-dimensional modeling.Achievement can be used for Digital Yangtze river construction, and service town planning, resource exploration, disaster monitoring etc., can promote town information management level, improve Government public services ability.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more, and comprise fuselage and be arranged at the camera system on described fuselage, described camera system includes digital camera, it is characterized in that,
Described digital camera includes master and looks digital camera and auxiliary digital camera, described auxiliary digital camera includes two, along the heading of described fuselage, described master looks digital camera and described auxiliary digital camera spread configuration on same straight line, is all arranged at described master and looks the tail side of digital camera near described fuselage;
The master that described master includes for gathering graphical information depending on digital camera looks digital camera, and described auxiliary digital camera includes the auxiliary digital camera for gathering graphical information;
Along the heading perpendicular to described fuselage, described auxiliary digital camera is divided into described master and looks digital camera both sides, and described auxiliary digital camera and described master look angle at 45 ° respectively between digital camera;
Also include unmanned aerial vehicle control system, described unmanned aerial vehicle control system comprises can send exposed pulse and the controller looking digital camera and described auxiliary digital camera interlock shooting for described master, and described controller is connected depending on digital camera and described auxiliary digital camera signal with described master.
2. small-sized unmanned aerial vehicle onboard according to claim 1 looks three-dimensional airborne remote sensing system more, it is characterized in that, also comprises the erecting frame for installing described camera system, and described erecting frame includes three framework unit for fixing described digital camera.
3. small-sized unmanned aerial vehicle onboard according to claim 2 looks three-dimensional airborne remote sensing system more, it is characterized in that, described erecting frame is aluminium alloy erecting frame.
4. small-sized unmanned aerial vehicle onboard according to claim 3 looks three-dimensional airborne remote sensing system more, it is characterized in that, the surface of described erecting frame is the oxide layer by closed oxidation processes.
5. small-sized unmanned aerial vehicle onboard according to claim 4 looks three-dimensional airborne remote sensing system more, it is characterized in that, described digital camera includes a master and looks digital camera and two auxiliary digital cameras; Described framework unit includes three.
6. small-sized unmanned aerial vehicle onboard according to claim 5 looks three-dimensional airborne remote sensing system more, it is characterized in that, described erecting frame is integral type structural design.
7. small-sized unmanned aerial vehicle onboard according to claim 6 looks three-dimensional airborne remote sensing system more, it is characterized in that, described digital camera is removably connected by screw and described framework unit.
8. the small-sized unmanned aerial vehicle onboard according to any one of claim 2 to 7 looks three-dimensional airborne remote sensing system more, it is characterized in that, described erecting frame and described fuselage are removably connected by bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310404613.7A CN103438867B (en) | 2013-09-06 | 2013-09-06 | Small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310404613.7A CN103438867B (en) | 2013-09-06 | 2013-09-06 | Small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103438867A CN103438867A (en) | 2013-12-11 |
| CN103438867B true CN103438867B (en) | 2016-03-02 |
Family
ID=49692563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310404613.7A Active CN103438867B (en) | 2013-09-06 | 2013-09-06 | Small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103438867B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104061906A (en) * | 2014-06-16 | 2014-09-24 | 江苏恒创软件有限公司 | Aerial photographing plotting device and image calibration method based on unmanned aerial vehicle |
| CN106813648A (en) * | 2015-11-30 | 2017-06-09 | 北京中天易观信息技术有限公司 | A kind of 3 camera aviation three dimensional data collection systems based on unmanned aerial vehicle platform |
| WO2018232584A1 (en) * | 2017-06-20 | 2018-12-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method therefor, and control terminal and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5555018A (en) * | 1991-04-25 | 1996-09-10 | Von Braun; Heiko S. | Large-scale mapping of parameters of multi-dimensional structures in natural environments |
| US6211906B1 (en) * | 1995-09-07 | 2001-04-03 | Flight Landata, Inc. | Computerized component variable interference filter imaging spectrometer system method and apparatus |
| CN202033034U (en) * | 2011-04-25 | 2011-11-09 | 中国测绘科学研究院 | Digital aerial photogrammetry device with replaceable lens |
| CN102612636A (en) * | 2009-09-23 | 2012-07-25 | 近地图控股有限公司 | Systems and methods of capturing large area images in detail including cascaded cameras and/or calibration features |
| CN203443586U (en) * | 2013-09-06 | 2014-02-19 | 中测新图(北京)遥感技术有限责任公司 | Small light UAV-mounted (unmanned aerial vehicle-mounted) multi-view three-dimensional aerial remote sensing system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8102423B2 (en) * | 2004-08-10 | 2012-01-24 | Sri International | Method and system for performing adaptive image acquisition |
-
2013
- 2013-09-06 CN CN201310404613.7A patent/CN103438867B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5555018A (en) * | 1991-04-25 | 1996-09-10 | Von Braun; Heiko S. | Large-scale mapping of parameters of multi-dimensional structures in natural environments |
| US6211906B1 (en) * | 1995-09-07 | 2001-04-03 | Flight Landata, Inc. | Computerized component variable interference filter imaging spectrometer system method and apparatus |
| CN102612636A (en) * | 2009-09-23 | 2012-07-25 | 近地图控股有限公司 | Systems and methods of capturing large area images in detail including cascaded cameras and/or calibration features |
| CN202033034U (en) * | 2011-04-25 | 2011-11-09 | 中国测绘科学研究院 | Digital aerial photogrammetry device with replaceable lens |
| CN203443586U (en) * | 2013-09-06 | 2014-02-19 | 中测新图(北京)遥感技术有限责任公司 | Small light UAV-mounted (unmanned aerial vehicle-mounted) multi-view three-dimensional aerial remote sensing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103438867A (en) | 2013-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10324367B2 (en) | Aerial panoramic oblique photography apparatus | |
| CN102654940B (en) | Processing method of traffic information acquisition system based on unmanned aerial vehicle and | |
| CN105629980B (en) | A kind of one camera oblique photograph 3 d modeling system | |
| CN104890875A (en) | Multi-rotor-wing unmanned aerial vehicle for panoramic shooting | |
| CN107504957A (en) | The method that three-dimensional terrain model structure is quickly carried out using unmanned plane multi-visual angle filming | |
| CN106709983A (en) | Three-dimensional model acquisition and application system and method | |
| CN104118561B (en) | Method for monitoring large endangered wild animals based on unmanned aerial vehicle technology | |
| CN110989658B (en) | High-voltage transmission line crossing inclined photographic point cloud acquisition method | |
| CN104536456A (en) | Autonomous flight quadrotor drone road and bridge construction patrol system and method | |
| CN204726673U (en) | The many rotor wing unmanned aerial vehicles of pan-shot | |
| CN103438867B (en) | Small-sized unmanned aerial vehicle onboard looks three-dimensional airborne remote sensing system more | |
| CN104776833A (en) | Landslide surface image acquisition method and device as well as aerial three-dimensional data acquisition method | |
| CN103954270B (en) | System and method for investigating scenes of traffic accidents based on unmanned aerial vehicle and WIFI (Wireless Fidelity) | |
| CN105096284A (en) | Method, device and system of generating road orthographic projection image | |
| CN104539905A (en) | Visible light accurate detection system for electric unmanned helicopter | |
| CN102706331B (en) | Correction method for aerial surveying and mapping images | |
| CN203443586U (en) | Small light UAV-mounted (unmanned aerial vehicle-mounted) multi-view three-dimensional aerial remote sensing system | |
| CN106998451A (en) | The area condition panorama guide system and its method monitored based on unmanned vehicle | |
| CN115235430A (en) | Unmanned aerial vehicle surveying and mapping device and method for indoor design | |
| CN205280066U (en) | 3 camera aviation three dimensional data collection system based on unmanned aerial vehicle platform | |
| CN202261620U (en) | GPS navigation positioning accurate flight visual safety protection monitoring imaging all-in-one machine based on 3G wireless network control | |
| CN114633883A (en) | Tailing pond management method for high-precision modeling and intelligent inspection | |
| CN205071162U (en) | Unmanned aerial vehicle image gathering module | |
| Udin et al. | Large scale mapping using digital aerial imagery of unmanned aerial vehicle | |
| CN107054649A (en) | A kind of method that use unmanned plane carries out bridge disaster detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |