CN104890875A - Multi-rotor-wing unmanned aerial vehicle for panoramic shooting - Google Patents
Multi-rotor-wing unmanned aerial vehicle for panoramic shooting Download PDFInfo
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Abstract
The invention relates to a multi-rotor-wing unmanned aerial vehicle for panoramic shooting. The multi-rotor unmanned aerial vehicle comprises unmanned aerial vehicle body plates, wherein equipment compartments and four motor cantilevers are arranged on the unmanned aerial vehicle body plates, a motor and a rotor wing are arranged on each motor cantilever, the unmanned aerial vehicle body plates comprise two horizontal unmanned aerial vehicle body plates and a middle inclined unmanned aerial vehicle body plate for connecting the two horizontal unmanned aerial vehicle body plates, cameras are arranged on the upper side surface and the lower side surface of the inclined unmanned aerial vehicle body plate, and an undercarriage is arranged at one side, facing the ground, of the inclined unmanned aerial vehicle body plate. The multi-rotor unmanned aerial vehicle for panoramic shooting can realize shooting without blind area, and can meet the requirement on panoramic shooting in short distance and confined space of heritage, the location difference of the cameras is minimized, the image splicing accuracy is high, the shooting speed is high, the drifting interference is low, and an unmanned aerial vehicle body is light and small, and can realize flight in confined space easily.
Description
Technical field
The invention belongs to full shot unmanned aerial vehicle design technical field.
Background technology
360 degree of full shots refer to that camera is in attachment point rotary taking periphery 360*180 degree (horizontal 360-degree, vertical 180 degree) scenery distant view photograph, photo is after the process of panorama software, beholder can with human-computer interaction mode rotation process, by changing viewing angle (direction), producing and surrounding can look around, be in the sensation in its border.
Pan-shot development rapidly, becomes a type of virtual reality technology gradually.Compare with parallel motion, take the visual field aloft openr, more scenery can be seen.Depopulated helicopter, unmanned many cyclogyros have been used to take aerial panoramic picture.
The modal style of shooting of depopulated helicopter mainly underlying The Cloud Terrace, installs one camera, relies on helicopter around the ability continuous rotation shooting of self hovering central rotation, is similar to ground tripod panorama shooting method.But there is limitation in helicopter pan-shot, namely camera can not freely be faced upward shooting, because seriously blocking of Helicopter Main rotor can be subject to, rotor comes into view and can cause shooting field so-called " exposing the false " problem, therefore, general appreciable maximum vertical angle is only 10-25 degree, be greater than the sky of this angle for shooting blind area, main dependence computing machine post-processed, utilize the sky picture separately purchased to fill blind area, the overhead part of panoramic pictures, and erase at the helicopter fuselage vestige occurred once in a while in shooting of slightly facing upward.Because sky variations in detail is less, be therefore easy to replace and flaw is not easily discovered, as long as helicopter distance periphery atural object is far away, or have relative ceiling advantage, then this method is also feasible.Can find out that helicopter is suitable for nutation shooting equally from No. 201110392818.9 patents " method for makings based on 360 degree of aerial panoramic interactive roaming systems that depopulated helicopter is taken photo by plane ".Even if use the panorama shooting device that polyphaser combines, blocking of Helicopter Main rotor is still inevitably, such as " aerial 360 degree of distant view photograph filming apparatus " (201320135877.2) application for patent proposes and uses multiple camera composition blind-area-free panoramic shooting spherical arrangement, and attaches it to the aerial panorama of depopulated helicopter photographs.Due to fuselage, the blocking of rotor, certainly exist shooting blind area.Therefore this kind of shooting spherical device is generally only applicable to ground tripod or roof support etc. other blocks not serious occasion.
But when the fields such as building, cultural heritage, archaeology pan roaming achievement, often need shooting at close range object to show details, and periphery also has higher building, massif, steep cliff mostly, such as, take the grottoes etc. of the cliff painting on building beam column on engraving, colored drawing, steep cliff, vihara.The atural object now in surrounding environment with ceiling advantage must enter the first half of panorama.Rotor image and subject image overlap, then the method being difficult to use aforesaid later stage sky image to replace repairing obtains the complete panoramic picture without blind area of facing upward.
Many cyclogyros are emerging vertically taking off and landing flyer in recent years, according to rotor quantity and layout, it can be divided into polytype, the common ground of these types, also namely the feature of many cyclogyros compared with helicopter is that the rotor quantity of many cyclogyros increases, single paddle yardstick reduces, S. A. is to surrounding scattered distribution from middle position transition.Because this feature of many cyclogyros, laying of the task loads such as camera just becomes more flexible free, not only take downwards below rotor or fuselage, can also be same high with it between rotor, horizontal forward shooting, also can above fuselage framework, higher than the plane of rotation of rotor to photographs.
Can find out that multiple camera triggers together in No. 201210377100.7 patents " 360 degree of blind-area-free panoramic video capture equipment based on regular polygon " and No. 201320135877.2 " aerial 360 degree of distant view photograph filming apparatus ", the panoramic picture obtaining each angle and cover can be taken simultaneously.
So whether camera can be divided into upper and lower two groups, at many cyclogyros upper and lower sides, two groups of camera shootings are directly installed respectively, obtain unscreened panoramic picture? the condition done like this is that camera must be installed away from fuselage and just can avoid rotor and block, camera on the upside of fuselage can have the visual field of certain nutation, phase function on the downside of fuselage has the visual field of necessarily facing upward, obtain a little overlapping scene regions, to complete seamless panorama splicing according to overlay region image.But multiple problem can be caused like this:
A () downside camera position is minimum, first can strike ground during landing.
B between the camera of () upper and lower side, position difference is excessive, when shooting at close range, this difference can cause being difficult to accurate splicing between hypograph, and therefore this height difference be can not ignore.The photographic schemes of blind-area-free panoramic up and down that such as " the air-ground panoramic shooting of a kind of kite-airship and imaging device " (02294802.3) proposes installs a vertical tube in the inside of dirigible, and camera is placed respectively in upper and lower two ends.But dirigible oneself height 3-5 rice, camera upper-lower position difference is excessive, not easily splices successfully, and therefore the program is only applicable to atmospheric physics field, and is not suitable for the legacy details shootings such as grottoes.
C () camera quantity is many, under the condition of identical image quality, integral device purchase cost is high, weight large, and the cyclogyro hang time of formed objects shortens.
In order to avoid rotor blocking camera lens, DJI company have developed the many cyclogyros of the liftable Inspire of cantilever.When cantilever rises, underlying camera can non-blockedly slightly be faced upward shooting, during cantilever decline for the protection of camera can not because of landing colliding surface.The program is not intended to pan-shot, and mainly for video capture, does not therefore arrange camera of facing upward.Even if install upside camera, the program is used for pan-shot and still there is following shortcoming:
A () complex structure, can only be applicable to many cyclogyros of " work " font plane.The many cyclogyros of the current overwhelming majority all cannot utilize this design.
B between the camera of () upper and lower side, still difference is excessive in position, the problem that when not solving the shooting of upper and lower camera, absolute altitude need be consistent.
C () is compared with fixed fuselage, the movable design of fuselage main structure considerably increases deadweight, and therefore cyclogyro many with other is compared, and this machine hang time obviously shortens, and useful weight declines, and is difficult to carry multiple camera simultaneously.
D alighting gear is arranged on below rotor by (), the yardstick up and down of obstacle is increased considerably, and the mutually confidential farther distance of being separated by of upper and lower sides just can avoid all shelters to rotor bottom alighting gear.
Summary of the invention
Pan-shot record in architectural heritage finite space needs the shooting of complete non-blind area with showing, no matter but currently use which kind of aircraft, aircraft fuselage component all exists the camera lens visual field and blocks, take to non-blind area, just need by camera away from body (such as on many cyclogyros, the upper and lower both sides of mutually confidential difference are installed, and just can avoid rotor away from fuselage and block), produce the problems such as aforementioned image mosaic is uneven, weight of equipment enlarges markedly.
The present invention seeks to overcome the occlusion issue of many cyclogyros body to pan-shot.There is provided a kind of pan-shot many rotor wing unmanned aerial vehicles, make the rotor mechanism of both sides produce diff-H by the airframe structure design of fold-line-shaped, can be close to fixing between the camera of shooting of bowing, face upward, eliminate remarkable position difference and obtain the neat image of splicing; Camera away from aircraft main structure, need not save the weight of The Cloud Terrace or camera support, aircraft weight is minimized, mass distribution is more concentrated, operation of flying in finite space is more flexible; This programme avoids unmanned plane self blocking shooting simultaneously completely, spend (vertically) all directions 360 degree of (levels) * 180 can take non-blind area, make to bow, face upward shooting photo between have certain overlapping region, complete later stage splicing.Therefore this programme is on the basis of the simplest design, can in low latitude each highly closely panorama show all kinds architectural heritage such as cliff painting, rock cave, tall and big ancient building (group).
The many rotor wing unmanned aerial vehicles of pan-shot provided by the invention, comprise body plate, the equipment compartment that body plate is installed and motor cantilever, motor cantilever is provided with motor and rotor, described body plate is made up of for the dumper body being connected two pieces of Horizontal machine bodies with centre the body plate of two pieces of levels, and dumper body is provided with alighting gear towards side, ground.
The two sides up and down of described dumper body are respectively provided with a camera.The angle of inclination of dumper body is 45 degree.
Advantage of the present invention and good effect:
The following that the present invention program meets Panoramic Warping shooting in architectural heritage finite space simultaneously requires:
A () completely non-blind area shooting, meets legacy closely and pan-shot requirement in finite space.This programme is designed by rational body, the various piece of fuselage all can not be blocked face upward or the camera lens of nutation shooting, obtains the 360*180 degree panoramic picture of complete non-blind area.
B the position difference between () camera minimizes, image mosaic accuracy is high.Be close to placement between camera, two optical center distance are only the difference of camera case small like this (about 2-3 centimetre), and therefore when being applied to object distance and being only the closely pan-shot of about several meters, splicing precision is unaffected.
C () shooting speed is fast, drift interference is little.The precision of airborne automatic position system is limited, and along with the prolongation of hover time, fuselage height, position excursion value can be increasing, and therefore completing shooting is fast the key improving splicing precision.This programme is without any camera head action, and structure is simple, can get started shooting, revolve in the process of turning around namely complete whole shooting around vertical pivot after aircraft hovering.
D () fuselage weight is the lightest, volume is minimum, easily realizes finite space flight.This programme is extremely simple, lightweight without The Cloud Terrace structure, fuselage construction, makes fuselage micro-miniaturisation like this, can adapt to the limited-space environment that spatial domain is narrow.
Accompanying drawing explanation
Fig. 1 is unmanned plane birds-eye view.
Fig. 2 is the left side schematic diagram of Fig. 1.
Fig. 3 is the left side schematic diagram (that is front elevation of unmanned plane) of Fig. 2.
Fig. 4 is camera fields of view schematic diagram.
In figure, 1 inclination (45 degree) body plate, 2 camera mount pads, 3 camera screw holes, 4 Horizontal machine bodies, 5 alighting gears, 6 cameras, 7 equipment compartments, 8 motor cantilevers, 9 motors, 10 rotors, 11GPS frame aerial.
Detailed description of the invention
Embodiment 1:
As shown in Figure 1 to Figure 3, the many rotor wing unmanned aerial vehicles of pan-shot provided by the invention, comprise body plate, described body plate is made up of for the dumper body 1 being connected two pieces of Horizontal machine bodies with centre the body plate 4 of two pieces of levels, and the angle of inclination of dumper body is preferably 45 degree.Two pieces of Horizontal machine bodies are respectively provided with an equipment compartment 7 for installing the electronic units such as battery, autopilot, machine governor, simultaneously uniformly on two pieces of Horizontal machine bodies be provided with 4 motor cantilevers 8, each motor cantilever is respectively provided with a motor 9 and a rotor 10, dumper body is provided with the alighting gear 5 of two outward-dipping (forming splayed altogether) towards side, ground, prevent from toppling over during many cyclogyros landing ground, alighting gear does not also block the nutation camera lens visual field (as shown in Figure 3) simultaneously.
The two sides up and down of described dumper body are respectively provided with a camera 6 by 2 camera mount pads 2 and camera screw hole 3, and the back of camera parallels with 45 degree of dumper bodies.
In two described Horizontal machine bodies, the upper surface of upper horizontal body plate is provided with gps antenna frame 11, meets the requirement that satellite-signal accepts, and does not block the camera end visual field of facing upward.Gps antenna is fixed on frame aerial by viscose.
Each electronic unit on described many cyclogyros connects according to public mode known in this field, such as camera shutter release cable is connected with radio receiver, radio receiver is all connected with autopilot with gps antenna, and autopilot is connected with motor by machine governor.Many cyclogyros are according to this area common master mode flight operation, namely autopilot monitors self-position drift in real time by gps signal, and guarantee by the rotating speed of adjustment four rotors precision of hovering, radio receiver receives controllers telecommand, on the one hand by the shooting of electronic shutter line control camera shutter, control airline operation by autopilot on the other hand.
Unmanned plane each several part detailed description of the present invention is as follows:
The 45 degree of body plates that tilt are in aircraft middle position, and dumper body its central has one piece slightly larger than the hole of camera, and the side in hole respectively has on a camera mount pad 2, two camera mount pads on dumper body two sides and respectively has a camera screw hole 3.Also respectively there is a tilted supporter dumper body both sides, form splayed bipod alighting gear 5.
Two pieces of Horizontal machine bodies are separately installed with equipment compartment, may be used for putting into the electronic units such as battery, radio receiver, video transmitter, autopilot, camera shutter release cable.At the upper surface of upper horizontal body plate, gps antenna frame 11 is also installed.The outer end of two Horizontal machine bodies is provided with motor arm, the total quantity 4 of motor arm.Each motor arm end is provided with motor upwards and rotor.
Panorama shooting method:
Two back-to-back placements of camera are installed on camera mount pad respectively by camera check screw through camera screw hole, and now camera is in portrait mode of figure (namely go up downward view and be greater than horizontal field of view).The angle of release up and down of camera lens should be about 120 degree (see Fig. 4), angle between the maximum visual angle of such camera and level, vertical axes is all about 15 degree, the requirement of image collages can either be met, be unlikely to again the visual field excessive, photograph the rotor of many cyclogyros.
The angle of bipod alighting gear and length, be also design according to the horizontal field of view scope of the camera that takes a crane shot, make it to block camera lens.Before taking off, many cyclogyro bipod alighting gears and downside motor arm stand on ground.
Personnel can control many cyclogyros with the common flying method such as autonomous or manually operated entirely and take off, raise and keep hover height and position after arriving the shooting spatial domain expected, start around self vertical pivot of many cyclogyros (that is camera position) horizontal rotary three-sixth turn, and two camera shutters of remote control simultaneously implement continuous shooting acquisition serial photograph.Bow, face upward the unobstructed single image that two cameras obtain second sky, first sky respectively.
After 360 degree of rotary takings of a hovering position complete, many cyclogyros can fly to next hover point and again take, landing of can contacting to earth safely after completing.Photo uses panoramic mosaic software post-processed to obtain Panoramic Warping achievement.
Claims (6)
1. the many rotor wing unmanned aerial vehicles of pan-shot, comprise body plate, the equipment compartment that body plate is installed and motor cantilever, motor cantilever is provided with motor and rotor, it is characterized in that described body plate is made up of for the dumper body being connected two pieces of Horizontal machine bodies with centre the body plate of two pieces of levels, dumper body is provided with alighting gear towards side, ground.
2. the many rotor wing unmanned aerial vehicles of pan-shot according to claim 1, the two sides up and down that it is characterized in that described dumper body are respectively provided with a camera.
3. the many rotor wing unmanned aerial vehicles of pan-shot according to claim 1, is characterized in that the angle of inclination of described dumper body is 45 degree.
4. the many rotor wing unmanned aerial vehicles of the pan-shot according to any one of claims 1 to 3, is characterized in that described level or dumper body are provided with gps antenna frame.
5. the many rotor wing unmanned aerial vehicles of the pan-shot according to any one of claims 1 to 3, is characterized in that the quantity of described motor cantilever is 4, each motor cantilever are respectively provided with a motor and a rotor.
6. the many rotor wing unmanned aerial vehicles of the pan-shot according to any one of claims 1 to 3, is characterized in that described equipment compartment has two, are arranged on respectively on two pieces of body plates.
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| CN105468029A (en) * | 2015-09-23 | 2016-04-06 | 杨珊珊 | Unmanned aerial vehicle aerial shooting device and unmanned aerial vehicle aerial shooting method |
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| CN110494361A (en) * | 2018-03-28 | 2019-11-22 | 深圳市大疆创新科技有限公司 | Unmanned plane with panorama camera |
| CN110494361B (en) * | 2018-03-28 | 2024-03-01 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle with panoramic camera |
| CN110770128A (en) * | 2018-06-26 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Sensor assembly and unmanned aerial vehicle |
| CN110001945B (en) * | 2019-04-16 | 2023-09-26 | 中国电建集团西北勘测设计研究院有限公司 | Inverted cliff elevation fine-tilting aerial photographing device and photographing method |
| CN110001945A (en) * | 2019-04-16 | 2019-07-12 | 中国电建集团西北勘测设计研究院有限公司 | One kind facade that falls precipice finely tilts boat and takes the photograph device and method for imaging |
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