CN106441239A - Multi-view three-dimensional aerial photographic device for unmanned aerial vehicle - Google Patents
Multi-view three-dimensional aerial photographic device for unmanned aerial vehicle Download PDFInfo
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- CN106441239A CN106441239A CN201610798834.0A CN201610798834A CN106441239A CN 106441239 A CN106441239 A CN 106441239A CN 201610798834 A CN201610798834 A CN 201610798834A CN 106441239 A CN106441239 A CN 106441239A
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- camera
- connecting bracket
- unmanned plane
- optical axis
- visual angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention provides a multi-view three-dimensional aerial photographic device for an unmanned aerial vehicle, and relates to the field of aerial photographic measurement. The multi-view three-dimensional aerial photographic device for the unmanned aerial vehicle, provided by the embodiment, is provided with a connecting bracket, as well as a perpendicular camera and four inclined cameras, which are arranged on the bottom surface of the connecting bracket, wherein the bottom surface of the connecting bracket is rectangular; the perpendicular camera is positioned in the center of the bottom surface of the connecting bracket; one inclined camera is arranged in each corner of the bottom surface of the connecting bracket; the principal optical axis of each inclined camera is deflected towards a position where one adjacent inclined camera is, and the principal optical axes of any two inclined cameras are not parallel; the principal optical axis of the perpendicular camera forms an inclination angle of 40 degrees with the principal optical axis of each inclined camera. In such an inclined camera arrangement manner, the reasonability of the whole structural design is improved, and the inclined cameras with relatively smaller sizes and weights can be used for forming the aerial photographic device.
Description
Technical field
The present invention relates to field of aerial photography measurement, take the photograph device in particular to the three-dimensional boat of unmanned plane various visual angles.
Background technology
In recent years, Aerial Surveying Technology has obtained rapid development, and wherein, oblique photograph technology is as a comprehensive high-new skill
Art, progressively opens new chapter in terms of international Mapping remote sensing technology field development.
Oblique photograph technology is passed through to carry the different multiple stage image sensor (phase of camera angle on same flying platform
Machine), simultaneously from different angle acquisition images such as vertical, inclinations, obtain the information of ground object more complete and accurate.This technology
The scope of data obtaining is big, high precision, and data production automation degree is high, greatly reduces production cycle of threedimensional model and becomes
This, the performance data of production has that model is true, Up-to-date state is strong, total factor the features such as, can be preferably territory, house property, city
The multiple fields such as pipe, emergent, public internet provide spatial Information Service.
With the fast development of the civilian small-sized experiment of UAV remote sensing system of China, gradually formed with satellite, General Aviation,
Low latitude unmanned plane Trinitarian remote sensing technology system.Low latitude unmanned plane oblique photograph technology is as General Aviation oblique photograph skill
The extension of art and development, gradually play an important role in fields such as digital citys.Oblique photograph sensor integration is as inclination
One important step of camera work, needs emphasis to consider the quantity of camera and the inclination angle of each camera, to obtain object the most
Detailed texture information.The five of presently the most conventional General Aviation regard stereophotogrammetric survey structure, but the structure of the type
Weight, volume ratio larger it is impossible to enough take into account the less feature of small-sized unmanned plane load it is difficult in small-sized unmanned aerial vehicle remote sensing system
Use on system.
Content of the invention
It is an object of the invention to provide the three-dimensional boat of unmanned plane various visual angles takes the photograph device, to improve the reasonable of camera design
Property.
In a first aspect, embodiments providing the three-dimensional boat of unmanned plane various visual angles to take the photograph device, including：
Connecting bracket, the vertical camera of being arranged on the bottom surface of described connecting bracket and four inclined cameras；
The bottom surface of described connecting bracket is rectangle, and described vertical camera is located at the central authorities of the bottom surface of described connecting bracket, institute
Each corner stating the bottom surface of connecting bracket is provided with an inclined camera；
The location deflection that the primary optical axis of each inclined camera is all located towards an adjacent inclined camera, and any two
The primary optical axis of inclined camera is all not parallel；
Inclination angle between the primary optical axis of described vertical camera and the primary optical axis of each described inclined camera is 40 °.
In conjunction with a first aspect, embodiments providing the first possible embodiment of first aspect, wherein,
The focal length of each described inclined camera is respectively less than 55mm, and the focal length of described vertical camera is less than 35mm.
In conjunction with a first aspect, the possible embodiment of the second that embodiments provides first aspect, wherein,
Angle between the adjacent primary optical axis of two inclined cameras is 54.07 °.
In conjunction with a first aspect, embodiments providing the third possible embodiment of first aspect, wherein,
Angle between the primary optical axis of non-conterminous two inclined cameras is 80 °.
In conjunction with a first aspect, embodiments providing the 4th kind of possible embodiment of first aspect, wherein,
Described connecting bracket includes connecting bottom board and the fixed frame being fixed on described connecting bottom board；At described connection bottom
Plate is provided with upper lid away from the side of described fixed frame, and described upper lid is covered with described connecting bottom board, to form hollow cavity
The connecting bracket of formula；
Described fixed frame is used for fixing described vertical camera and described inclined camera.
In conjunction with a first aspect, embodiments providing the 5th kind of possible embodiment of first aspect, wherein,
Described fixed frame includes universal joint, and one end of described universal joint is fixedly connected with described connecting bottom board, separately
One end is fixedly connected with described inclined camera.
In conjunction with a first aspect, embodiments providing the 6th kind of possible embodiment of first aspect, wherein,
Described connecting bracket is made up of aircraft aluminum or carbon fibre material.
In conjunction with a first aspect, embodiments providing the 7th kind of possible embodiment of first aspect, wherein,
The diameter of lens of four described inclined cameras and vertical camera is 68mm.
In conjunction with a first aspect, embodiments providing the 8th kind of possible embodiment of first aspect, wherein,
It is internally provided with process chip in described connecting bracket, be provided with antenna, screen on the outer surface of lid on described
Curtain, data wire connector, camera adjustment knob；
Described antenna, screen, data wire connector, camera adjustment knob and described camera are all electrically connected with described process chip
Connect.
In conjunction with a first aspect, embodiments providing the 9th kind of possible embodiment of first aspect, wherein,
The thickness of upper lid and described connecting bottom board is 1.2mm.
The three-dimensional boat of unmanned plane various visual angles provided in an embodiment of the present invention takes the photograph device, and it is by being provided with connecting bracket, setting
Put a vertical camera and four inclined cameras on the bottom surface of described connecting bracket；Wherein, the bottom surface of described connecting bracket
For rectangle, described vertical camera is positioned at the central authorities of the bottom surface of described connecting bracket, each angle of the bottom surface of described connecting bracket
The place that falls is provided with an inclined camera；The position that the primary optical axis of each inclined camera is all located towards an adjacent inclined camera
Put deflection, and the primary optical axis of any two inclined camera is all not parallel；The primary optical axis of described vertical camera and each described inclination
Inclination angle between the primary optical axis of camera is 40 °.Using the arrangement mode of this kind of inclined camera, improve the conjunction of overall construction design
Rationality, it is possible to use the less inclined camera of volume and weight takes the photograph device forming boat.
For enabling the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to use required in embodiment
Figure is briefly described it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows that the three-dimensional boat of unmanned plane various visual angles that the embodiment of the present invention is provided takes the photograph the three-dimensional view of device；
Fig. 2 shows that the three-dimensional boat of unmanned plane various visual angles that the embodiment of the present invention is provided takes the photograph the side view of device；
Fig. 3 shows that the three-dimensional boat of unmanned plane various visual angles that the embodiment of the present invention is provided takes the photograph the upward view of device；
Fig. 4 shows one of correlation technique various visual angles camera view.
In figure, 101, upper lid；102, connecting bottom board；103, fixed frame；104, inclined camera；105, vertical camera.
Specific embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Generally exist
The assembly of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged with various different configurations and design herein.Cause
This, be not intended to limit claimed invention to the detailed description of the embodiments of the invention providing in the accompanying drawings below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment being obtained on the premise of going out creative work, broadly falls into the scope of protection of the invention.
The oblique photograph device having existed in correlation technique is understood and long-term experiment, and inventor finds phase
The design of oblique photograph device present in the technology of pass is not reasonable, and the arrangement mode of camera can lead to photographic attachment overall
Take up room larger, volume is heavier, for this kind of situation, this application provides the three-dimensional boat of unmanned plane various visual angles takes the photograph device, such as
Shown in Fig. 1-3, including：
Connecting bracket, the vertical camera 105 of being arranged on the bottom surface of described connecting bracket and four inclined cameras
104；
The bottom surface of described connecting bracket is rectangle, and described vertical camera 105 is located at the central authorities of the bottom surface of described connecting bracket,
Each corner of the bottom surface of described connecting bracket is provided with an inclined camera 104；
The location deflection that the primary optical axis of each inclined camera 104 is all located towards an adjacent inclined camera 104, and appoint
The primary optical axis of two inclined cameras 104 of meaning is all not parallel；
Inclination angle between the primary optical axis of the primary optical axis of described vertical camera 105 and each described inclined camera 104 is 40 °.
Wherein, the three-dimensional boat of provided herein unmanned plane various visual angles take the photograph device overall dimensions be 258 × 228 ×
103mm (does not comprise camera lens)；258 × 228 × 153mm (comprises camera lens).As shown in figure 4, in correlation technique, some designers
Inclined camera 104 can be designed as：The primary optical axis of inclined camera 104 is all directed away from the form of vertical camera 105, and this can lead to
The edge of inclined camera 104 may exceed the edge of connecting bracket, and this directly returns and leads to boat to take the photograph device integrally to take up room relatively
Greatly.And boat provided herein take the photograph in device be then each inclined camera 104 primary optical axis all towards an adjacent inclination
The location deflection that camera 104 is located, the edge of basic guarantee inclined camera 104, without departing from the edge of connecting bracket, reduces
Overall space hold degree.
On the whole, boat provided herein takes the photograph device by the inclined camera 104 of 4 55mm focal lengths and 1 Jiao 35mm
Away from vertical camera 105 form, the axis of vertical camera 105 primary optical axis being interpreted as vertical camera 105 of equity (can)
The angle and axis (the primary optical axis being interpreted as inclined camera 104 that can be reciprocity) of any one inclined camera 104 between
For 40 °, length, width and height 100 × 73 × 79mm respectively of vertical camera 105, diameter of lens is 68mm, and camera lens total height is 53mm.Four
Individual inclined camera 104 is in Maltese cross structural arrangement, and inclination angle is 40 degree of (primary optical axis of inclined camera 104 and connecting brackets
The angle of bottom surface is 40 degree), vertical camera 105 is vertically disposed in centre.(the camera focus that generally, this device loads
Adjustable, can only lower it is impossible to raise)
The length, width and height of inclined camera 104 are respectively 100 × 73 × 99mm, and diameter of lens is 68mm, and camera lens total height is
76mm.Adjacent 2 inclined cameras 104 (refer to two inclined cameras 104 on the same edge on connecting bracket bottom surface, such as
In Fig. 2, two cameras of lower side, or two cameras of the rightmost side) axis (can equity be interpreted as primary optical axis) it
Between angle be 54.07 °, being in the angle between 2 inclined camera 104 axis on diagonal is 80 °.
In addition to the differences mentioned above, the other specification of inclined camera 104 and vertical camera 105 can be essentially identical.As tilted
The camera lens interior diameter of camera 104 and vertical camera 105 all could be arranged to 58.8mm, and overall diameter all could be arranged to 68mm.
Specifically, described connecting bracket includes connecting bottom board 102 (framing structure) and is fixed on described connecting bottom board 102
Fixed frame 103；Described connecting bottom board 102 away from described fixed frame 103 side be provided with lid 101, described on
Lid 101 is covered with described connecting bottom board 102, to form the connecting bracket of hollow cavity formula；
Described fixed frame 103 is used for fixing described vertical camera 105 and described inclined camera 104.
In order to reduce overall weight, the material of connecting bottom board 102 and upper lid 101 can select aviation hard aluminium alloy or carbon
Fibrous material, the wall thickness of connecting bottom board 102 and upper lid 101 could be arranged to 1.2mm, has both ensured overall intensity requirement, simultaneously
Also reduce overall quality.Can be again through tables such as sandblasting, the black, laser engravings of oxidation by connecting bottom board 102 and upper lid 101
Face is processed, and the processing technique such as electric spark, wire cutting.Fixed frame 103 on connecting bottom board 102 is used to fix each phase
Machine, the connection of fixed frame 103 camera 105 vertical with inclined camera 104/ is by equal on the edge of fixed frame 103
6 M2 bolts of even arrangement are realized.
Upper lid 101 can pass through to realize in 4 M3 bolts of corner setting with the connection of connecting bottom board 102.
In different operating environments, the shooting angle to inclined camera 104 (can be regarded as inclined camera 104 primary optical axis
Angle from vertical camera 105 primary optical axis) there are different demands, for the ease of adjusting shooting angle, universal joint can be set
To connect inclined camera 104 and connecting bottom board 102, so that user can adjust inclined camera according to actual use demand
104, that is, described fixed frame 103 include universal joint, one end of described universal joint is fixing with described connecting bottom board 102 even
Connect, the other end is fixedly connected with described inclined camera 104.
Generally, the three-dimensional boat of unmanned plane various visual angles made using aforesaid way takes the photograph device, and its overall weight is relatively
Gently (about 1.5kg), fixed-wing unmanned plane, rotor wing unmanned aerial vehicle and the depopulated helicopter that can load load-carrying 4 feather weight use.
Preferably, it is internally provided with process chip in described connecting bracket, be provided with the outer surface of lid on described
Antenna, screen, data wire connector, camera adjustment knob；
Described antenna, screen, data wire connector, camera adjustment knob and described camera are all electrically connected with described process chip
Connect.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be defined by scope of the claims.
Claims (10)
1. the three-dimensional boat of unmanned plane various visual angles takes the photograph device it is characterised in that including：
Connecting bracket, the vertical camera of being arranged on the bottom surface of described connecting bracket and four inclined cameras；
The bottom surface of described connecting bracket is rectangle, and described vertical camera is located at the central authorities of the bottom surface of described connecting bracket, described company
Each corner connecing the bottom surface of support is provided with an inclined camera；
The location deflection that the primary optical axis of each inclined camera is all located towards an adjacent inclined camera, and any two inclination
The primary optical axis of camera is all not parallel；
Inclination angle between the primary optical axis of described vertical camera and the primary optical axis of each described inclined camera is 40 °.
2. the three-dimensional boat of unmanned plane according to claim 1 various visual angles takes the photograph device it is characterised in that each described inclination phase
The focal length of machine is respectively less than 55mm, and the focal length of described vertical camera is less than 35mm.
3. the three-dimensional boat of unmanned plane according to claim 1 various visual angles take the photograph device it is characterised in that
Angle between the adjacent primary optical axis of two inclined cameras is 54.07 °.
4. the three-dimensional boat of unmanned plane according to claim 1 various visual angles take the photograph device it is characterised in that
Angle between the primary optical axis of non-conterminous two inclined cameras is 80 °.
5. the three-dimensional boat of unmanned plane according to claim 1 various visual angles take the photograph device it is characterised in that
Described connecting bracket includes connecting bottom board and the fixed frame being fixed on described connecting bottom board；Remote in described connecting bottom board
The side of described fixed frame is provided with upper lid, described upper lid is covered with described connecting bottom board, to form hollow cavity formula
Connecting bracket；
Described fixed frame is used for fixing described vertical camera and described inclined camera.
6. the three-dimensional boat of unmanned plane according to claim 5 various visual angles takes the photograph device it is characterised in that described fixed frame bag
Include universal joint, one end of described universal joint is fixedly connected with described connecting bottom board, and the other end is fixed with described inclined camera
Connect.
7. the three-dimensional boat of unmanned plane according to claim 5 various visual angles take the photograph device it is characterised in that
Described connecting bracket is made up of aircraft aluminum or carbon fibre material.
8. the three-dimensional boat of unmanned plane according to claim 5 various visual angles take the photograph device it is characterised in that
The diameter of lens of four described inclined cameras and vertical camera is 68mm.
9. the three-dimensional boat of unmanned plane according to claim 5 various visual angles takes the photograph device it is characterised in that in described connecting bracket
Be internally provided with process chip, the outer surface of lid on described is provided with antenna, screen, data wire connector, camera are adjusted
Quasi- knob；
Described antenna, screen, data wire connector, camera adjustment knob and described camera are all electrically connected with described process chip.
10. the three-dimensional boat of unmanned plane according to claim 5 various visual angles takes the photograph device it is characterised in that upper lid and described company
The thickness connecing base plate is 1.2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798834.0A CN106441239A (en) | 2016-08-31 | 2016-08-31 | Multi-view three-dimensional aerial photographic device for unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798834.0A CN106441239A (en) | 2016-08-31 | 2016-08-31 | Multi-view three-dimensional aerial photographic device for unmanned aerial vehicle |
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| CN106441239A true CN106441239A (en) | 2017-02-22 |
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| CN201610798834.0A Pending CN106441239A (en) | 2016-08-31 | 2016-08-31 | Multi-view three-dimensional aerial photographic device for unmanned aerial vehicle |
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Cited By (6)
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| CN106951567A (en) * | 2017-04-07 | 2017-07-14 | 安徽建筑大学 | A kind of water system spacial analytical method of Huizhou City traditional settlement based on remote sensing technology |
| CN107031857A (en) * | 2017-04-24 | 2017-08-11 | 桂林天经地纬遥感信息技术有限公司 | A kind of harvester modeled for fixed-wing no-manned plane three-dimensional |
| CN107339977A (en) * | 2017-06-30 | 2017-11-10 | 江苏中路交通科学技术有限公司 | A kind of oblique photograph measuring system for bridge |
| CN108263629A (en) * | 2018-01-24 | 2018-07-10 | 深圳飞马机器人科技有限公司 | A kind of integrated four cameras oblique photograph cradle head structure |
| WO2019134385A1 (en) * | 2018-01-05 | 2019-07-11 | 深圳市大疆创新科技有限公司 | Camera assembly and unmanned aerial vehicle |
| CN116625321A (en) * | 2023-07-26 | 2023-08-22 | 深圳市爱华勘测工程有限公司 | Aerial photogrammetry device and measurement method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106951567A (en) * | 2017-04-07 | 2017-07-14 | 安徽建筑大学 | A kind of water system spacial analytical method of Huizhou City traditional settlement based on remote sensing technology |
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| CN107031857A (en) * | 2017-04-24 | 2017-08-11 | 桂林天经地纬遥感信息技术有限公司 | A kind of harvester modeled for fixed-wing no-manned plane three-dimensional |
| CN107339977A (en) * | 2017-06-30 | 2017-11-10 | 江苏中路交通科学技术有限公司 | A kind of oblique photograph measuring system for bridge |
| WO2019134385A1 (en) * | 2018-01-05 | 2019-07-11 | 深圳市大疆创新科技有限公司 | Camera assembly and unmanned aerial vehicle |
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| CN116625321A (en) * | 2023-07-26 | 2023-08-22 | 深圳市爱华勘测工程有限公司 | Aerial photogrammetry device and measurement method |
| CN116625321B (en) * | 2023-07-26 | 2023-09-12 | 深圳市爱华勘测工程有限公司 | Aerial photogrammetry device and measurement method |
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