CN107167117A - A kind of multi-angle double camera oblique photograph apparatus and system - Google Patents
A kind of multi-angle double camera oblique photograph apparatus and system Download PDFInfo
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- CN107167117A CN107167117A CN201710525722.2A CN201710525722A CN107167117A CN 107167117 A CN107167117 A CN 107167117A CN 201710525722 A CN201710525722 A CN 201710525722A CN 107167117 A CN107167117 A CN 107167117A
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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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Abstract
The invention discloses a kind of multi-angle double camera oblique photograph apparatus and system, belong to unmanned plane field.A kind of multi-angle double camera oblique photograph apparatus and system of the present invention, including holder for aerial photographing and aerial survey unit, holder for aerial photographing is connected with aerial survey unit, and can drive aerial survey unit in vertical plane and horizontal rotation in surface；The aerial survey unit center is symmetrically arranged with supporting plate and camera, and the shooting angle that the camera is arranged between supporting plate outer end, two cameras is 35~70 °.Holder for aerial photographing, which can control aerial survey unit, two kinds of shooting postures, and during the first posture, the angle of inclination of two cameras is identical；Second of posture is presented in holder for aerial photographing after the axis of rotation of second steering wheel, one of camera is located at vertical camera site.The present invention significantly reduces camera weight using double camera, improves endurance, and can realize higher shooting repetitive rate, it is ensured that the accuracy of three-dimensional modeling.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more specifically to a kind of multi-angle double camera oblique photograph device
And system.
Background technology
In recent years, international area of geographic information combines traditional air photo technique and digital ground acquisition technology,
A kind of new and high technology for being referred to as airborne multi-angle oblique photography, abbreviation oblique photograph technology are developed.Oblique photograph technology passes through
Many or multiple sensors are carried on same flying platform, while from multiple angle acquisition ground image, so as to overcome biography
The limitation that system air photo technique can only be shot from vertical angle, can more truly reflect the actual feelings of atural object
Condition, compensate for the deficiency of orthography, and by integrating POS, the data such as DSM and vector realize three based on image dense Stereo Matching
Tie up modeling technique.
Existing tilt device is generally that five cameras are shot, and camera is fixed on unmanned plane, after unmanned plane takes off, phase
Function is stable to obtain ground data.This camera can obtain the photographed data of multi-angle, but this device is due to that will carry 5
Individual camera, overall weight is larger, causes unmanned plane endurance seriously to be restricted, secondly as camera angle can not be adjusted,
Coverage is limited, and flight path is closeer, and whole work efficiency is relatively low.
Chinese patent (A of CN 104880177) discloses a kind of unmanned aerial survey system of multi-angle, the unmanned boat of the multi-angle
Examining system is provided with the various visual angles inclination phase that five camera lens compositions are equipped with above six rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicle
Machine；The various visual angles inclined camera includes：Camera unit, control unit and carry unit；Six rotor wing unmanned aerial vehicle includes：Nothing
Man-machine flying platform system, GPS navigation system, flight control system, Aerial Photography system, ground control system, signal transmission
System.The device is shot respectively using 5 cameras, there is above-mentioned more shortcoming.
By further retrieval, two camera oblique photograph Patents (A of CN 105292509) are found, the patent is disclosed
A kind of unmanned plane double camera multi-angled shooting support meanss, including framework, control device, motor, steering wheel, support shaft, pivoted frame,
Locating part, latch, the two short side part hinges of the two ends of the pivoted frame respectively with framework, steering wheel are fixed on one end of pivoted frame, and
Steering wheel bottom is fixedly connected by support shaft with framework, and latch passes through framework, support shaft, support shaft is positioned on framework, double
Camera is fixed in framework, is fixed on unmanned motor spindle at the top of pivoted frame, and the control device connects motor, motor connection steering wheel,
The locating part is fixed on a short side part of framework, and positioned at the both sides of steering wheel, the control device controlled motor, motor
Steering wheel is driven, steering wheel is driven pivoted frame rotation, so that double camera realizes multi-angled shooting on framework；When the rotisserie rotates,
The anglec of rotation of pivoted frame is can determine that by locating part.
The support is shot using two cameras, is controlled the angle between camera by control device, is realized shooting angle
Change, but its one direction rotate coverage it is limited, repetitive rate is relatively low, and data acquisition is not complete, during later stage three-dimensional modeling
It is difficult to obtain complete three dimensional image.
The content of the invention
1. the invention technical problem to be solved
It is an object of the invention to overcome the shortcomings of that five camera photographing device weight are big in the prior art, cruising time is short,
There is provided a kind of multi-angle double camera oblique photograph apparatus and system, the present invention significantly reduces camera weight using double camera
Amount, improves endurance, and can realize higher shooting repetitive rate, it is ensured that the accuracy of three-dimensional modeling.
2. technical scheme
To reach above-mentioned purpose, the technical scheme that the present invention is provided is：
A kind of multi-angle double camera oblique photograph device of the present invention, including：
Holder for aerial photographing, the holder for aerial photographing is connected with aerial survey unit, and can drive aerial survey unit in vertical plane and horizontal plane
It is interior to rotate；
Aerial survey unit, the aerial survey unit center is symmetrically arranged with supporting plate and camera, and the camera is arranged on outside supporting plate
Shooting angle between end, two cameras is 35~70 °.
As further improvement of the present invention, the holder for aerial photographing include the first steering wheel being connected by intermediate carrier and
Second steering wheel, the second steering wheel rotary shaft is connected with aerial survey unit.
As further improvement of the present invention, first steering wheel is used to drive intermediate carrier and the second steering wheel in level
360 ° of rotations in face；Second steering wheel is used to control aerial survey unit in vertical rotation in surface.
As further improvement of the present invention, the second servos control aerial survey unit has two kinds of shooting postures, first
When planting posture, the angle of inclination of two cameras is identical；Second of posture, one of phase are presented after the axis of rotation of second steering wheel
Machine is located at vertical camera site.
As further improvement of the present invention, the first steering wheel rotating shaft is rotated by 90 ° every time.
As further improvement of the present invention, the shooting angle in the aerial survey unit between two cameras is 60 °.
As further improvement of the present invention, the angle in the aerial survey unit between supporting plate is 120 °, and camera is clapped
Take the photograph direction vertical with supporting plate.
As further improvement of the present invention, wide-angle lens is installed on the camera.
As further improvement of the present invention, first steering wheel is arranged on and taken photo by plane on carrier, and the carrier of taking photo by plane is used for
Connect aircraft.
A kind of multi-angle double camera oblique photograph system of the present invention, including unmanned plane, are provided with above-mentioned on unmanned plane
Multi-angle double camera oblique photograph device.
3. beneficial effect
The technical scheme provided using the present invention, compared with prior art, is had the advantages that：
(1) Central Symmetry is provided with two on a kind of multi-angle double camera oblique photograph device of the invention, aerial survey unit
Shape forms an angle between camera, two cameras, and controls aerial survey unit in perpendicular and horizontal plane using holder for aerial photographing
Rotate, multi-angle oblique photography can be achieved, it is wider relative to conventional apparatus coverage, and higher repetitive rate is reached, help
In the raising of subsequently modeling accuracy；
(2) a kind of multi-angle double camera oblique photograph device of the invention, the second servos control aerial survey unit has two kinds of bats
Posture is taken the photograph, cooperation makes the first steering wheel be rotated by 90 ° every time per secondary shaft, then during the first posture, the angle of inclination phase of two cameras
Together, 4 angle images can be shot；Second of posture is presented after the axis of rotation of second steering wheel, one of camera is located at vertical
Camera site, 5 angle images can be shot in 4 orientation, therefore can realize 9 angle shots, and photographing information is more perfect；
(3) a kind of multi-angle double camera oblique photograph device of the invention, sets the shooting angle between two cameras to be
60 °, repetitive rate requirement can be met in the angle, mass data will not be caused to repeat again and increase storage burden；Clap it
Take the photograph direction vertical with supporting plate, light structure will not influence each other between camera, and reasonable in design, principle is simple, is easy to push away
Extensively use.
Brief description of the drawings
Fig. 1 is the structural representation of multi-angle double camera oblique photograph device；
Fig. 2 is camera position schematic diagram under the first posture；
Fig. 3 is camera position schematic diagram under second of posture.
Label declaration in schematic diagram：1st, take photo by plane carrier；2nd, the first steering wheel；31st, intermediate carrier；32nd, the second steering wheel；4th, navigate
Survey unit；41st, supporting plate；42nd, camera.
Embodiment
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
With reference to Fig. 1, a kind of multi-angle double camera oblique photograph device of the present embodiment, mainly by holder for aerial photographing and aerial survey list
The Central Symmetry of aerial survey unit 4 is provided with supporting plate 41 and camera 42 in member composition, the present embodiment, and camera 42 is arranged on supporting plate 41
Shooting angle between outer end, two cameras 42 is 35~70 °.
The one end of supporting plate 41 is connected with steering wheel, and the other end is installed camera 42, the i.e. outer end of supporting plate 41 and is connected with camera 42.Branch
Fagging 41 is mainly used for connecting camera, is not limited to tabular, can be block or shaft-like, this implementation is preferably tabular.
Institute's installation camera 42 is used for gathered data, and institute's gathered data is used for three-dimensional modeling, accordingly, it would be desirable to enter to reference object
Row is continuously shot, and has certain repetitive rate, so as to completely show photographing information.In order to reach the purpose, it is necessary to aerial survey list
Member 4 has more shooting angle, and the shooting angle that the present embodiment is limited between two cameras 42 is 35~70 °, according to using
When shooting height and reference object feature, concrete restriction can be carried out, the present embodiment is defined to 50 °.
The holder for aerial photographing connection aerial survey unit 4 of the present embodiment, and aerial survey unit 4 can be driven in vertical plane and horizontal plane
Rotate.Due to the shooting of two angles can be realized in a posture, after it horizontally rotates 90 °, 4 angle bats can be realized
Take the photograph；If controlling it to be rotated in perpendicular, more angle shots can be achieved.
When specifically used, it is mounted on flight instruments, shooting interval is controlled, and control aerial survey with holder for aerial photographing simultaneously
Being continuously shot for multi-angle then can be achieved constantly in vertical plane and horizontal rotation in surface in unit 4, rationally set flying speed and
Flying height, flight just can realize the data acquisition to whole region.
Because the device is only with two cameras, its weight subtracts significantly relative to five traditional camera filming apparatus weight
Gently, weight it is not enough its 1/2, when being mounted on same flight instruments, the working time, endurance was notable more than its more than 4 times
Enhancing.
Embodiment 2
The improvement of the present embodiment is：Holder for aerial photographing includes the first steering wheel 2 and second being connected by intermediate carrier 31
Steering wheel 32, the rotary shaft of the second steering wheel 32 is connected with aerial survey unit 4.
First steering wheel 2 can be with vertically-mounted, and its rotary shaft can be rotated in the horizontal plane, the upper end of intermediate carrier 31 and the
The rotary shaft connection of one steering wheel 2, the second steering wheel 32 is installed in its lower end, for controlling the second steering wheel 32 to rotate in the horizontal plane.
The rotation of first steering wheel 2 can only make camera be taken pictures from different orientation, and angle of inclination does not change,
Second steering wheel 32 can control aerial survey unit 4 in vertical rotation in surface, camera is shot positioned at vertical direction, can also be in other angles
Degree is shot.Second steering wheel 32 is rotated behind a position, and the shooting of two angles can be achieved.
Embodiment 3
The improvement of the present embodiment is：First steering wheel 2 is used to drive the steering wheel 32 of intermediate carrier 31 and second in horizontal plane
Interior 360 ° of rotations, control it to rotate 90 ° every time, then can carry out photographed data collection to destination object from 4 orientation.
Second steering wheel 32 control aerial survey unit 4 has two kinds of shooting postures, during the first posture, the inclination angle of two cameras 42
Degree is identical, as shown in Fig. 2 limiting shooting angle in aerial survey unit 4 between two cameras 42 as 60 °, then two cameras 42 are clapped
The angle taken the photograph between direction and vertical direction is 30 °.
Second of posture is presented after the axis of rotation of second steering wheel 32, as shown in figure 3, one of camera 42 is located at vertically
Camera site, then the angle between another camera and vertical direction is 60 °.
In the first posture, the rotating shaft of the first steering wheel 2 is rotated by 90 ° every time, then can realize the shooting of 4 angles；
During two kinds of postures, the rotating shaft of the first steering wheel 2 every time rotation 0 °, 4 orientation have 8 shooting angle, due to by 4 shooting angle all
In vertical state, coincide, 1 shooting angle can be designated as, the shooting of 5 angles can be realized, therefore, the present apparatus can be real
The tilt of existing 9 angles.
Due to the increase of shooting angle degree, its information gathering more comprehensively, accurately, has relative to five camera filming apparatus
Wider array of coverage, is easy to post-processing to process.
Embodiment 4
The improvement of the present embodiment is：Angle in aerial survey unit 4 between supporting plate 41 is 120 °, the side of shooting of camera 42
To vertical with supporting plate 41.
The light structure of supporting plate 41, under the configuration state, it is easier to adjust the rotational angle of steering wheel rotating shaft, can be clear
The shooting state for observing device.Supporting plate 41 can make have enough distances between camera and steering wheel, it is to avoid two cameras
Between influence each other.
Wide-angle lens is installed on camera 42 in the present embodiment, it shoots the visual field greatly, contributes to the raising of operating efficiency.The
One steering wheel 2 is arranged on and taken photo by plane on carrier 1, and the carrier 1 of taking photo by plane is used to connect aircraft.Control can be also set in carrier 1 of taking photo by plane
System, its structure can be set according to specific needs, simply schematically illustrate in accompanying drawing, not represent practical structures.
Embodiment 5
A kind of multi-angle double camera oblique photograph system, including unmanned plane are present embodiments provided, the unmanned plane can be
Fixed-wing unmanned plane or multi-rotor unmanned aerial vehicle, the preferred multi-rotor unmanned aerial vehicle of the present embodiment, set to unmanned plane during flying path,
It is flown according to regulation path, above-mentioned multi-angle double camera oblique photograph system is installed on unmanned plane, then using the dress
Put the shooting for carrying out destination object.
Schematical above that the present invention and embodiments thereof are described, the description does not have restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if the common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, are designed and the technical scheme without creative
Similar frame mode and embodiment, all should belong to protection scope of the present invention.
Claims (10)
1. a kind of multi-angle double camera oblique photograph device, it is characterised in that including：
Holder for aerial photographing, the holder for aerial photographing is connected with aerial survey unit (4), and can drive aerial survey unit (4) in vertical plane and level
Rotation in surface；
Aerial survey unit, aerial survey unit (4) Central Symmetry is provided with supporting plate (41) and camera (42), and the camera (42) is installed
Shooting angle between supporting plate (41) outer end, two cameras (42) is 35~70 °.
2. a kind of multi-angle double camera oblique photograph device according to claim 1, it is characterised in that：The holder for aerial photographing
Including by intermediate carrier (31) be connected the first steering wheel (2) and the second steering wheel (32), the second steering wheel (32) rotary shaft and
Aerial survey unit (4) is connected.
3. a kind of multi-angle double camera oblique photograph device according to claim 2, it is characterised in that：First steering wheel
(2) it is used to drive the 360 ° of rotations in the horizontal plane of intermediate carrier (31) and the second steering wheel (32)；Second steering wheel (32) is used to control
Aerial survey unit (4) is in vertical rotation in surface.
4. a kind of multi-angle double camera oblique photograph device according to claim 2, it is characterised in that：Second steering wheel
(32) control aerial survey unit (4) has two kinds of shooting postures, and during the first posture, the angle of inclination of two cameras (42) is identical；The
Second of posture is presented after the axis of rotation of two steering wheels (32), one of camera (42) is located at vertical camera site.
5. a kind of multi-angle double camera oblique photograph device according to claim 3, it is characterised in that：First steering wheel
(2) rotating shaft is rotated by 90 ° every time.
6. a kind of multi-angle double camera oblique photograph device according to claim 1, it is characterised in that：The aerial survey unit
(4) the shooting angle between two cameras (42) is 60 °.
7. a kind of multi-angle double camera oblique photograph device according to claim 6, it is characterised in that：The aerial survey unit
(4) angle between supporting plate (41) is 120 °, and camera (42) shooting direction is vertical with supporting plate (41).
8. according to a kind of multi-angle double camera oblique photograph device according to any one of claims 1 to 7, it is characterised in that：
Wide-angle lens is installed on the camera (42).
9. according to a kind of multi-angle double camera oblique photograph device according to any one of claims 1 to 7, it is characterised in that：
First steering wheel (2) is arranged on and taken photo by plane on carrier (1), and the carrier of taking photo by plane (1) is used to connect aircraft.
10. a kind of multi-angle double camera oblique photograph system, it is characterised in that：Including unmanned plane, install and have the right on unmanned plane
Profit requires the oblique photograph device in 1~9.
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| CN201710525722.2A CN107167117B (en) | 2017-06-30 | 2017-06-30 | A kind of multi-angle double camera oblique photograph apparatus and system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108089393A (en) * | 2018-01-24 | 2018-05-29 | 福建中量智汇科技有限公司 | A kind of rotary twin oblique photographic camera |
| CN108871296A (en) * | 2018-06-28 | 2018-11-23 | 河南省中纬测绘规划信息工程有限公司 | A kind of multi-angle aerial survey of unmanned aerial vehicle camera support |
| CN109029733A (en) * | 2018-06-11 | 2018-12-18 | 中国水利水电科学研究院 | A kind of double infrared payload Parallel Data acquisition devices |
| CN109141369A (en) * | 2018-08-02 | 2019-01-04 | 贵州时空亿图科技有限公司 | oblique photograph system |
| CN109871027A (en) * | 2017-12-05 | 2019-06-11 | 深圳市九天创新科技有限责任公司 | A kind of oblique photograph method and system |
| CN109927924A (en) * | 2019-03-14 | 2019-06-25 | 广州市红鹏直升机遥感科技有限公司 | Aviation oblique photograph holder |
| CN112212832A (en) * | 2019-07-10 | 2021-01-12 | 瞰景科技发展(上海)有限公司 | Device and method for improving aerial survey efficiency of oblique photography |
| CN112731824A (en) * | 2019-10-29 | 2021-04-30 | 南京迈界遥感技术有限公司 | Oblique photography control system for three-dimensional modeling |
| CN112781565A (en) * | 2020-12-21 | 2021-05-11 | 陕西土豆数据科技有限公司 | Binocular oblique photography method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109871027A (en) * | 2017-12-05 | 2019-06-11 | 深圳市九天创新科技有限责任公司 | A kind of oblique photograph method and system |
| CN108089393A (en) * | 2018-01-24 | 2018-05-29 | 福建中量智汇科技有限公司 | A kind of rotary twin oblique photographic camera |
| CN109029733A (en) * | 2018-06-11 | 2018-12-18 | 中国水利水电科学研究院 | A kind of double infrared payload Parallel Data acquisition devices |
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| CN109141369A (en) * | 2018-08-02 | 2019-01-04 | 贵州时空亿图科技有限公司 | oblique photograph system |
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| CN112212832A (en) * | 2019-07-10 | 2021-01-12 | 瞰景科技发展(上海)有限公司 | Device and method for improving aerial survey efficiency of oblique photography |
| CN112212832B (en) * | 2019-07-10 | 2023-04-14 | 瞰景科技发展(上海)有限公司 | Device and method for improving aerial survey efficiency of oblique photography |
| CN112731824A (en) * | 2019-10-29 | 2021-04-30 | 南京迈界遥感技术有限公司 | Oblique photography control system for three-dimensional modeling |
| CN112781565A (en) * | 2020-12-21 | 2021-05-11 | 陕西土豆数据科技有限公司 | Binocular oblique photography method |
| CN112781565B (en) * | 2020-12-21 | 2023-10-20 | 土豆数据科技集团有限公司 | Binocular oblique photographing method |
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