CN107167117B - A kind of multi-angle double camera oblique photograph apparatus and system - Google Patents

Abstract

The invention discloses a multi-angle dual-camera oblique photographing device and system, belonging to the field of unmanned aerial vehicles. A multi-angle dual-camera oblique photographing device and system of the present invention includes an aerial photography platform and an aerial survey unit, the aerial photography platform is connected with the aerial survey unit, and can drive the aerial survey unit to rotate in a vertical plane and a horizontal plane; the center of the aerial survey unit is A support plate and a camera are symmetrically arranged, the camera is installed on the outer end of the support plate, and the shooting angle between the two cameras is 35-70°. The aerial photography gimbal can control the aerial survey unit to have two shooting attitudes. In the first attitude, the inclination angles of the two cameras are the same; after the rotation axis of the second steering gear in the aerial photography gimbal rotates, it presents the second attitude, and one of the cameras is in a vertical position. Shooting location. The invention adopts dual cameras, which greatly reduces the weight of the photographing device, improves the battery life, and can achieve a high shooting repetition rate and ensure the accuracy of three-dimensional modeling.

Description

A multi-angle dual-camera tilt photography device and system

technical field

The present invention relates to the technical field of unmanned aerial vehicles, and more particularly, to a multi-angle dual-camera oblique photographing device and system.

Background technique

In recent years, the international geographic information field has combined traditional aerial photography technology and digital ground acquisition technology to develop a high-tech called airborne multi-angle oblique photography, or oblique photography technology for short. The oblique photography technology overcomes the limitation that the traditional aerial photography technology can only shoot from a vertical angle by carrying multiple or multiple sensors on the same flight platform and collecting ground images from multiple angles at the same time, and can reflect the ground more realistically. By integrating POS, DSM and vector data, the 3D modeling technology based on image intensive matching is realized.

Most of the existing oblique shooting devices are five-camera shooting, and the camera is fixed on the drone. After the drone takes off, the camera can obtain ground data stably. This kind of camera can obtain multi-angle shooting data, but this device has to carry 5 cameras and the overall weight is relatively large, which seriously restricts the endurance of the drone. Secondly, because the camera angle cannot be adjusted, the shooting range is limited, and the flight The paths are denser and the overall work efficiency is low.

Chinese patent (CN 104880177 A) discloses a multi-angle unmanned aerial survey system. The multi-angle unmanned aerial survey system is provided with a six-rotor unmanned aerial vehicle. A viewing angle tilt camera; the multi-view tilt camera includes: a photography unit, a control unit and a mounting unit; the six-rotor UAV includes: a UAV flight platform system, a GPS navigation system, a flight control system, a remote sensing photography system, Ground control system, signal transmission system. The device uses five cameras to shoot separately, which has many disadvantages mentioned above.

After further searching, a patent related to two-camera tilt photography was found (CN 105292509 A), which discloses a dual-camera multi-angle photography support device for unmanned aerial vehicles, including a frame, a control device, a motor, a steering gear, a support shaft, and a turret , Limiting member, latch, the two ends of the turret are hinged with the two short side pieces of the frame, the steering gear is fixed at one end of the turret, and the lower part of the steering gear is fixedly connected to the frame through the support shaft, and the latch passes through the frame. , Support shaft, so that the support shaft is positioned on the frame, the dual cameras are fixed in the frame, the top of the turret is fixed at the bottom of the drone, the control device is connected to the motor, the motor is connected to the steering gear, and the limiter is fixed to the frame. On a short side piece and located on both sides of the steering gear, the control device controls the motor, and the motor drives the steering gear, so that the steering gear drives the turret to rotate, so that the dual cameras can achieve multi-angle shooting on the frame; when the turret rotates , the rotation angle of the turret can be determined by the limiter.

The bracket uses two cameras for shooting, and the angle between the cameras is controlled by the control device to realize the change of the shooting angle, but the shooting range of its single-direction rotation is limited, the repetition rate is low, the data collection is incomplete, and it is difficult to obtain the three-dimensional modeling in the later stage. Full 3D image.

SUMMARY OF THE INVENTION

1. The technical problem to be solved by the invention

The purpose of the present invention is to overcome the shortcomings of the five-camera photographing device in the prior art, which are heavy in weight and short in battery life, and provide a multi-angle dual-camera oblique photographing device and system. It can improve the battery life, and can achieve a high shooting repetition rate, which ensures the accuracy of 3D modeling.

2. Technical solutions

In order to achieve the above object, the technical scheme provided by the invention is:

A multi-angle dual-camera oblique photographing device of the present invention includes:

Aerial photography cradle, the aerial photography cradle is connected with an aerial survey unit, and can drive the aerial survey unit to rotate in the vertical plane and the horizontal plane;

An aerial survey unit, the aerial survey unit is provided with a support plate and a camera symmetrically at the center, the camera is installed on the outer end of the support plate, and the shooting angle between the two cameras is 35-70°.

As a further improvement of the present invention, the aerial photography platform includes a first steering gear and a second steering gear connected through an intermediate carrier, and the second steering gear rotating shaft is connected with the aerial survey unit.

As a further improvement of the present invention, the first steering gear is used to drive the intermediate carrier and the second steering gear to rotate 360° in the horizontal plane; the second steering gear is used to control the aerial survey unit to rotate in the vertical plane.

As a further improvement of the present invention, the second steering gear controls the aerial survey unit to have two shooting attitudes. In the first attitude, the inclination angles of the two cameras are the same; after the rotating shaft of the second steering gear rotates, it presents the second attitude , one of the cameras is in the vertical shooting position.

As a further improvement of the present invention, the rotating shaft of the first steering gear rotates 90° each time.

As a further improvement of the present invention, the shooting angle between the two cameras in the aerial survey unit is 60°.

As a further improvement of the present invention, the included angle between the support plates in the aerial survey unit is 120°, and the shooting direction of the camera is perpendicular to the support plates.

As a further improvement of the present invention, a wide-angle lens is installed on the camera.

As a further improvement of the present invention, the first steering gear is installed on the aerial photography carrier, and the aerial photography carrier is used to connect the aircraft.

A multi-angle dual-camera oblique photography system of the present invention includes an unmanned aerial vehicle, and the above-mentioned multi-angle dual-camera oblique photography device is installed on the drone.

3. Beneficial effects

Adopting the technical scheme provided by the present invention, compared with the prior art, has the following beneficial effects:

(1) In a multi-angle dual-camera tilt photography device of the present invention, two cameras are arranged symmetrically in the center of the aerial survey unit, and a certain angle is formed between the two cameras, and the aerial camera head is used to control the aerial survey unit in the vertical plane and the vertical plane. Rotation in the horizontal plane can realize multi-angle oblique photography, which has a wider shooting range than traditional devices, and achieves a higher repetition rate, which helps to improve the accuracy of subsequent modeling;

(2) In a multi-angle dual-camera tilt photography device of the present invention, the second steering gear controls the aerial survey unit to have two shooting attitudes. , the two cameras have the same inclination angle, and can shoot 4-angle images; the second steering gear rotates to show a second attitude, one of the cameras is in the vertical shooting position, and can shoot 5-angle images in 4 directions. Therefore, 9-angle shooting can be achieved, and the shooting information is more complete;

(3) In a multi-angle dual-camera tilting photographing device of the present invention, the shooting angle between the two cameras is set to be 60°. Within this angle, the repetition rate requirement can be met without causing a large amount of data to be repeated and increased. Storage burden; the shooting direction is perpendicular to the support plate, the structure is light, the cameras will not affect each other, the structure design is reasonable, the principle is simple, and it is easy to popularize and use.

Description of drawings

1 is a schematic structural diagram of a multi-angle dual-camera oblique photographing device;

Fig. 2 is a schematic diagram of the position of the camera under the first attitude;

FIG. 3 is a schematic diagram of the camera position in the second attitude.

Description of the symbols in the schematic diagram: 1, aerial photography carrier; 2, first steering gear; 31, intermediate carrier; 32, second steering gear; 4, aerial survey unit; 41, support plate; 42, camera.

Detailed ways

In order to further understand the content of the present invention, the present invention will be described in detail with reference to the accompanying drawings and embodiments.

Example 1

1, a multi-angle dual-camera oblique photographing device in this embodiment is mainly composed of an aerial photography platform and an aerial survey unit. At the outer end of the support plate 41, the shooting angle between the two cameras 42 is 35-70°.

One end of the support plate 41 is connected with the steering gear, and the other end is mounted with the camera 42 , that is, the outer end of the support plate 41 is connected with the camera 42 . The support plate 41 is mainly used for connecting the camera, and is not limited to a plate shape, but can be a block shape or a rod shape, and is preferably a plate shape in this embodiment.

The installed camera 42 is used to collect data, and the collected data is used for three-dimensional modeling. Therefore, it is necessary to continuously shoot the shooting object with a certain repetition rate, so that the shooting information can be completely displayed. In order to achieve this purpose, the aerial survey unit 4 needs to have more shooting angles. In this embodiment, the shooting angle between the two cameras 42 is limited to 35-70°. According to the shooting height during use and the characteristics of the shooting object, specific restrictions can be made. , this embodiment is limited to 50°.

The aerial photography gimbal of this embodiment is connected to the aerial survey unit 4 and can drive the aerial survey unit 4 to rotate in the vertical plane and the horizontal plane. Since two angles of shooting can be achieved in one posture, when it is rotated 90° horizontally, it can achieve 4 angles of shooting; if it is controlled to rotate in the vertical plane, more angle shooting can be achieved.

In specific use, it is mounted on the flight device to control the shooting interval, and at the same time, the aerial camera head is used to control the aerial survey unit 4 to continuously rotate in the vertical and horizontal planes, so that continuous shooting from multiple angles can be achieved, and the flight speed can be reasonably set. And the flight height, one flight can realize the data collection of the whole area.

Since the device only uses two cameras, its weight is greatly reduced compared to the traditional five-camera shooting device, and its weight is less than 1/2. When mounted on the same flight device, the working time exceeds 4 times and the endurance significantly enhanced.

Example 2

The improvement of this embodiment is that the aerial photography platform includes a first steering gear 2 and a second steering gear 32 connected by an intermediate carrier 31 , and the rotation axis of the second steering gear 32 is connected with the aerial survey unit 4 .

The first steering gear 2 can be installed vertically, and its rotating shaft can rotate in the horizontal plane. The upper end of the intermediate carrier 31 is connected to the rotating shaft of the first steering gear 2, and the lower end of the intermediate carrier 31 is installed with a second steering gear 32 for controlling the second steering gear. The machine 32 rotates in the horizontal plane.

The rotation of the first steering gear 2 can only make the camera take pictures from different directions, and the tilt angle does not change. The second steering gear 32 can control the aerial survey unit 4 to rotate in the vertical plane, so that the camera is positioned in the vertical direction to take pictures, You can also shoot at other angles. After the second steering gear 32 is rotated by one position, shooting from two angles can be achieved.

Example 3

The improvement of this embodiment is that the first steering gear 2 is used to drive the intermediate carrier 31 and the second steering gear 32 to rotate 360° in the horizontal plane, and each time the steering gear is controlled to rotate 90°, the target object can be controlled from four directions. Capture data collection.

The second steering gear 32 controls the aerial survey unit 4 to have two shooting postures. In the first posture, the tilt angles of the two cameras 42 are the same, as shown in FIG. If the angle is 60°, the included angle between the shooting directions of the two cameras 42 and the vertical direction is 30°.

After the rotating shaft of the second steering gear 32 is rotated, it presents a second attitude. As shown in FIG. 3 , one of the cameras 42 is in a vertical shooting position, and the angle between the other camera and the vertical direction is 60°.

In the first attitude, the rotation axis of the first steering gear 2 rotates 90° each time, and 4 angles of shooting can be achieved; in the second attitude, the rotation axis of the first steering gear 2 rotates 0° each time, 4 directions There are a total of 8 shooting angles. Since the 4 shooting angles are all in the vertical state and overlap, they can be recorded as one shooting angle and can achieve 5 angles of shooting. Therefore, the device can achieve 9 angles of oblique shooting.

Due to the increase of the shooting angle, the information collection is more comprehensive and accurate, and compared with the five-camera shooting device, it has a wider shooting range, which is convenient for post-processing.

Example 4

The improvement of this embodiment is that the angle between the support plates 41 in the aerial survey unit 4 is 120°, and the shooting direction of the camera 42 is perpendicular to the support plate 41 .

The support plate 41 has a lightweight structure, and in this structural state, it is easier to adjust the rotation angle of the steering gear rotating shaft, and the photographing state of the device can be clearly observed. The support plate 41 can make enough distance between the camera and the steering gear to avoid mutual influence between the two cameras.

In this embodiment, a wide-angle lens is installed on the camera 42, and the shooting field of view is large, which helps to improve work efficiency. The first steering gear 2 is installed on the aerial photography carrier 1, and the aerial photography carrier 1 is used to connect the aircraft. A control system can also be set in the aerial photography carrier 1, and its structure can be set according to specific needs. The accompanying drawings are only schematic illustrations and do not represent actual structures.

Example 5

This embodiment provides a multi-angle dual-camera oblique photography system, including an unmanned aerial vehicle, which can be a fixed-wing unmanned aerial vehicle or a multi-rotor unmanned aerial vehicle. The human-machine flight path is set to make it fly according to the prescribed path, and the above-mentioned multi-angle dual-camera tilt photography system is installed on the drone, and the device can be used to shoot the target object.

The present invention and its embodiments have been described above schematically, and the description is not restrictive, and what is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it, without departing from the purpose of the present invention, any structural modes and embodiments similar to this technical solution are designed without creativity, which shall belong to the protection scope of the present invention. .

Claims (8)

1. A multi-angle dual-camera oblique photographing device, characterized in that, comprising: An aerial photography cradle, the aerial photography cradle is connected with an aerial survey unit (4), and can drive the aerial survey unit (4) to rotate in a vertical plane and a horizontal plane; An aerial survey unit, wherein the aerial survey unit (4) is provided with a support plate (41) and a camera (42) symmetrically at the center, the camera (42) is installed on the outer end of the support plate (41), and the two cameras (42) take pictures between the two cameras (42). The included angle is 35-70°; The aerial photography platform comprises a first steering gear (2) and a second steering gear (32) connected by an intermediate carrier (31), and the rotation axis of the second steering gear (32) is connected with the aerial survey unit (4); The first steering gear (2) is used to drive the intermediate carrier (31) and the second steering gear (32) to rotate 360° in the horizontal plane; the second steering gear (32) is used to control the aerial survey unit (4) in the vertical direction. In-plane rotation. 2. A kind of multi-angle dual-camera oblique photographing device according to claim 1, characterized in that: the second steering gear (32) controls the aerial survey unit (4) to have two shooting attitudes, and during the first attitude, The inclination angles of the two cameras (42) are the same; the rotating shaft of the second steering gear (32) presents a second posture after being rotated, and one of the cameras (42) is located at a vertical shooting position. 3 . The multi-angle dual-camera oblique photographing device according to claim 2 , wherein the rotating shaft of the first steering gear ( 2 ) rotates 90° each time. 4 . 4 . The multi-angle dual-camera oblique photographing device according to claim 1 , wherein the shooting angle between the two cameras ( 42 ) in the aerial survey unit ( 4 ) is 60°. 5 . 5. A multi-angle dual-camera oblique photographing device according to claim 4, wherein the angle between the support plates (41) in the aerial survey unit (4) is 120°, and the camera (42) shoots The direction is perpendicular to the support plate (41). 6. The multi-angle dual-camera oblique photographing device according to any one of claims 1 to 5, wherein a wide-angle lens is mounted on the camera (42). 7. The multi-angle dual-camera oblique photographing device according to any one of claims 1 to 5, wherein the first steering gear (2) is mounted on an aerial photography carrier (1), and the aerial photography carrier (1) Used to connect the aircraft. 8 . A multi-angle dual-camera oblique photographing system, characterized in that it comprises an unmanned aerial vehicle, and the oblique photographing device according to any one of claims 1 to 7 is installed on the unmanned aerial vehicle.