CN107167117B - 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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- CN107167117B CN107167117B CN201710525722.2A CN201710525722A CN107167117B CN 107167117 B CN107167117 B CN 107167117B CN 201710525722 A CN201710525722 A CN 201710525722A CN 107167117 B CN107167117 B CN 107167117B
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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 systems, belong to unmanned plane field.A kind of multi-angle double camera oblique photograph apparatus and system of the invention, including holder for aerial photographing and aerial survey unit, holder for aerial photographing is connected with aerial survey unit, and aerial survey unit can be driven in vertical plane and horizontal rotation in surface；The aerial survey unit center is symmetrically arranged with support plate and camera, and the camera is mounted on support plate outer end, and the shooting angle between two cameras is 35~70 °.Holder for aerial photographing can control aerial survey unit there are two types of posture is shot, and when the first posture, the tilt angle of two cameras is identical；Second of posture is presented after the shaft rotation of the second steering engine in holder for aerial photographing, one of camera is located at vertical camera site.The present invention significantly reduces camera weight using double camera, improves cruising ability, and can be realized higher shooting repetitive rate, ensure that the accuracy of three-dimensional modeling.
Description
Technical field
The present invention relates to air vehicle technique fields, more specifically to a kind of multi-angle double camera oblique photograph device
And system.
Background technique
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 known as airborne multi-angle oblique photography, abbreviation oblique photograph technology are developed.Oblique photograph technology passes through
More or multiple sensors are carried on same flying platform, while from multiple angle acquisition ground image, to overcome biography
The limitation that system air photo technique can only be shot from vertical angle, can more be truly reflected the practical feelings of atural object
Condition compensates 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 mostly the shooting of five cameras, and camera is fixed on unmanned plane, after unmanned plane takes off, phase
Function, which is stablized, obtains ground data.This camera can obtain the photographed data of multi-angle, but this device is due to that will carry 5
A camera, overall weight is larger, and unmanned plane cruising ability is caused seriously to be restricted, secondly as camera angle is unable to adjust,
Coverage is limited, and flight path is closeer, and whole work efficiency is lower.
Chinese patent (104880177 A of CN) discloses a kind of unmanned aerial survey system of multi-angle, the unmanned boat of the multi-angle
Examining system is provided with six rotor wing unmanned aerial vehicles, and the multi-angle of view inclination phase there are five camera lens composition is carried above six rotor wing unmanned aerial vehicle
Machine；The multi-angle of view 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, and there are above-mentioned more disadvantages.
By further retrieving, find two camera oblique photograph related patents (105292509 A of CN), the patent disclosure
A kind of unmanned plane double camera multi-angled shooting support device, including frame, control device, motor, steering engine, support shaft, pivoted frame,
Locating part, bolt, respectively with two short side part hinges of frame, steering engine is fixed on one end of pivoted frame at the both ends of the pivoted frame, and
Steering engine lower part is fixedly connected by support shaft with frame, and bolt passes through frame, support shaft, positions support shaft on frame, double
Camera is fixed in frame, and uav bottom is fixed at the top of pivoted frame, and the control device connects motor, and motor connects steering engine,
The locating part is fixed on a short side part of frame, and is located at the two sides of steering engine, and the control device controls motor, motor
Steering engine is driven, so that steering engine is driven pivoted frame rotation, so that double camera be made to realize multi-angled shooting on frame；When the rotisserie rotates,
It can determine that the rotation angle of pivoted frame by locating part.
The bracket is shot using two cameras, is controlled the angle between camera by control device, is realized shooting angle
Change, but the coverage of its one direction rotation is limited, and repetitive rate is lower, and data acquisition is not complete, when later period three-dimensional modeling
It is difficult to obtain complete three dimensional image.
Summary of the invention
1. technical problems to be solved by the inivention
It is an object of the invention to overcome the shortcomings of that five camera photographing device weight are big in the prior art, cruise duration is short,
A kind of multi-angle double camera oblique photograph apparatus and system is provided, the present invention significantly reduces camera weight using double camera
Amount, improves cruising ability, and can be realized higher shooting repetitive rate, ensure that the accuracy of three-dimensional modeling.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention are as follows:
A kind of multi-angle double camera oblique photograph device of the invention, comprising:
Holder for aerial photographing, which is connected with aerial survey unit, and aerial survey unit can be driven in vertical plane and horizontal plane
Interior rotation；
Aerial survey unit, the aerial survey unit center are symmetrically arranged with support plate and camera, and the camera is mounted on outside support plate
It holds, the shooting angle between two cameras is 35~70 °.
As further improvement of the present invention, the holder for aerial photographing include by intermediate vector be connected the first steering engine and
Second steering engine, the second steering engine rotation axis are connected with aerial survey unit.
As further improvement of the present invention, first steering engine is for driving intermediate vector and the second steering engine in level
360 ° of rotations in face；Second steering engine is for controlling aerial survey unit in vertical rotation in surface.
As further improvement of the present invention, shooting posture that there are two types of the second steering engine control aerial survey units, first
When kind posture, the tilt angle of two cameras is identical；Second of posture, one of phase is presented after the shaft rotation of second steering engine
Machine is located at vertical camera site.
As further improvement of the present invention, the first steering engine 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 support plate is 120 °, and camera is clapped
It is vertical with support plate to take the photograph direction.
As further improvement of the present invention, wide-angle lens is installed on the camera.
As further improvement of the present invention, first steering engine, which is mounted on, takes photo by plane on carrier, which is used for
Connect aircraft.
A kind of multi-angle double camera oblique photograph system of the invention, including unmanned plane, are equipped with above-mentioned on unmanned plane
Multi-angle double camera oblique photograph device.
3. beneficial effect
Using technical solution provided by the invention, compared with prior art, have the following beneficial effects:
(1) a kind of multi-angle double camera oblique photograph device of the invention, on aerial survey unit there are two center symmetric settings
Camera, shape forms an angle between two cameras, and using holder for aerial photographing control aerial survey unit in perpendicular and horizontal plane
Rotation is wider relative to conventional apparatus coverage, it can be achieved that multi-angle oblique photography, and reaches higher repetitive rate, helps
In the raising of subsequent modeling accuracy；
(2) a kind of multi-angle double camera oblique photograph device of the invention, the second steering engine controls aerial survey unit, and there are two types of clap
Posture is taken the photograph, cooperation is rotated by 90 ° the every secondary shaft of the first steering engine every time, then when the first posture, the tilt angle phase of two cameras
Together, 4 angle images can be shot；Second of posture is presented after the shaft rotation of second steering engine, one of camera is located at vertical
Camera site can shoot 5 angle images 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, the shooting angle being arranged between two cameras are
60 °, it had not only been able to satisfy repetitive rate requirement in the angle, but also not will lead to mass data and repeat and increase storage burden；Make its bat
It is vertical with support plate to take the photograph direction, light structure will not influence each other between camera, and reasonable in design, principle is simple, convenient for pushing away
It is wide to use.
Detailed description of the invention
Fig. 1 is the structural schematic diagram 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: 1, carrier of taking photo by plane；2, the first steering engine；31, intermediate vector；32, the second steering engine；4, it navigates
Survey unit；41, support plate；42, camera.
Specific embodiment
To further appreciate that the contents of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
In conjunction with 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
Member forms, and 4 center symmetric setting of aerial survey unit has support plate 41 and camera 42 in the present embodiment, and camera 42 is mounted on support plate 41
Outer end, the shooting angle between two cameras 42 is 35~70 °.
41 one end of support plate is connected with steering engine, and the other end installs camera 42, i.e. 41 outer end of support plate is connected with camera 42.Branch
Fagging 41 is mainly used for connecting camera, is not limited to plate, can be to be blocky or rod-shaped, this implementation is preferably plate.
Installed camera 42 for acquiring data, acquired data for three-dimensional modeling, therefore, it is necessary to reference object into
Row is continuously shot, and has certain repetitive rate, so as to completely show photographing information.In order to reach the purpose, aerial survey list is needed
Member 4 has more shooting angle, and the shooting angle that the present embodiment limits 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 limited to 50 °.
The holder for aerial photographing of the present embodiment connects aerial survey unit 4, and can drive aerial survey unit 4 in vertical plane and horizontal plane
Rotation.Due to can be realized the shooting of two angles in a posture, after it rotates horizontally 90 °, it can be realized 4 angles and clap
It takes the photograph；If controlling it to rotate in perpendicular, more angle shots can be achieved.
When specifically used, it is mounted on flight instruments, controls shooting interval, and controls aerial survey with holder for aerial photographing simultaneously
Unit 4 then can be achieved multi-angle and be continuously shot constantly in vertical plane and horizontal rotation in surface, be rationally arranged flying speed and
Flying height, flight just can be realized the data acquisition to whole region.
Since the device is only with two cameras, weight subtracts significantly relative to five traditional camera filming apparatus weight
Gently, weight it is insufficient its 1/2, when being mounted on same flight instruments, the working time, cruising ability was significant more than its 4 times or more
Enhancing.
Embodiment 2
The improvement of the present embodiment is: holder for aerial photographing includes the first steering engine 2 and second being connected by intermediate vector 31
Steering engine 32,32 rotation axis of the second steering engine are connected with aerial survey unit 4.
First steering engine 2 can be vertically-mounted, and rotation axis can rotate in the horizontal plane, the upper end of intermediate vector 31 and the
The second steering engine 32 is installed in the rotation axis connection of one steering engine 2, lower end, rotates in the horizontal plane for controlling the second steering engine 32.
The rotation of first steering engine 2 can only make camera take pictures from different orientation, and tilt angle does not change,
Second steering engine 32 can control aerial survey unit 4 in vertical rotation in surface, so that camera is located at vertical direction shooting, can also be in other angles
Degree shooting., it can be achieved that the shooting of two angles behind second steering engine 32 rotation, one position.
Embodiment 3
The improvement of the present embodiment is: the first steering engine 2 is for driving intermediate vector 31 and the second steering engine 32 in horizontal plane
Interior 360 ° of rotations control its 90 ° of rotation every time, then can carry out photographed data acquisition to target object from 4 orientation.
Second steering engine 32 controls aerial survey unit 4, and there are two types of shoot posture, when the first posture, the inclination angle of two cameras 42
Spend 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 shaft rotation of second steering engine 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, 2 shaft of the first steering engine is rotated by 90 ° every time, then can be realized the shooting of 4 angles；?
When two kinds of postures, 2 shaft of the first steering engine rotates 0 ° every time, and 4 orientation share 8 shooting angle, due to by 4 shooting angle all
It is in a vertical state, it coincides, 1 shooting angle can be denoted as, can be realized the shooting of 5 angles, therefore, the present apparatus can be real
The tilt of existing 9 angles.
Due to the increase of shooting angle degree, information collection more comprehensively, accurately, has relative to five camera filming apparatus
Wider array of coverage is processed convenient for post-processing.
Embodiment 4
The improvement of the present embodiment is: the angle in aerial survey unit 4 between support plate 41 is 120 °, 42 side of shooting of camera
To vertical with support plate 41.
41 light structure of support plate, under the configuration state, it is easier to the rotational angle of steering engine shaft is adjusted, it can be clear
The shooting state for observing device.Support plate 41 can make have enough distances between camera and steering engine, avoid two cameras
Between influence each other.
Wide-angle lens is installed, the shooting visual field is big, facilitates the raising of working efficiency in the present embodiment on camera 42.The
One steering engine 2, which is mounted on, takes photo by plane on carrier 1, and the carrier 1 of taking photo by plane is for connecting aircraft.Control can be also set in carrier 1 of taking photo by plane
System, structure are set according to specific needs, only schematically illustrate in attached drawing, do not represent practical structures.
Embodiment 5
A kind of multi-angle double camera oblique photograph system is present embodiments provided, including unmanned plane, 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 unmanned plane during flying path,
So that 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
Set the shooting for carrying out target object.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (8)
1. a kind of multi-angle double camera oblique photograph device characterized by comprising
Holder for aerial photographing, the holder for aerial photographing are connected with aerial survey unit (4), and aerial survey unit (4) can be driven in vertical plane and level
Rotation in surface；
Aerial survey unit, aerial survey unit (4) center symmetric setting have support plate (41) and camera (42), camera (42) installation
Shooting angle between support plate (41) outer end, two cameras (42) is 35~70 °；
The holder for aerial photographing includes passing through intermediate vector (31) connected first steering engine (2) and the second steering engine (32), and described second
Steering engine (32) rotation axis is connected with aerial survey unit (4)；
First steering engine (2) is for driving the 360 ° of rotations in the horizontal plane of intermediate vector (31) and the second steering engine (32)；Second
Steering engine (32) is for controlling aerial survey unit (4) in vertical rotation in surface.
2. a kind of multi-angle double camera oblique photograph device according to claim 1, it is characterised in that: second steering engine
(32) control aerial survey unit (4) is there are two types of posture is shot, and when the first posture, the tilt angle of two cameras (42) is identical；The
Second of posture is presented after the shaft rotation of two steering engines (32), one of camera (42) is located at vertical camera site.
3. a kind of multi-angle double camera oblique photograph device according to claim 2, it is characterised in that: first steering engine
(2) shaft is rotated by 90 ° every time.
4. 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 °.
5. a kind of multi-angle double camera oblique photograph device according to claim 4, it is characterised in that: the aerial survey unit
(4) angle between support plate (41) is 120 °, and camera (42) shooting direction is vertical with support plate (41).
6. a kind of multi-angle double camera oblique photograph device according to any one of claims 1 to 5, it is characterised in that:
Wide-angle lens is installed on the camera (42).
7. a kind of multi-angle double camera oblique photograph device according to any one of claims 1 to 5, it is characterised in that:
First steering engine (2) is mounted on carrier of taking photo by plane (1), and the carrier of taking photo by plane (1) is for connecting aircraft.
8. 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
It is required that any one of 1~7 oblique photograph device.
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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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| 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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| CN107167117B true CN107167117B (en) | 2019-09-10 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109871027B (en) * | 2017-12-05 | 2022-07-01 | 深圳市九天创新科技有限责任公司 | Oblique photography method and system |
| CN109029733B (en) * | 2018-06-11 | 2024-05-31 | 中国水利水电科学研究院 | Double-infrared load parallel data acquisition device |
| 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 |
| CN109141369A (en) * | 2018-08-02 | 2019-01-04 | 贵州时空亿图科技有限公司 | oblique photograph 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 |
| 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 |
| 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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| US5440337A (en) * | 1993-11-12 | 1995-08-08 | Puritan-Bennett Corporation | Multi-camera closed circuit television system for aircraft |
| CN205175400U (en) * | 2015-11-17 | 2016-04-20 | 广州供电局有限公司 | Photographic mounting structure and photographic collection system of unmanned aerial vehicle of gathering of diphase machine |
| CN205679226U (en) * | 2016-03-11 | 2016-11-09 | 深圳供电局有限公司 | A kind of electric power corridor data acquisition unit |
| CN205640091U (en) * | 2016-05-23 | 2016-10-12 | 厦门云上晴空航空科技有限公司 | Two camera lens cloud platforms of oblique photography |
| CN106210533B (en) * | 2016-07-29 | 2020-06-30 | 北京观著信息技术有限公司 | Dual-camera five-view angle oblique photography implementation method and oblique photography device |
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