CN110001945A - One kind facade that falls precipice finely tilts boat and takes the photograph device and method for imaging - Google Patents
One kind facade that falls precipice finely tilts boat and takes the photograph device and method for imaging Download PDFInfo
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- CN110001945A CN110001945A CN201910301843.8A CN201910301843A CN110001945A CN 110001945 A CN110001945 A CN 110001945A CN 201910301843 A CN201910301843 A CN 201910301843A CN 110001945 A CN110001945 A CN 110001945A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000003384 imaging method Methods 0.000 title claims abstract description 10
- 230000009187 flying Effects 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims abstract description 20
- 238000013461 design Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 2
- 230000010006 flight Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
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- 238000010168 coupling process Methods 0.000 description 1
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- 238000007726 management method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Accessories Of Cameras (AREA)
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Abstract
Boat, which is finely tilted, the present invention provides a kind of facade of falling precipice takes the photograph device and method for imaging, including more rotor flying platforms, it is characterized by: more rotor flying platform upper surfaces are connected with and set angle modulation camera support holder, on set angle modulation camera support holder upper end and be also connected with and set angle modulation filming apparatus, more rotor flying platforms lower surface, which is connected with, underlying waves camera hanger holder, it is underlying wave camera hanger holder lower end and be also connected with underlying wave filming apparatus, GNSS difference block is also connected on more rotor flying platforms, autopilot module, communication module and power module, GNSS difference block, autopilot module and communication module are connected with power module, autopilot module also with GNSS difference block, communication module, on set angle modulation camera support holder and be connected with the underlying camera hanger holder that waves.It is taken pictures by what upper camera can be convenient to object downside, and waves shooting using lower camera and simulate more camera lenses shootings, reduce whole weight.
Description
Technical field
The present invention relates to unmanned plane oblique photograph field of measuring technique, and in particular to one kind facade of falling precipice finely tilts boat and takes the photograph
Device and method for imaging.
Background technique
Existing tradition unmanned plane oblique photograph mostly uses bulky " three-lens " or " five camera lenses " inclined camera, the purpose is to
Data are taken the photograph towards the boat of the big degree of overlapping of each angle acquisition in downside from the air, establish outdoor scene threedimensional model later, but in precipitous valley, multiple
Often there are the following problems for fine modeling under the scenes such as miscellaneous side slope, the mapping of building facade, the complex building the eaves of a veranda:
(1) aerial acquisition downward falls precipice, complex building facade and eaves corridor downside texture there are aerial photographic gap, causes to model
Loophole and torsional deformation gradually have become industry pain spot；
(2) using ground and aerial head-up, repeatedly to will cause retake ground resolution inconsistent with large scene for flight retake,
Larger workload causes modeling to lose piece, and interior field operation is done over again frequency height, exists simultaneously tone difference caused by different times boat is taken the photograph,
Influence visual appearance.
Summary of the invention
Boat is finely tilted the present invention provides a kind of facade of falling precipice and takes the photograph device and method for imaging, it is therefore an objective to solve the prior art
Shooting is fallen under precipice, building facade and complex building eaves corridor fine modeling scene in the middle, and existing aerial photographic gap and modeling are turned round
Bent problem.
The present invention is to realize technical purpose by following technological means,
One kind facade that falls precipice, which finely tilts to navigate, takes the photograph device, including more rotor flying platforms, on more rotor flying platforms
Surface, which is connected with, sets angle modulation camera support holder, above set angle modulation camera support holder upper end be also connected with set angle modulation shooting dress
Set, more rotor flying platforms lower surface be connected with it is underlying wave camera hanger holder, it is underlying to wave camera hanger holder lower end also
Be connected with it is underlying wave filming apparatus, GNSS difference block, autopilot module, logical is also connected on more rotor flying platforms
Letter module and power module, GNSS difference block, autopilot module and communication module are electrically connected with power module, autopilot mould
Block also with GNSS difference block, communication module, on set angle modulation camera support holder and underlying wave camera hanger holder electric signal
Connection.
Further, it includes upper angle modulation camera support and upper servo motor, up-regulation that angle modulation camera support holder is set on described
Angle camera support lower end is connected to more rotor flying platform upper surfaces, and upper angle modulation camera support upper end is connected with servo motor, on
It sets angle modulation filming apparatus to be connected on servo motor, upper servo motor is connect with autopilot modular telecommunications number, upper servo motor
It is electrically connected with power module.
Further, underlying wave under camera hanger holder includes waves camera hanger and lower servo motor, under shake
Pendulum camera hanger upper end is connected to more rotor flying platforms lower surface, under wave camera hanger lower end and be connected with servo motor, under
It sets and waves filming apparatus and be connected on lower servo motor, lower servo motor is connect with autopilot modular telecommunications number, lower servo motor
It is electrically connected with power module.
Further, the airborne GNSS difference block includes at least, and airborne multimode high frequency GNSS receiver, GNSS are received
Antenna, epoch data storage, RTK communication link radio station connect associate member with electronics coupled, and the electronics coupled connection is attached
The corresponding position of this photo and time when part is shot for recording photograph, airborne multimode high frequency GNSS receiver high frequency epoch acquisition
Frequency is not less than 20HZ.
Further, it is single-lens that angle modulation filming apparatus is set on described.
Further, the underlying filming apparatus that waves is single-lens.
A kind of facade that falls precipice finely tilts the method for imaging that boat takes the photograph device, comprising the following steps:
The first step designs flight path；
Second step sets up base station, takes the photograph in boat and sets up GNSS base station and RTK communication radio station before device takes off, and takes the photograph for navigating
Device positions in the air and exposure point Difference Calculation；
Third step, automatic to fly and shooting, boat is taken the photograph device and is controlled certainly by remote control or by the flight path of design by autopilot
Dynamic flight, and when flight on set angle modulation filming apparatus and the underlying filming apparatus that waves faces reference object always, during which on set tune
Scene in front of the filming apparatus taking lens of angle, and angle that angle modulation filming apparatus is faced upward is set with same in adjustment according to the actual situation
When shoot in front of more rotor flying platforms and the image of top；It is underlying to wave filming apparatus at work, it hangs down from head-up to lower view
It teeters in 0 ° -90 ° of line, the big degree of overlapping image that shooting is no less than 3, big degree of overlapping image is adjacent two images
Degree of overlapping is not less than 70%；
4th step, landing checks and data preparation.Landing is to difference GNSS data or rear difference RTK data after flight
It is arranged with inclination image according to electronics coupled relationship is corresponding, inclination boat takes the photograph end.
Further, the first step designs in flight path, when shooting the facade of falling precipice class, sets angle modulation shooting upper
Device and it is underlying wave in the case that filming apparatus faces reference object always, more rotor flying platforms are winged along the facade of falling precipice level
It goes and shoots.
Further, when shooting the facade of falling precipice class, and there is outwardly projecting part on the facade of falling precipice, and protrusion
When length is greater than one third of more rotor flying platforms away from the facade of falling precipice distance, using multilayer course line, angle modulation shooting is set upper
Device and it is underlying wave in the case that filming apparatus faces reference object always, more rotor flying platforms are winged along the facade of falling precipice level
It goes and shoots, it is horizontal along the facade of falling precipice again after more rotor flying platforms rising certain altitudes after a height is shot
It flies and shoots, until shooting finishes.
Further, the first step designs in flight path, when shooting building, is flown and is navigated using Multi-layered wound
Line, the multilayer line of flight are to set angle modulation filming apparatus and the underlying feelings waved filming apparatus and face reference object always upper
Under condition, more rotor flying platforms are around building vrille from top to bottom.
The beneficial effects of the present invention are: 1, the present invention by above set angle modulation filming apparatus, can in shooting side under
While square image, texture on the downside of precipice and building eaves corridor is acquired comprehensively, solves tradition and be downwardly inclined photography boat and take the photograph leakage
The problem of hole and modeling torsional deformation.
2, the present invention by above set angle modulation filming apparatus and it is underlying wave filming apparatus, and the two is apart from reference object distance
Unanimously, so that the top view being taken out, side view and lower view cine scale bar are equal or close, and ground resolution and color
It adjusts unanimously, effectively reduces aerial photographic gap, three-dimensional live modeling integrality and accuracy is substantially improved, effectively reduces three-dimensional modeling
Boat take the photograph and do over again the frequency with the modeling of interior industry.
3, the present invention by set on adjustable angle angle modulation filming apparatus and it is underlying wave filming apparatus, and neck is underlying shakes
Pendulum filming apparatus waves to simulate more camera lens acquisitions, so that the weight saving of filming apparatus entirety, it is flat to increase more rotor flyings
In the cruise duration of platform, improve collecting efficiency.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is to set angle modulation filming apparatus working principle diagram in the present invention；
Fig. 3, which is that the present invention is underlying, waves filming apparatus working principle diagram；
Route map when Fig. 4 present invention shoots the facade of falling precipice；
Route map when Fig. 5 present invention shoots building；
1 in figure, more rotor flying platforms；2, GNSS difference block；3, angle modulation filming apparatus is set on；4, angle modulation camera is set on
Bracket holder；5, underlying to wave filming apparatus；6, underlying to wave camera hanger holder.
The present invention is described in further details below with reference to accompanying drawings and embodiments；
Specific embodiment
[embodiment 1]
As shown in Figure 1 to Figure 3, a kind of facade that falls precipice finely tilts boat and takes the photograph device, including more rotor flying platforms 1, described
More 1 upper surfaces of rotor flying platform, which are connected with, sets angle modulation camera support holder 4, above sets 4 upper end of angle modulation camera support holder also
Be connected with and set angle modulation filming apparatus 3, more 1 lower surfaces of rotor flying platform be connected with it is underlying wave camera hanger holder 6, it is underlying
Wave 6 lower end of camera hanger holder be also connected with it is underlying wave filming apparatus 5, be also connected on more rotor flying platforms 1
GNSS difference block 2, autopilot module, communication module and power module, GNSS difference block 2, autopilot module and communication mould
Block is electrically connected with power module, autopilot module also with GNSS difference block 2, communication module, on set angle modulation camera support cloud
Platform 4 is connected with underlying 6 electric signal of camera hanger holder that waves.
As depicted in figs. 1 and 2, more 1 upper surfaces of rotor flying platform, which are connected with, sets angle modulation camera support holder 4, above sets
4 upper end of angle modulation camera support holder, which is also connected with, sets angle modulation filming apparatus 3, and above setting angle modulation filming apparatus 3 can be in autopilot
From head-up to waving in the range of 0 ° -90 ° of zenith distance under the control of module, allow to as needed, shoot more rotors and fly
The image of hidden area below the side of row platform 1 and the upper side facade of falling precipice.
As shown in figures 1 and 3, more 1 lower surfaces of rotor flying platform be connected with it is underlying wave camera hanger holder 6, it is underlying
Wave 6 lower end of camera hanger holder be also connected with it is underlying wave filming apparatus 5, the underlying filming apparatus 5 that waves can be arrived in head-up
It is waved in the range of 0 ° -90 ° of lower apparent vertical direction, to shoot the image of more rotor flying platform 1 sides and side-lower.
More rotor flying platforms are the multiaxises rotor wing unmanned aerial vehicle flying platforms such as four axis, six axis, eight axis.
As shown in Figure 1, being also connected with GNSS difference block 2, autopilot module, communication on more rotor flying platforms 1
Module and power module, GNSS difference block 2, autopilot module and communication module are connected with power module, autopilot module
Also with GNSS difference block 2, communication module, on set angle modulation camera support holder 4 and the underlying camera hanger holder 6 that waves is connected.
GNSS difference block 2 for positioning, autopilot module be then responsible for controlling the flight of entire more rotor flying platforms 1,
On set angle modulation filming apparatus 3 and the underlying shooting for waving filming apparatus 5 and underlying wave camera hanger holder 6 and above set angle modulation
The rotation of camera support holder 4.Communication module is used to receive external instruction, and power module is responsible for more rotor flying platforms 1
Various electronic modules power supply thereon.
[embodiment 2]
As depicted in figs. 1 and 2, it includes upper angle modulation camera support and upper servo horse that angle modulation camera support holder 4 is set on described
It reaches, upper angle modulation camera support lower end is connected to more 1 upper surfaces of rotor flying platform, and upper angle modulation camera support upper end is connected with servo
Motor is above set angle modulation filming apparatus 3 and is connected on servo motor, and upper servo motor is connect with autopilot modular telecommunications number, on
Servo motor and power module electrical connection.
On set angle modulation camera support holder 4 include upper angle modulation camera support and upper servo motor, upper angle modulation camera support top
End is connected with servo motor, above sets angle modulation filming apparatus 3 and is connected on servo motor, and upper servo motor is set on driving
Angle modulation filming apparatus 3 rotates, and autopilot module controls the rotation of upper servo motor, and power module is the power supply of upper servo motor.
As shown in figures 1 and 3, underlying wave under camera hanger holder 6 includes waves camera hanger and lower servo horse
Reach, under wave camera hanger upper end and be connected to more 1 lower surfaces of rotor flying platform, under wave camera hanger lower end and be connected with servo
Motor, the underlying filming apparatus 5 that waves are connected on lower servo motor, lower servo motor respectively with autopilot module and power module
It is connected.
Underlying wave under camera hanger holder 6 includes waves camera hanger and lower servo motor, under wave camera and hang
Frame upper end is connected to more 1 lower surfaces of rotor flying platform, under wave camera hanger lower end and be connected with servo motor, it is underlying to wave bat
It takes the photograph device 5 to be connected on lower servo motor, lower servo motor is connect with autopilot modular telecommunications number, lower servo motor and power supply mould
Block electrical connection.
The airborne GNSS difference block 2 includes at least, and airborne multimode high frequency GNSS receiver, is gone through GNSS receiving antenna
Metadata repository, RTK communication link radio station connect associate member with electronics coupled, and the electronics coupled connection associate member is for remembering
The corresponding position of this photo and time, airborne multimode high frequency GNSS receiver high frequency epoch frequency acquisition be not low when recording photograph taking
In 20HZ.The corresponding position of this photo and time when the electronics coupled connection associate member is shot for recording photograph, by photo
Position when shooting is coupled together with time and photo itself, handles so as to subsequent image, and airborne multimode GNSS is received
It includes tetra- kinds of GPS, GLONASS, GALILEO, BDS common satellite navigation system broadcast singals that machine, which can receive,；
The length of the upper angle modulation camera support is greater than, the length of upper angle modulation camera support to guarantee on set angle modulation shooting dress
The rotor blades of more rotor flying platforms 1 will not be photographed by setting 3 downwards angle of visibility, avoid the image shot by the shadow of rotor blade
It rings.
It is single-lens that angle modulation filming apparatus 3 is set on described.
The underlying filming apparatus 5 that waves is single-lens.
On set angle modulation filming apparatus 3 and it is underlying wave filming apparatus 5 be camera or camera lens, and be it is single-lens, above set
Angle modulation filming apparatus 3 may be implemented to take pictures to top hidden area by adjusting angle, it is underlying wave filming apparatus 5 by
It is quickly waved in 0 ° -90 °, shoots the image of multiple big degrees of overlapping, taken the photograph to simulate the tri-lens camera inclination in the prior art
Shadow collection effect.Camera weight is reduced simultaneously obtaining equivalent data.
[embodiment 3]
A kind of facade that falls precipice finely tilts the application method that boat takes the photograph device, comprising the following steps:
The first step designs flight path；The fine oblique photograph route design of the facade of falling precipice is developed based on autopilot open source SDK
Software design course line.The wherein design resolution according to needed for shooting image, the practical phase owner using camera is away from, camera picture
Width, underlying camera sway velocity and film speed determine the flight speed of a ship or plane, terrain clearance, relative target distance, air strips interval；Its
In underlying camera exposure speed be greater than 1/1250 second.
Second step sets up base station, takes the photograph at least 10 minutes erection GNSS base stations and RTK communication electricity before device takes off in boat
Platform is taken the photograph device for boat and is positioned in the air and exposure point Difference Calculation；GNSS base station epoch sample frequency is not less than 1HZ.
As shown in Figures 1 to 4, third step, automatic flight and shooting, boat take the photograph device by remote control or by design flight path by
The automatic flight of autopilot control, and when flight on set angle modulation filming apparatus 3 and underlying wave filming apparatus 5 always in face of shooting pair
As, during which on set scene in front of 3 taking lens of angle modulation filming apparatus, and set angle modulation filming apparatus in adjustment according to the actual situation
3 angles faced upward with and meanwhile shoot the image in 1 front and top of more rotor flying platforms；The underlying filming apparatus 5 that waves is working
When, from head-up to teetering in 0 ° -90 ° of lower apparent vertical, the big degree of overlapping image that shooting is no less than 3, big degree of overlapping shadow
Degree of overlapping as being adjacent two images is not less than 70%；
In flight, when flight on set angle modulation filming apparatus 3 and it is underlying wave filming apparatus 5 always in face of reference object,
It sets angle modulation filming apparatus 3 on as shown in Fig. 2, to face upward, while the image in front of taking lens with top.
As shown in figure 3, underlying wave filming apparatus 5 at work, from head-up to 0 ° -90 ° of lower apparent vertical in shake up and down
Pendulum, the big degree of overlapping image that shooting is no less than 3, big degree of overlapping image are that the degree of overlapping of adjacent two images is not less than 70%.
4th step, landing checks and data preparation.Landing is to difference GNSS data or rear difference RTK data after flight
It is arranged with inclination image according to electronics coupled relationship is corresponding, inclination boat takes the photograph end.The photo that will be shot is corresponding with this photo
Time and location coupling, with facilitate it is subsequent image is handled according to time location, inclination boat take the photograph end.
In data handling, because in actual use airborne GNSS difference block 2 with above set angle modulation filming apparatus 3 and under
It sets and waves the position of filming apparatus 5 and cannot be completely disposed in same vertical line.Location information corresponding to the image shot
There is error, in data handling, regard airborne GNSS difference block 2 as exposure with the distance between angle modulation filming apparatus 3 difference is above set
Luminous point differential position corrects parameter, corrects to the location parameter actually obtained, to obtain more accurate corresponding relationship.
As above set angle modulation filming apparatus 3 and have taken a photo at position 15, airborne GNSS difference block 2 with set angle modulation
3 level error of filming apparatus, 2 positions, then airborne GNSS difference block 2 obtains at this time position is 13, rather than it is actual
15, only by exposure point differential position correct parameter, i.e., data 2 be added Data processing correct, can just obtain position 15 this
A correct data.
In the first step, as shown in figure 4, when shooting the facade of falling precipice class, setting angle modulation bat upper in design flight path
Take the photograph device 3 and it is underlying wave filming apparatus 5 always in the case where the reference object, more rotor flying platforms 1 are along the facade of falling precipice
Horizontal flight is simultaneously shot.
When flight, sets angle modulation filming apparatus 3 and the underlying filming apparatus 5 that waves faces reference object, more rotor flyings always
Platform 1 moves towards horizontal movement along the facade of falling precipice, above sets angle modulation filming apparatus 3 and the underlying filming apparatus 5 that waves faces to clap always
Take the photograph object.
As shown in figure 5, the first step, is designed in flight path, when shooting building, is flown and navigated using Multi-layered wound
Line, the multilayer line of flight are to set angle modulation filming apparatus 3 upper and underlying wave filming apparatus 5 always in face of reference object
In the case of, more rotor flying platforms 1 are around building vrille from top to bottom.
When shooting the facade of falling precipice class, and there is outwardly projecting part on the facade of falling precipice, and the length of protrusion is greater than
When one third of more rotor flying platforms 1 away from the facade of falling precipice distance, using multilayer course line, 3 He of angle modulation filming apparatus is set upper
It is underlying to wave filming apparatus 5 always in the case where the reference object, more rotor flying platforms 1 along the facade of falling precipice horizontal flight simultaneously
Shooting, after a height is shot, more rotor flying platforms 1 rise the edge facade of falling precipice horizontal flight again after certain altitude
And shoot, until shooting finishes.
As shown in figure 4, if more rotor flying platforms 1, away from the facade of falling precipice 5m, the facade of falling precipice has the outstanding 4m in part, then
Significantly more than one third, it is necessary to course line be become multilayer, every layer only shoots the facade of falling precipice from seat in the horizontal direction, so
Vertical ascent one end distance afterwards, then the facade of the falling precipice second layer is shot from right to left, rise again and horizontal movement shoot third layer,
It moves in circles until all shooting finishes, in the process, more rotor flying platforms 1 do not turn to, and set angle modulation filming apparatus 3 under
It sets and waves filming apparatus 5 always in face of the facade of falling precipice.
Fine modeling period is marched toward on a large scale in oblique photograph technology, be invention can be widely used in City Building and is finely built
Mould, the regulation of urban architecture alien invasion, precipitous valley oblique photograph fine modeling, high-wall slope deformation body cycle monitoring, smart city
The fields such as management, have stronger practicability.
Claims (10)
1. a kind of facade of falling precipice finely tilts boat and takes the photograph device, including more rotor flying platforms (1), it is characterised in that: more rotations
Wing flying platform (1) upper surface, which is connected with, sets angle modulation camera support holder (4), above sets angle modulation camera support holder (4) upper end
It is also connected with and sets angle modulation filming apparatus (3), more rotor flying platform (1) lower surfaces, which are connected with, underlying waves camera hanger holder
(6), it is underlying wave camera hanger holder (6) lower end be also connected with it is underlying wave filming apparatus (5), more rotor flying platforms
(1) be also connected with GNSS difference block (2), autopilot module, communication module and power module on, GNSS difference block (2), from
Drive instrument module and communication module be electrically connected with power module, autopilot module also with GNSS difference block (2), communication module,
On set angle modulation camera support holder (4) and connected with underlying camera hanger holder (6) electric signal that waves.
2. one kind facade of falling precipice according to claim 1 finely tilts boat and takes the photograph device, it is characterised in that: set angle modulation on described
Camera support holder (4) includes upper angle modulation camera support and upper servo motor, and upper angle modulation camera support lower end is connected to more rotors
Flying platform (1) upper surface, upper angle modulation camera support upper end are connected with servo motor, above set angle modulation filming apparatus (3) and are connected to
On upper servo motor, upper servo motor is connect with autopilot modular telecommunications number, upper servo motor and power module electrical connection.
3. one kind facade of falling precipice according to claim 1, which finely tilts to navigate, takes the photograph device, it is characterised in that: described underlying to wave
Camera hanger holder (6) waves camera hanger and lower servo motor under including, under wave camera hanger upper end and be connected to more rotors
Flying platform (1) lower surface, under wave camera hanger lower end and be connected with servo motor, the underlying filming apparatus (5) that waves is connected to
On lower servo motor, lower servo motor is connect with autopilot modular telecommunications number, lower servo motor and power module electrical connection.
4. one kind facade of falling precipice according to claim 1 finely tilts boat and takes the photograph device, it is characterised in that: the airborne GNSS
Difference block (2) includes at least, and airborne multimode high frequency GNSS receiver, GNSS receiving antenna, epoch data storage, RTK are logical
News link radio station connects associate member, this photo when the electronics coupled connection associate member is shot for recording photograph with electronics coupled
Corresponding position and time, airborne multimode high frequency GNSS receiver high frequency epoch frequency acquisition are not less than 20HZ.
5. one kind facade of falling precipice according to claim 1 or 2 finely tilts boat and takes the photograph device, it is characterised in that: set on described
Angle modulation filming apparatus (3) is single-lens.
6. one kind facade of falling precipice according to claim 1 or 2 finely tilts boat and takes the photograph device, it is characterised in that: described underlying
It is single-lens for waving filming apparatus (5).
7. a kind of facade of falling precipice finely tilts the method for imaging that boat takes the photograph device, which comprises the following steps:
The first step designs flight path；
Second step sets up base station, takes the photograph in boat and sets up GNSS base station and RTK communication radio station before device takes off, and takes the photograph device for navigating
Aerial positioning and exposure point Difference Calculation；
Third step, automatic flight and shooting, boat are taken the photograph device and are flown by remote control or by the flight path of design by autopilot control is automatic
Row, and when flight on set angle modulation filming apparatus (3) and it is underlying wave filming apparatus (5) always face reference object, during which on set
Scene in front of angle modulation filming apparatus (3) taking lens, and set what angle modulation filming apparatus (3) was faced upward in adjustment according to the actual situation
Angle to shoot the image in front of more rotor flying platforms (1) with top simultaneously；It is underlying to wave filming apparatus (5) at work,
It teeters in from head-up to 0 ° -90 ° of lower apparent vertical, shooting is no less than 3 big degree of overlapping images, and big degree of overlapping image is
The degree of overlapping of adjacent two images is not less than 70%；
4th step, landing checks and data preparation.Landing to difference GNSS data or rear difference RTK data and is inclined after flight
Oblique image is arranged according to electronics coupled relationship is corresponding, and inclination boat takes the photograph end.
8. a kind of facade of falling precipice according to claim 7 finely tilts the method for imaging that boat takes the photograph device, it is characterised in that: institute
It states the first step, designs in flight path, when shooting the facade of falling precipice class, set angle modulation filming apparatus (3) upper and underlying wave bat
Device (5) is taken the photograph always in the case where the reference object, more rotor flying platforms (1) simultaneously shoot along the facade of falling precipice horizontal flights.
9. a kind of facade of falling precipice according to claim 8 finely tilts the method for imaging that boat takes the photograph device, it is characterised in that: when
When shooting the facade of falling precipice class, and there is outwardly projecting part on the facade of falling precipice, and the length of protrusion is greater than more rotor flyings
When one third of the platform (1) away from the facade of falling precipice distance, using multilayer course line, sets angle modulation filming apparatus (3) upper and underlying shake
In the case that pendulum filming apparatus (5) faces reference object always, more rotor flying platforms (1) are simultaneously clapped along the facade of falling precipice horizontal flights
It takes the photograph, after a height is shot, more rotor flying platforms (1) rise the edge facade of falling precipice horizontal flight again after certain altitude
And shoot, until shooting finishes.
10. a kind of facade of falling precipice according to claim 7 finely tilts the method for imaging that boat takes the photograph device, it is characterised in that:
The first step designs in flight path, when shooting building, using the Multi-layered wound line of flight, and the multilayer flight boat
Line be it is upper set angle modulation filming apparatus (3) and it is underlying wave filming apparatus (5) always face reference object in the case where, more rotors
Flying platform (1) is around building vrille from top to bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910301843.8A CN110001945B (en) | 2019-04-16 | 2019-04-16 | Inverted cliff elevation fine-tilting aerial photographing device and photographing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910301843.8A CN110001945B (en) | 2019-04-16 | 2019-04-16 | Inverted cliff elevation fine-tilting aerial photographing device and photographing method |
Publications (2)
| Publication Number | Publication Date |
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| CN110001945A true CN110001945A (en) | 2019-07-12 |
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| CN110703805A (en) * | 2019-11-13 | 2020-01-17 | 广州极飞科技有限公司 | Method, device and equipment for planning three-dimensional object surveying and mapping route, unmanned aerial vehicle and medium |
| CN110736448A (en) * | 2019-11-19 | 2020-01-31 | 中国电建集团西北勘测设计研究院有限公司 | fixed wing unmanned aerial vehicle image control point-free three-dimensional modeling and mapping device and method |
| CN113247285A (en) * | 2021-06-29 | 2021-08-13 | 深圳市勘察研究院有限公司 | Unmanned aerial vehicle and design method of three-dimensional air route of unmanned aerial vehicle |
| CN113998108A (en) * | 2021-11-01 | 2022-02-01 | 国网河北省电力有限公司建设公司 | Tower tip inclination angle measuring device |
| CN114212251A (en) * | 2022-02-21 | 2022-03-22 | 中国电建集团西北勘测设计研究院有限公司 | Land wind power plant unmanned aerial vehicle remote micro-site selection mapping device and method |
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