CN110001945B - Inverted cliff elevation fine-tilting aerial photographing device and photographing method - Google Patents
Inverted cliff elevation fine-tilting aerial photographing device and photographing method Download PDFInfo
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- CN110001945B CN110001945B CN201910301843.8A CN201910301843A CN110001945B CN 110001945 B CN110001945 B CN 110001945B CN 201910301843 A CN201910301843 A CN 201910301843A CN 110001945 B CN110001945 B CN 110001945B
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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
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- 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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Abstract
The invention provides a fine inclined aerial photographing device and a photographing method for a cliff face, comprising a multi-rotor flying platform, and the fine inclined aerial photographing device is characterized in that: the intelligent control system is characterized in that the upper surface of the multi-rotor flying platform is connected with an upper angle modulation camera support cradle head, the upper end of the upper angle modulation camera support cradle head is further connected with an upper angle modulation shooting device, the lower surface of the multi-rotor flying platform is connected with a lower swing camera cradle head, the lower end of the lower swing camera cradle head is further connected with a lower swing shooting device, the multi-rotor flying platform is further connected with a GNSS differential module, a self-driving instrument module, a communication module and a power module, and the GNSS differential module, the self-driving instrument module and the communication module are all connected with the power module. The upper camera can conveniently shoot the lower side of the object, and the lower camera is utilized to swing shooting to simulate multi-lens shooting, so that the overall weight is reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle oblique photography measurement, in particular to a fine oblique aerial photographing device and a photographing method for a cliff face.
Background
The traditional unmanned aerial vehicle oblique photography mostly adopts heavy three-lens or five-lens oblique cameras, and aims to collect aerial photographing data with large overlapping degree from various angles from the air to the lower side, and then a live-action three-dimensional model is built, but the following problems often exist in fine modeling under the scenes of steep canyons, complex side slopes, building elevation mapping, complex building eaves and the like:
(1) Capturing inverted cliffs, complex building facades and textures on the lower side of a cornice in the air downwards, wherein aerial shooting holes exist, modeling holes and distortion are caused, and the modeling holes and distortion become industry pain points gradually;
(2) The ground and aerial plane repeated fly supplementary shooting can cause inconsistent ground resolution of supplementary shooting and large scene, large workload, lost modeling, high internal and external industry return frequency and tone difference caused by aerial shooting at different periods, and influence visual attractiveness.
Disclosure of Invention
The invention provides a device and a method for photographing a fine inclined aerial camera on a cliff face, and aims to solve the problems of aerial camera loopholes and modeling distortion in a fine modeling scene of the cliff face, a building face and a complex building cornice in the prior art.
The invention achieves the technical purpose by the following technical means,
the utility model provides a device is shot to meticulous slope aerial photography of cliff facade, includes many rotor flight platform, many rotor flight platform upper surface is connected with overhead angle modulation camera support cloud platform, and overhead angle modulation camera support cloud platform upper end still is connected with overhead angle modulation shooting device, and many rotor flight platform lower surface is connected with the lower camera gallows cloud platform that sways, and the lower camera gallows cloud platform lower extreme that sways still is connected with the lower shooting device that sways, still be connected with GNSS differential module, autopilot module, communication module and power module on the many rotor flight platform, GNSS differential module, autopilot module and communication module all are connected with the power module electricity, autopilot module still with GNSS differential module, communication module, overhead angle modulation camera support cloud platform and the electric signal connection of the lower camera gallows that sways.
Further, the upper angle modulation camera support cradle head comprises an upper angle modulation camera support and an upper servo motor, the lower end of the upper angle modulation camera support is connected to the upper surface of the multi-rotor flying platform, the upper end of the upper angle modulation camera support is connected with the servo motor, the upper angle modulation shooting device is connected to the upper servo motor, the upper servo motor is connected with a self-driving instrument module through an electric signal, and the upper servo motor is electrically connected with a power module.
Further, the lower swing camera hanging bracket holder comprises a lower swing camera hanging bracket and a lower servo motor, the upper end of the lower swing camera hanging bracket is connected to the lower surface of the multi-rotor flying platform, the lower end of the lower swing camera hanging bracket is connected with the servo motor, the lower swing shooting device is connected to the lower servo motor, the lower servo motor is connected with a self-driving instrument module through an electric signal, and the lower servo motor is electrically connected with a power module.
Further, the airborne GNSS differential module at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data storage, an RTK communication link radio station and an electronic coupling connection accessory, wherein the electronic coupling connection accessory is used for recording the position and time corresponding to the photo when the photo is shot, and the high-frequency epoch acquisition frequency of the airborne multimode high-frequency GNSS receiver is not lower than 20HZ.
Further, the upper angle modulation shooting device is a single lens.
Further, the lower swing shooting device is a single lens.
A photographing method of a reverse cliff elevation fine-tilting aerial photographing device comprises the following steps:
firstly, designing a flight route;
step two, erecting a base station, namely erecting a GNSS reference station and an RTK communication station before taking off of the aerial photographing device, and performing aerial positioning and exposure point differential calculation on the aerial photographing device;
thirdly, automatically flying and shooting, wherein the aerial camera device automatically flies under the control of a self-driving instrument according to a remote control or a designed flight route, and the upper angle modulation shooting device and the lower swing shooting device always face a shooting object during flying, and the upper angle modulation shooting device shoots a scene in front of a lens and adjusts the upward angle of the upper angle modulation shooting device according to actual conditions so as to shoot images in front of and above a multi-rotor flying platform at the same time; when the lower swing shooting device works, swinging up and down within 0-90 degrees from head-up to vertical line of the lower view, shooting at least 3 images with large overlapping degree, wherein the images with large overlapping degree are images with overlapping degree of two adjacent images being not lower than 70%;
fourth, floor inspection and data arrangement. And after the flying is finished, correspondingly arranging the differential GNSS data or the rear differential RTK data and the inclined image according to the electronic coupling relation, and finishing the inclined aerial photography.
Further, in the first step, in the design flight route, when shooting the class of the inverted cliff face, under the condition that the upper angle modulation shooting device and the lower swing shooting device always face the shooting object, the multi-rotor flight platform horizontally flies along the inverted cliff face and shoots.
Further, when shooting the class of falling cliff facade, and have the outside part that protrudes on the cliff facade, and the length of protruding part is greater than many rotor flight platform and is apart from the third of cliff facade distance, adopt multilayer route, put angle modulation shooting device and put down under and shake shooting device and face under the condition of shooting the object all the time, many rotor flight platform along falling cliff facade level flight and shoot, after one altitude shooting finishes, many rotor flight platform rises and flies along falling cliff facade level again after a take a photograph to finish.
Further, in the first step, in the design flight route, when shooting the building, adopt the multilayer to encircle the flight route, the multilayer flight route is for putting up angle modulation shooting device and putting down and swaing under the shooting device and face the condition of shooting the object all the time, and many rotor flight platforms encircle the building and spiral flight from top to bottom.
The invention has the beneficial effects that: 1. according to the invention, by the aid of the upper angle-adjusting shooting device, the textures on the lower sides of the inverted cliffs and the building eave gallery can be comprehensively collected while shooting the side and lower images, and the problems of shooting holes and modeling distortion in traditional downward inclined shooting are solved.
2. According to the invention, the upper angle-adjusting shooting device and the lower swinging shooting device are used, the distances between the upper angle-adjusting shooting device and the lower swinging shooting device are consistent with each other, so that the shooting scales of the upper view, the side view and the lower view are equal or similar, the ground resolution and the tone are consistent, the aerial loophole is effectively reduced, the integrity and the accuracy of three-dimensional real-scene modeling are greatly improved, and the aerial shooting and internal modeling reworking frequency of the three-dimensional modeling is effectively reduced.
3. According to the invention, the upper angle-adjusting shooting device and the lower swinging shooting device with adjustable angles and the lower swinging shooting device are swung to simulate multi-lens acquisition, so that the overall weight of the shooting device is reduced, the endurance time of a multi-rotor flying platform is prolonged, and the acquisition efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the operation of the upper angle modulation photographing device of the invention;
FIG. 3 is a schematic diagram of the working of the lower swing shooting device of the present invention;
FIG. 4 is a schematic view of the course of the invention when shooting an inverted cliff;
FIG. 5 is a schematic diagram of the present invention taken from a building;
in the figure 1, a multi-rotor flying platform; 2. a GNSS differential module; 3. an angle modulation shooting device is arranged on the upper part; 4. a cradle head of an angle-adjusting camera bracket is arranged on the cradle head; 5. a swing shooting device is arranged below; 6. and a cradle head of the swing camera is arranged below the cradle head.
The invention will be described in further detail with reference to the accompanying drawings and examples;
Detailed Description
[ example 1 ]
As shown in fig. 1 to 3, a fine tilt aerial photographing device for a cliff elevation comprises a multi-rotor flying platform 1, wherein an upper angle modulation camera bracket holder 4 is connected to the upper surface of the multi-rotor flying platform 1, an upper angle modulation photographing device 3 is further connected to the upper end of the upper angle modulation camera bracket holder 4, a lower swing camera cradle holder 6 is connected to the lower surface of the multi-rotor flying platform 1, a lower swing photographing device 5 is further connected to the lower end of the lower swing camera cradle holder 6, a GNSS differential module 2, a self-driving instrument module, a communication module and a power module are further connected to the multi-rotor flying platform 1, and the GNSS differential module 2, the self-driving instrument module and the communication module are electrically connected with the power module, and the self-driving instrument module is further electrically connected with the GNSS differential module 2, the communication module, the upper angle modulation camera bracket holder 4 and the lower swing camera cradle holder 6.
As shown in fig. 1 and 2, the upper surface of the multi-rotor flying platform 1 is connected with an upper angle modulation camera bracket cradle head 4, the upper end of the upper angle modulation camera bracket cradle head 4 is also connected with an upper angle modulation shooting device 3, and the upper angle modulation shooting device 3 can swing within a range from head up to zenith distance of 0 ° -90 ° under the control of a self-driving instrument module, so that images of hidden areas below a lateral and upper inverted cliff elevation of the multi-rotor flying platform 1 can be shot as required.
As shown in fig. 1 and 3, the lower surface of the multi-rotor flying platform 1 is connected with a lower swing camera cradle head 6, the lower end of the lower swing camera cradle head 6 is also connected with a lower swing shooting device 5, and the lower swing shooting device 5 can swing within the range of 0 ° -90 ° from the head-up view to the direction of the vertical line of the lower view so as to shoot images on the side and the side below of the multi-rotor flying platform 1.
The multi-rotor flying platform is a multi-axis rotor unmanned aerial vehicle flying platform with four axes, six axes, eight axes and the like.
As shown in fig. 1, the multi-rotor flying platform 1 is further connected with a GNSS differential module 2, a self-driving instrument module, a communication module and a power module, wherein the GNSS differential module 2, the self-driving instrument module and the communication module are all connected with the power module, and the self-driving instrument module is further connected with the GNSS differential module 2, the communication module, the upper angle modulation camera bracket cradle head 4 and the lower swing camera cradle head 6.
The GNSS differential module 2 is used for positioning, and the autopilot module is responsible for controlling the flight of the entire multi-rotor flying platform 1, the shooting of the upper angle modulation shooting device 3 and the lower swing shooting device 5, and the rotation of the lower swing camera cradle head 6 and the upper angle modulation camera cradle head 4. The communication module is used for receiving external instructions, and the power module is responsible for supplying power to the multi-rotor flying platform 1 and various electronic modules thereon.
[ example 2 ]
As shown in fig. 1 and fig. 2, the upper angle-adjusting camera support cradle head 4 comprises an upper angle-adjusting camera support and an upper servo motor, the lower end of the upper angle-adjusting camera support is connected to the upper surface of the multi-rotor flying platform 1, the upper end of the upper angle-adjusting camera support is connected with the servo motor, the upper angle-adjusting shooting device 3 is connected to the upper servo motor, the upper servo motor is electrically connected with the self-driving instrument module, and the upper servo motor is electrically connected with the power module.
The upper angle modulation camera support cradle head 4 comprises an upper angle modulation camera support and an upper servo motor, the top end of the upper angle modulation camera support is connected with the upper servo motor, the upper angle modulation shooting device 3 is connected to the upper servo motor, the upper servo motor is used for driving the upper angle modulation shooting device 3 to rotate, the self-driving instrument module controls the upper servo motor to rotate, and the power supply module supplies power for the upper servo motor.
As shown in fig. 1 and 3, the lower swing camera cradle head 6 includes a lower swing camera cradle and a lower servo motor, the upper end of the lower swing camera cradle is connected to the lower surface of the multi-rotor flying platform 1, the lower end of the lower swing camera cradle is connected to the servo motor, the lower swing shooting device 5 is connected to the lower servo motor, and the lower servo motor is respectively connected to the self-driving instrument module and the power module.
The lower swing camera hanging bracket holder 6 comprises a lower swing camera hanging bracket and a lower servo motor, the upper end of the lower swing camera hanging bracket is connected to the lower surface of the multi-rotor flying platform 1, the lower end of the lower swing camera hanging bracket is connected with the servo motor, the lower swing shooting device 5 is connected to the lower servo motor, the lower servo motor is connected with a self-driving instrument module through an electric signal, and the lower servo motor is electrically connected with a power module.
The airborne GNSS differential module 2 at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data memory, an RTK communication link radio station and an electronic coupling connection accessory, wherein the electronic coupling connection accessory is used for recording the position and time corresponding to a photo when the photo is shot, and the high-frequency epoch acquisition frequency of the airborne multimode high-frequency GNSS receiver is not lower than 20HZ. The electronic coupling connection accessory is used for recording the position and time corresponding to the photo when the photo is shot, and coupling the position and time when the photo is shot with the photo so as to process the image later, and the airborne multimode GNSS receiver can receive the broadcast signals of the GPS, GLONASS, GALILEO, BDS common satellite navigation systems;
the length of the upper angle modulation camera support is greater than that of the upper angle modulation camera support, the lower visual angle of the upper angle modulation shooting device 3 is guaranteed not to shoot rotor blades of the multi-rotor flying platform 1, and shot images are prevented from being influenced by the rotor blades.
The upper angle modulation shooting device 3 is a single lens.
The lower swing shooting device 5 is a single lens.
The upper angle modulation shooting device 3 and the lower swinging shooting device 5 are cameras or lenses and are single lenses, the upper angle modulation shooting device 3 can shoot an upper hidden area through adjusting angles, and the lower swinging shooting device 5 shoots a plurality of images with large overlapping degrees through swinging within 0-90 degrees so as to simulate the oblique shooting and collecting effect of the three-lens camera in the prior art. The weight of the camera is reduced while equivalent data is acquired.
[ example 3 ]
The application method of the inverted cliff elevation fine-tilting aerial photographing device comprises the following steps:
firstly, designing a flight route; and developing a design route of the inverted cliff elevation fine inclined photography route design software based on the self-driving instrument open source SDK. According to the design resolution required by shooting images, the main camera distance of a camera, the image amplitude of the camera, the swing speed and the exposure speed of a lower camera are actually adopted to determine the flying speed, the relative altitude, the relative target distance and the space between the navigation belts; wherein the exposure speed of the lower camera is greater than 1/1250 seconds.
Secondly, erecting a base station, namely erecting a GNSS reference station and an RTK communication station at least 10 minutes before taking off of the aerial photographing device, and performing aerial positioning and exposure point differential calculation on the aerial photographing device; the GNSS reference station epoch sampling frequency is not less than 1HZ.
As shown in fig. 1 to 4, in the third step, the aerial camera automatically flies and shoots, the aerial camera automatically flies under the control of a self-driving instrument according to a remote control or a designed flight route, and the upper angle modulation shooting device 3 and the lower swing shooting device 5 always face a shooting object during flying, the upper angle modulation shooting device 3 shoots a scene in front of a lens, and the upward angle of the upper angle modulation shooting device 3 is adjusted according to actual conditions so as to shoot images in front of and above the multi-rotor flying platform 1 at the same time; when the lower swing shooting device 5 works, the lower swing shooting device swings up and down within 0-90 degrees from head-up to vertical line of the lower view, and shoots at least 3 images with large overlapping degree, wherein the images with large overlapping degree are images with overlapping degree of two adjacent images not lower than 70%;
in flight, the upper angle modulation photographing device 3 and the lower swing photographing device 5 always face a photographing object in flight, and as shown in fig. 2, the upper angle modulation photographing device 3 is tilted upward and images in front of and above a lens are photographed.
As shown in fig. 3, when the downward swing imaging device 5 is in operation, it swings up and down within 0 ° -90 ° from head-up to vertical line of view, and images with a large overlapping degree of not less than 3 are imaged, and the overlapping degree of two adjacent images is not less than 70%.
Fourth, floor inspection and data arrangement. And after the flying is finished, correspondingly arranging the differential GNSS data or the rear differential RTK data and the inclined image according to the electronic coupling relation, and finishing the inclined aerial photography. The shot photo is coupled with the corresponding time and place of the photo, so that the image can be conveniently processed according to the time position, and the oblique aerial photography is finished.
In the data processing, the on-board GNSS differential module 2 cannot be completely aligned with the upper angle modulation camera 3 and the lower sway camera 5 in actual use. In the data processing, the distance difference between the onboard GNSS differential module 2 and the upper angle modulation shooting device 3 is used as an exposure point differential position correction parameter, and the actually obtained position parameter is corrected to obtain a more accurate corresponding relation.
If the onboard GNSS differential module 2 and the angle-setting camera 3 are level-shifted by 2 positions, the position obtained by the onboard GNSS differential module 2 is 13 instead of the actual position obtained by 15, and the correct data of the position 15 can be obtained only by adding the exposure point differential position correction parameter, namely the data 2, to the data processing for correction.
In the first step, as shown in fig. 4, in the designed flight path, when the inverted cliff face is photographed, the multi-rotor flying platform 1 flies horizontally along the inverted cliff face and photographs under the condition that the upper angle modulation photographing device 3 and the lower swing photographing device 5 always face the photographed object.
When flying, the angle-adjusting shooting device 3 and the lower swinging shooting device 5 face the shooting object all the time, and the multi-rotor flying platform 1 moves horizontally along the direction of the inverted cliff elevation, and the upper angle-adjusting shooting device 3 and the lower swinging shooting device 5 face the shooting object all the time.
As shown in fig. 5, in the first step, in designing a flight path, when a building is photographed, a multi-layer surrounding flight path is adopted, wherein the multi-rotor flight platform 1 spirally flies from top to bottom around the building under the condition that the upper angle modulation photographing device 3 and the lower swing photographing device 5 always face a photographed object.
When shooting the class of the inverted cliff facade, and have the part that outwards protrudes on the inverted cliff facade, and when the length of protruding part is greater than the one third of many rotor flight platform 1 distance from the inverted cliff facade, adopt the multilayer route, put angle modulation shooting device 3 and put under and shake under and shoot under the condition that device 5 face the shooting object all the time, many rotor flight platform 1 flies along the level of inverted cliff facade and shoots, after one altitude shooting finishes, many rotor flight platform 1 rises and flies along the level of inverted cliff facade and shoots again after a certain altitude, until shooting finishes.
As shown in fig. 4, if the multi-rotor flying platform 1 is located at a distance of 5m from the inverted cliff face, and the inverted cliff face is partially protruded by 4m, more than one third of the distance is obviously required, the course is changed into multiple layers, each layer only shoots the inverted cliff face along the horizontal direction from the seat, then vertically rises by one end distance, shoots the second layer of the inverted cliff face from the right to the left, rises again and horizontally moves to shoot the third layer, and repeats until all shooting is completed, in this process, the multi-rotor flying platform 1 does not turn, and the angle setting shooting device 3 and the lower swing shooting device 5 always face the inverted cliff face.
In the large-scale fine modeling period of the oblique photography technology, the method can be widely applied to the fields of fine modeling of urban buildings, improvement of outer vertical surfaces of urban buildings, fine modeling of steep canyon oblique photography, periodic monitoring of high slope deformation bodies, intelligent city management and the like, and has strong practicability.
Claims (10)
1. The photographing method of the inverted cliff elevation fine-tilting aerial photographing device is characterized by comprising the following steps of:
firstly, designing a flight route;
step two, erecting a base station, namely erecting a GNSS reference station and an RTK communication station before taking off of the aerial photographing device, and performing aerial positioning and exposure point differential calculation on the aerial photographing device;
thirdly, automatically flying and shooting, wherein the aerial camera device automatically flies under the control of a self-driving instrument according to a remote control or a designed flight route, and the upper angle modulation shooting device (3) and the lower swing shooting device (5) always face a shooting object during flying, the upper angle modulation shooting device (3) shoots a scene in front of a lens, and the upward angle of the upper angle modulation shooting device (3) is adjusted according to actual conditions so as to shoot images in front of and above the multi-rotor flying platform (1) at the same time; when the lower swing shooting device (5) works, the lower swing shooting device swings up and down within 0-90 degrees from head-up to vertical line of view, and shoots at least 3 images with large overlapping degree, wherein the images with large overlapping degree are images with overlapping degree of two adjacent images not lower than 70%;
fourth, floor inspection and data arrangement, namely correspondingly arranging differential GNSS data or rear differential RTK data and inclined images according to an electronic coupling relation after the flying is finished, and ending the inclined aerial photography.
2. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 1, wherein the photographing method comprises the following steps: in the first step, in the design flight route, when shooting the inverted cliff face class, under the condition that an upper angle-adjusting shooting device (3) and a lower swinging shooting device (5) always face a shooting object, the multi-rotor flight platform (1) horizontally flies along the inverted cliff face and shoots.
3. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 2, wherein the photographing method comprises the following steps: when shooting the class of falling cliff facade, and have the outside outstanding part on the face of falling cliff, and the length of protruding part is greater than many rotor flight platform (1) and is apart from the third of face of falling cliff facade distance, adopts multilayer route, put angle modulation shooting device (3) and put under and shake under and shoot under the circumstances of shooting the object all the time, many rotor flight platform (1) are followed the level flight of falling cliff facade and are shot, after one altitude shooting finishes, many rotor flight platform (1) rise and fly along falling cliff facade level again after a take a photograph to finish.
4. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 1, wherein the photographing method comprises the following steps: in the first step, in the design flight route, when shooting a building, a multi-layer surrounding flight route is adopted, and the multi-layer flight route is that a multi-rotor flight platform (1) spirally flies from top to bottom around the building under the condition that an upper angle adjusting shooting device (3) and a lower swinging shooting device (5) face shooting objects all the time.
5. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 1, wherein the photographing method comprises the following steps: the intelligent multi-rotor flying platform comprises a multi-rotor flying platform body, wherein the upper surface of the multi-rotor flying platform body is connected with an upper angle modulation camera support cradle head (4), the upper end of the upper angle modulation camera support cradle head (4) is further connected with an upper angle modulation shooting device (3), the lower surface of the multi-rotor flying platform body is connected with a lower swing camera cradle head (6), the lower end of the lower swing camera cradle head (6) is further connected with a lower swing shooting device (5), the multi-rotor flying platform body (1) is further connected with a GNSS differential module (2), a self-driving instrument module, a communication module and a power module, the GNSS differential module (2), the self-driving instrument module and the communication module are all electrically connected with the power module, and the self-driving instrument module is further electrically connected with the GNSS differential module (2), the communication module, the upper angle modulation camera support cradle head (4) and the lower swing camera cradle head (6).
6. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 5, wherein the photographing method comprises the following steps: the upper angle modulation camera support holder (4) comprises an upper angle modulation camera support and an upper servo motor, the lower end of the upper angle modulation camera support is connected to the upper surface of the multi-rotor flying platform (1), the upper end of the upper angle modulation camera support is connected with the servo motor, the upper angle modulation shooting device (3) is connected to the upper servo motor, the upper servo motor is connected with a self-driving instrument module through an electric signal, and the upper servo motor is electrically connected with a power module.
7. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 5, wherein the photographing method comprises the following steps: the lower swing camera hanging bracket holder (6) comprises a lower swing camera hanging bracket and a lower servo motor, the upper end of the lower swing camera hanging bracket is connected to the lower surface of the multi-rotor flying platform (1), the lower end of the lower swing camera hanging bracket is connected with the servo motor, the lower swing shooting device (5) is connected to the lower servo motor, the lower servo motor is connected with the self-driving instrument module through an electric signal, and the lower servo motor is electrically connected with the power module.
8. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 5, wherein the photographing method comprises the following steps: the airborne GNSS differential module (2) at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data memory, an RTK communication link radio station and an electronic coupling connection accessory, wherein the electronic coupling connection accessory is used for recording the position and time corresponding to a photo when the photo is shot, and the high-frequency epoch acquisition frequency of the airborne multimode high-frequency GNSS receiver is not lower than 20HZ.
9. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 5 or 6, characterized in that: the upper angle-adjusting shooting device (3) is a single lens.
10. The photographing method of the inverted cliff fine-tilting aerial photographing device according to claim 5 or 6, characterized in that: the lower swing shooting device (5) is a single lens.
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| CN201910301843.8A CN110001945B (en) | 2019-04-16 | 2019-04-16 | Inverted cliff elevation fine-tilting aerial photographing device and photographing method |
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| CN201910301843.8A CN110001945B (en) | 2019-04-16 | 2019-04-16 | Inverted cliff elevation fine-tilting aerial photographing device and photographing method |
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| CN110395390B (en) * | 2019-07-17 | 2024-03-29 | 中国电建集团西北勘测设计研究院有限公司 | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device and method |
| CN110703805B (en) * | 2019-11-13 | 2022-11-08 | 广州极飞科技股份有限公司 | 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 |
| CN114212251B (en) * | 2022-02-21 | 2022-05-31 | 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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