CN112964230A - Three-dimensional live-action digital map measuring equipment based on oblique photography model - Google Patents
Three-dimensional live-action digital map measuring equipment based on oblique photography model Download PDFInfo
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- CN112964230A CN112964230A CN202110161695.1A CN202110161695A CN112964230A CN 112964230 A CN112964230 A CN 112964230A CN 202110161695 A CN202110161695 A CN 202110161695A CN 112964230 A CN112964230 A CN 112964230A
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- 238000010521 absorption reaction Methods 0.000 claims abstract description 9
- 230000035939 shock Effects 0.000 claims abstract description 9
- 238000010276 construction Methods 0.000 claims abstract description 4
- 230000001681 protective effect Effects 0.000 claims description 54
- 238000004140 cleaning Methods 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 28
- 239000011521 glass Substances 0.000 claims description 22
- 238000007790 scraping Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 7
- 239000000428 dust Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000001680 brushing effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000003595 mist Substances 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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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- Accessories Of Cameras (AREA)
Abstract
The invention discloses three-dimensional live-action digital map measuring equipment based on an oblique photography model, which comprises an unmanned aerial vehicle, acquisition cameras and shock absorption supporting legs, wherein a single acquisition camera is vertically arranged on the lower end face of the unmanned aerial vehicle, a plurality of acquisition cameras are obliquely arranged on the side edge of the unmanned aerial vehicle through a connecting block, and the shock absorption supporting legs are arranged below a plurality of rotor wing supporting arms of the unmanned aerial vehicle; the plurality of acquisition cameras positioned on the side edge of the unmanned aerial vehicle can rotate in a certain range relative to the connecting block so as to adjust the inclination angle of the acquisition cameras; the bradyseism landing leg is scalable elastic construction, is convenient for accomodate and cushions the impact force that produces when landing to unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of map measurement, and particularly relates to three-dimensional live-action digital map measuring equipment based on an oblique photography model.
Background
The oblique photography technology is that a plurality of sensors are carried on the same flight platform, images are acquired from five different angles such as one vertical angle, four oblique angles and the like, a user is introduced into a real and intuitive world which accords with human vision, the oblique photography technology not only can truly reflect the ground and object conditions and acquire object texture information at high precision, but also can generate a real three-dimensional city model through advanced technologies such as positioning, fusion, modeling and the like, however, according to survey finding, the existing three-dimensional real-scene digital map measuring equipment based on the oblique photography model often has the following problems:
1. the lens body of the collecting camera is exposed in the external environment, so that the lens body is greatly influenced by the external environment, dust is easily accumulated, water mist is easily formed, and the real scene collecting effect is seriously influenced;
2. the four obliquely arranged acquisition cameras are of a fixed structure, and the inclination angles of the acquisition cameras cannot be adjusted according to the flying height, so that the whole device can only carry out image acquisition in a very small height range, and the limitation is large;
3. the cleaning assembly is not arranged, so that dust and water mist on the protective glass can not be effectively cleaned in time when the device works, and the normal operation of live-action collection is influenced.
Accordingly, one skilled in the art provides a digital map measuring device based on oblique photography model with three-dimensional real scene to solve the above problems.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: a three-dimensional live-action digital map measuring device based on an oblique photography model comprises an unmanned aerial vehicle, acquisition cameras and shock absorption supporting legs, wherein a single acquisition camera is vertically arranged on the lower end face of the unmanned aerial vehicle, a plurality of acquisition cameras are obliquely arranged on the side edge of the unmanned aerial vehicle through a connecting block, and the shock absorption supporting legs are arranged below a plurality of rotor wing supporting arms of the unmanned aerial vehicle; the plurality of acquisition cameras positioned on the side edge of the unmanned aerial vehicle can rotate in a certain range relative to the connecting block so as to adjust the inclination angle of the acquisition cameras;
the bradyseism landing leg is scalable elastic construction, is convenient for accomodate and cushions the impact force that produces when landing to unmanned aerial vehicle.
Further, as preferred, the connecting block includes the regulation pole and accepts the seat, fan-shaped space has been seted up to the bottom of connecting block, just, fan-shaped space internal rotation is provided with accepts the seat, the top of accepting the seat is in fan-shaped space inside one side and rotates the regulation pole rotation setting in fan-shaped space and be connected.
Further, preferably, the acquisition camera comprises a protective casing, a cleaning component and a lens main body, wherein the lens main body is arranged in the middle of the lower end face of the protective casing, and the cleaning component is rotatably arranged at the upper end of the protective casing;
a plurality of humidity sensors are uniformly distributed on the outer surface of the protective casing in a circumferential manner;
and the lower end face of the protective casing is provided with protective glass for protecting the lens main body.
Further, preferably, the protective casing comprises a support rod, a transmission sleeve and a direct current motor, the transmission sleeve is sleeved outside the support rod, the outer surface of the transmission sleeve is rotatably arranged at the top end of the protective casing through a bearing, the bottom end of the support rod is fixedly connected with the protective casing, and the lower end of the transmission sleeve is driven to rotate by the direct current motor fixed on the protective casing through a bevel gear;
the partial surface of the transmission sleeve extending upwards to the outer side of the protective casing is provided with straight-line external spline teeth;
the inner diameter of the transmission sleeve is larger than the outer diameter of the support rod.
Further, preferably, the cleaning assembly comprises an adjusting arm and a cleaning plate, the cleaning plate is rotatably arranged at the lower end of the adjusting arm and is driven to rotate by a stepping motor fixed at the lower end of the adjusting arm;
the upper end of the adjusting arm is rotatably sleeved on the outer side of the supporting rod, and the circumference of the corresponding part of the adjusting arm and the transmission sleeve is provided with straight-line internal spline teeth which are matched and clamped with the straight-line external spline teeth of the transmission sleeve.
Further, preferably, the cleaning plate comprises a supporting bottom shell, a scraping plate and an elastic plate, the scraping plate is fixedly installed on the left side of the supporting bottom shell, connecting rods are rotatably installed at two ends of the elastic plate, the bottom end of each connecting rod is slidably arranged at two ends of the supporting bottom shell through a second spring, and the bottom end of the elastic plate is elastically connected with the supporting bottom shell through a third spring;
the cross sections of the supporting bottom shell, the scraping plate and the elastic plate are all arc-shaped structures and are matched with the radian of the protective glass.
Preferably, a plurality of brush bodies are uniformly provided on the upper end surface of the elastic plate.
Preferably, the brush body comprises a bearing shell, a plurality of brush discs and a micro motor, the upper end face of the bearing shell is uniformly and rotatably provided with the plurality of brush discs, the plurality of brush discs are in meshing transmission through gears, and the brush disc in the middle is driven to rotate by the micro motor fixed in the elastic plate;
the bottom end of the bearing shell is fixed on the elastic plate;
and flexible hairbrushes are uniformly distributed on the brush disc.
Compared with the prior art, the invention has the beneficial effects that:
1. in the equipment, the protective glass is arranged on the lower end surface of the protective shell, so that the lens main body is isolated from the external environment, and dust and water mist are prevented from being directly accumulated on the lens main body, thereby the shooting effect of the real lens main body is influenced, the cleanness of the surface of the lens main body is ensured, and the real scene acquisition effect is further improved;
2. in the connecting block, the bearing seat can be controlled to rotate within a certain range through the adjusting rod, so that the collecting camera fixed on the bearing seat is driven to rotate, and the inclination angle of the collecting camera is adjusted, so that the equipment can have a good live-action collecting effect at different heights, is suitable for live-action map collecting and measuring work of different terrains, and greatly improves adaptability;
3. be provided with the subassembly of brushing in this equipment, can in time clear up high-efficiently dust and water smoke on the protective glass for the protective glass surface is in clean state all the time, thereby improves the collection effect of camera lens main part to the outdoor scene map.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
FIG. 3 is a schematic diagram of a single capture camera of the present invention;
FIG. 4 is a perspective view of a cleaning plate according to the present invention;
FIG. 5 is a schematic cross-sectional view of a cleaning plate according to the present invention;
FIG. 6 is an enlarged view of the structure at A in the present invention;
in the figure: 1. an unmanned aerial vehicle; 2. connecting blocks; 3. a collection camera; 4. a shock absorption support leg; 5. cleaning the plate; 6. a brush body; 21. adjusting a rod; 22. a bearing seat; 31. a protective cover shell; 32. a brushing assembly; 33. protective glass; 34. a lens main body; 51. a support bottom case; 52. a squeegee; 53. an elastic plate; 61. a receiving housing; 62. brushing a disc; 63. a micro motor; 311. a direct current motor; 312. a support bar; 313. a drive sleeve; 314. a humidity sensor; 321. an adjusting arm; 322. a stepping motor; 531. a connecting rod; 532. and a second spring.
Detailed Description
Referring to fig. 1, in the embodiment of the present invention, a three-dimensional live-action digital map measuring apparatus based on an oblique photography model includes an unmanned aerial vehicle 1, a single acquisition camera 3 and a shock absorption leg 4, wherein a single acquisition camera 3 is vertically installed on a lower end face of the unmanned aerial vehicle 1, and a plurality of acquisition cameras 3 are obliquely installed on a side edge of the unmanned aerial vehicle 1 through a connecting block 2, that is, the plurality of acquisition cameras 3 respectively acquire a live-action map of a target area through five different angles of perpendicularity and four inclinations, so that an image acquired by the cameras conforms to a real intuitive world of human vision, thereby realizing high-precision measurement of a map of the target area and generating a real three-dimensional live-action map model; the lower parts of a plurality of rotor wing support arms of the unmanned aerial vehicle 1 are provided with shock absorption support legs 4; the plurality of acquisition cameras 3 positioned on the side edge of the unmanned aerial vehicle 1 can rotate in a certain range relative to the connecting block 2 so as to adjust the inclination angles of the acquisition cameras 3, and under the influence of geographic environment, the ascending heights of the unmanned aerial vehicle 1 are different under different working conditions, so that the high-precision real-scene acquisition work under different heights can be adapted by changing the inclination angles of the acquisition cameras 3;
Referring to fig. 2, in this embodiment, connecting block 2 is including adjusting pole 21 and accepting seat 22, fan-shaped space has been seted up to connecting block 2's bottom, just, fan-shaped space internal rotation is provided with accepts seat 22, the top of accepting seat 22 is in fan-shaped space inside one side and rotates the regulation pole 21 that sets up in fan-shaped space and rotate and be connected, and the flexible drive through adjusting pole 21 accepts seat 22 and rotates to drive the purpose of gathering camera 3 rotation in order to realize the adjustment and gather camera inclination, and then adapt to the outdoor scene map measurement and the collection work of high accuracy under the different heights better.
As a preferred embodiment, the collecting camera 3 comprises a protective casing 31, a cleaning component 32 and a lens main body 33, wherein the lens main body 33 is installed in the middle of the lower end surface of the protective casing 31, and the cleaning component 32 is rotatably arranged at the upper end of the protective casing 31;
a plurality of humidity sensors 314 are uniformly distributed on the outer surface of the protective casing 31 in a circumferential manner, the plurality of humidity sensors 314 are used for detecting the humidity in the surrounding environment of the acquisition camera 3, and when the humidity exceeds a set threshold value, the cleaning assembly 32 is automatically started to clean the protective glass 33, so that the definition of the acquired image is ensured;
a protective glass 33 is mounted on a lower end surface of the protective cover 31 for protecting the lens body 33.
Referring to fig. 3, in this embodiment, the protective casing 31 includes a support rod 312, a transmission sleeve 313 and a dc motor 311, the transmission sleeve 313 is sleeved outside the support rod 312, an outer surface of the transmission sleeve 313 is rotatably disposed at a top end of the protective casing 31 through a bearing, a bottom end of the support rod 312 is fixedly connected to the protective casing 31, and a lower end of the transmission sleeve 313 is driven to rotate by the dc motor 311 fixed on the protective casing 31 through a bevel gear;
the partial surface of the transmission sleeve 313 extending upwards to the outside of the protective casing 31 is provided with straight-line external spline teeth;
the inner diameter of the transmission sleeve 313 is larger than the outer diameter of the support rod 312, so that the support rod 312 is prevented from contacting with the inner wall of the transmission sleeve 313 in the rotating process, shaking is generated due to friction, and the acquired picture is blurred, so that the overall stability and the definition of the acquired image are improved.
In this embodiment, the cleaning assembly 32 includes an adjusting arm 321 and a cleaning plate 5, the cleaning plate 5 is rotatably disposed at a lower end of the adjusting arm 321, and is driven by a stepping motor 322 fixed at the lower end of the adjusting arm 321 to rotate, the cleaning plate 5 can be controlled by the stepping motor 322 to rotate within a 90 ° range, that is, the cleaning plate 5 is in a horizontal state when not operating, so as to prevent the collection area of the lens body 34 from being shielded, and when the cleaning plate 5 needs to intervene in work, the cleaning plate 5 is controlled by the stepping motor 322 to rotate to a vertical state, and the surface of the protective glass 33 is cleaned by rotating around the supporting rod 312 at a constant speed;
the upper end of the adjusting arm 321 is rotatably sleeved on the outer side of the supporting rod 312, and a part of the circumference of the adjusting arm corresponding to the transmission sleeve 313 is provided with straight-line internal spline teeth which are matched and clamped with the straight-line external spline teeth of the transmission sleeve 313.
Referring to fig. 4, in the present embodiment, the cleaning plate 5 includes a supporting bottom case 51, a scraping plate 52 and an elastic plate 53, the scraper 52 is fixedly installed at the left side of the supporting base shell 51, the two ends of the elastic plate 53 are rotatably installed with the connecting rods 531, and the bottom ends of the connecting rods 531 are slidably arranged at the two ends of the supporting bottom shell 51 through the second springs 532, and, the bottom end of the elastic plate 53 is elastically connected with the support bottom case 51 by a plurality of springs three, wherein, the elastic plate 53 can rotate relative to the connecting rod 531 and can slide relative to the supporting housing 51, because the sizes of the particles adsorbed on the surface of the protective glass 33 are different, the acting forces generated at different positions of the elastic plate 53 are different, and the twisting and sliding of the elastic plate 53 can effectively buffer the different acting forces, so that the protective glass 33 is prevented from being damaged due to overlarge acting force, and the influence of collection is clearer;
the cross sections of the supporting bottom shell 51, the scraping plate 52 and the elastic plate 53 are all arc-shaped structures, and are matched with the radian of the protective glass 33.
Referring to fig. 5, as a preferred embodiment, a plurality of brush bodies 6 are uniformly disposed on the upper end surface of the elastic plate 53, and the plurality of brush bodies 6 are uniformly distributed on the arc-shaped surface of the elastic plate 53, so that the brush bodies 6 are fully attached to the outer surface of the protective glass 33, thereby improving the cleaning effect on the surface of the protective glass 33.
Referring to fig. 6, in the present embodiment, the brush body 6 includes a receiving housing 61, a plurality of brush discs 62 and a micro motor 63, the plurality of brush discs 62 are uniformly and rotatably disposed on the upper end surface of the receiving housing 61, the plurality of brush discs 62 are in meshing transmission through a gear, and the brush disc 62 located in the middle is driven to rotate by the micro motor 63 fixed in the elastic plate 53;
the bottom end of the bearing shell 61 is fixed on the elastic plate 53;
the brush disc 62 is evenly provided with flexible brushes, and the flexible brushes can effectively prevent scratches from being left on the protective glass 33 while having a good cleaning effect, so that the definition of the collection influence of the lens main body 34 is influenced, and the measurement precision of the live-action map is further improved.
Specifically, firstly, controlling an unmanned aerial vehicle to ascend to the upper space of an area to be measured, adjusting the inclination angle of an acquisition camera through an adjusting rod according to a returned image until the acquired picture is clear and complete, then controlling the unmanned aerial vehicle to slowly fly to acquire a live-action map of a target area, and in the acquisition process, when the surface of the protective glass needs to be cleaned, firstly, controlling a cleaning plate to downwards rotate by 90 degrees through a stepping motor, then, enabling a micro motor to intervene in work and driving a corresponding brush disc to rotate, driving a cleaning assembly to rotate at a constant speed through a direct current motor at the moment, so that a flexible brush on the cleaning plate cleans the surface of the protective glass, and meanwhile, scraping and cleaning the cleaned surface of the protective glass secondarily through a scraping plate until the picture is clear; after cleaning, the direct current motor and the micro motor stop working, the cleaning plate is driven by the stepping motor to rotate upwards and return to the original position, and the ambient environment humidity can be detected by a plurality of humidity sensors outside the acquisition camera in the equipment; meanwhile, whether the protective glass has a cleaning requirement or not can be judged by workers according to the definition of the picture, and the cleaning component can be remotely controlled to work; after the target area is collected, the unmanned aerial vehicle is controlled to level the ground and slowly land.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent substitutions or changes according to the technical solution and the inventive concept of the present invention should be covered by the scope of the present invention.
Claims (8)
1. A three-dimensional live-action digital map measuring device based on a tilted photography model comprises an unmanned aerial vehicle (1), a collection camera (3) and a shock absorption supporting leg (4), wherein a single collection camera (3) is vertically installed on the lower end face of the unmanned aerial vehicle (1), a plurality of collection cameras (3) are obliquely arranged on the side edge of the unmanned aerial vehicle (1) through a connecting block (2), and the shock absorption supporting leg (4) is installed below a plurality of rotor wing supporting arms of the unmanned aerial vehicle (1); the method is characterized in that: the multiple acquisition cameras (3) positioned on the side edge of the unmanned aerial vehicle (1) can rotate in a certain range relative to the connecting block (2) so as to adjust the inclination angles of the acquisition cameras (3);
bradyseism landing leg (4) are scalable elastic construction, are convenient for accomodate and cushion the impact force that produces when unmanned aerial vehicle (1) lands.
2. The apparatus of claim 1, wherein the apparatus comprises: connecting block (2) are including adjusting pole (21) and receiving seat (22), fan-shaped space has been seted up to the bottom of connecting block (2), just, fan-shaped space internal rotation is provided with receives seat (22), the top of receiving seat (22) is in fan-shaped space inside one side and rotates the regulation pole (21) rotation setting in fan-shaped space and be connected.
3. The apparatus of claim 1, wherein the apparatus comprises: the acquisition camera (3) comprises a protective casing (31), a cleaning component (32) and a lens main body (33), wherein the lens main body (33) is installed in the middle of the lower end face of the protective casing (31), and the cleaning component (32) is rotatably arranged at the upper end of the protective casing (31);
a plurality of humidity sensors (314) are uniformly distributed on the outer surface of the protective casing (31) in the circumferential direction;
and the lower end face of the protective casing (31) is provided with protective glass (33) for protecting the lens main body (33).
4. The apparatus of claim 3, wherein the three-dimensional live-action digital map measuring apparatus comprises: the protective casing (31) comprises a supporting rod (312), a transmission sleeve (313) and a direct current motor (311), the transmission sleeve (313) is sleeved outside the supporting rod (312), the outer surface of the transmission sleeve (313) is rotatably arranged at the top end of the protective casing (31) through a bearing, the bottom end of the supporting rod (312) is fixedly connected with the protective casing (31), and the lower end of the transmission sleeve (313) is driven to rotate by the direct current motor (311) fixed on the protective casing (31) through a bevel gear;
the partial surface of the transmission sleeve (313) extending upwards to the outer side of the protective casing (31) is provided with straight-line external spline teeth;
the inner diameter of the transmission sleeve (313) is larger than the outer diameter of the support rod (312).
5. The apparatus of claim 3, wherein the three-dimensional live-action digital map measuring apparatus comprises: the cleaning assembly (32) comprises an adjusting arm (321) and a cleaning plate (5), wherein the cleaning plate (5) is rotatably arranged at the lower end of the adjusting arm (321) and is driven to rotate by a stepping motor (322) fixed at the lower end of the adjusting arm (321);
the upper end of the adjusting arm (321) is rotatably sleeved on the outer side of the supporting rod (312), and the circumference of the adjusting arm and the corresponding part of the transmission sleeve (313) is provided with straight-line internal spline teeth which are matched and clamped with the straight-line external spline teeth of the transmission sleeve (313).
6. The apparatus of claim 5, wherein the apparatus comprises: the cleaning plate (5) comprises a supporting bottom shell (51), a scraping plate (52) and an elastic plate (53), the scraping plate (52) is fixedly installed on the left side of the supporting bottom shell (51), two ends of the elastic plate (53) are respectively and rotatably provided with a connecting rod (531), the bottom end of the connecting rod (531) is arranged at two ends of the supporting bottom shell (51) in a sliding mode through a second spring (532), and the bottom end of the elastic plate (53) is elastically connected with the supporting bottom shell (51) through a third spring;
the cross sections of the supporting bottom shell (51), the scraping plate (52) and the elastic plate (53) are all arc-shaped structures and are matched with the radian of the protective glass (33).
7. The apparatus of claim 6, wherein the three-dimensional live-action digital map measuring apparatus comprises: the upper end face of the elastic plate (53) is uniformly provided with a plurality of brush bodies (6).
8. The apparatus of claim 7, wherein the three-dimensional live-action digital map measuring apparatus based on the oblique photography model comprises: the brush body (6) comprises a bearing shell (61), brush discs (62) and a micro motor (63), a plurality of brush discs (62) are uniformly and rotatably arranged on the upper end face of the bearing shell (61), the brush discs (62) are in meshing transmission through gears, and the brush discs (62) in the middle are driven to rotate by the micro motor (63) fixed in the elastic plate (53);
the bottom end of the bearing shell (61) is fixed on the elastic plate (53);
flexible brushes are uniformly distributed on the brush disc (62).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113335528A (en) * | 2021-06-24 | 2021-09-03 | 江西维普产业技术研究服务有限公司 | Survey and drawing unmanned aerial vehicle based on 5G communication |
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Application publication date: 20210615 |