CN115103121A - Slope oblique photography device, image data acquisition method and image data acquisition instrument - Google Patents
Slope oblique photography device, image data acquisition method and image data acquisition instrument Download PDFInfo
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- CN115103121A CN115103121A CN202210784765.3A CN202210784765A CN115103121A CN 115103121 A CN115103121 A CN 115103121A CN 202210784765 A CN202210784765 A CN 202210784765A CN 115103121 A CN115103121 A CN 115103121A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
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Abstract
The invention belongs to the technical field of slope image processing, and discloses a slope oblique photography device, an image data acquisition method and an image data acquisition instrument, wherein the slope oblique photography device comprises: the device comprises a tripod, a bearing frame, a tripod head support plate, a three-axis stability-increasing tripod head, a tripod head control module, a digital camera, a camera synchronous controller and a display device. The oblique photographing device is slightly limited by space in the using process, and can effectively collect the slope surface without the limitation of space, so that one-time collection of the single-gradient slope is realized; the three-axis electronic cloud platform is adopted to increase the stability of the camera, so that the stable posture and high image quality of the camera during exposure are ensured; the device has strong operability, the operator can be competent for collecting work only by simple training, the artificial image achievement quality factor is small, and the achievement quality stability is strong; the invention can acquire the digital image of the side slope through one-time exposure without the need of back and forth operation, thereby reducing the working intensity and having high acquisition efficiency.
Description
Technical Field
The invention belongs to the technical field of slope image processing, and particularly relates to a slope oblique photographing device, an image data acquisition method and an image data acquisition instrument.
Background
At present, with the rapid development of the infrastructure construction level of China, a large amount of hydropower and hydraulic engineering is put into operation, and due to the arrangement requirement of buildings, a rock high slope of hundred meters in a large range is formed by always digging. The high slope is constructed by adopting a method of excavating layer by step sections and supporting layer by layer; according to the relevant industrial regulations of water and electricity, the height of the slope excavation bench is not more than 15 m. After single-layer excavation is finished and before anchor spraying and supporting, geological logging needs to be carried out on an excavated surface so as to record original geological information, and technical analysis, calculation and display are facilitated.
With the realization and development of the three-dimensional image modeling technology based on oblique photography, multi-angle image acquisition is carried out on a slope, three-dimensional live-action reconstruction is realized, and interpretation analysis is carried out, so that the method becomes an important technical means in the fields of water conservancy and hydropower engineering survey and the like. Therefore, it is a hot spot of current research to explore a low-cost, high-quality and fast image acquisition method and apparatus.
The slope image is an important carrier for recording slope rock mass information, and is important for further information interpretation and analysis based on an image model, the conventional image acquisition is carried out by technicians through a single camera device, the personnel operation is a control factor of acquisition quality, and serious images are generated on the digital image quality due to nonstandard performance and difference in the operation process.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the workload of conventionally and manually acquiring digital images is large;
(2) the image points at the same part of the target can not be matched due to the front and back change easily, the modeling can not be carried out, and the method has limitation;
(3) in order to realize three-dimensional live-action reconstruction, images need to be acquired at multiple angles, a certain overlapping rate is ensured, the operation is relatively complex, and targeted training is needed;
(4) the side slope is high and steep in the canyon region, and in order to realize the side slope image acquisition full coverage, the unmanned aerial vehicle is usually used, and the requirement on the multiple operation conditions of the unmanned aerial vehicle is higher.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a slope oblique photography device, an image data acquisition method and an image data acquisition instrument.
The invention is realized in such a way that a slope oblique photography device is provided with a bearing frame;
a three-axis stability augmentation cloud platform is installed on the bearing frame, and a digital camera is installed on the three-axis stability augmentation cloud platform; the bearing frame is also integrated with a pan-tilt control module and a camera synchronous controller;
the attitude line of the three-axis stability-increasing cradle head and the video line of the digital camera are both connected with the cradle head control module, the shutter release of the digital camera is connected with the camera synchronous controller, the camera synchronous controller controls the plurality of digital cameras to be exposed simultaneously, and the cradle head control module controls the rotation angle of the three-axis stability-increasing cradle head.
Further, the bearing frame is mounted on a tripod; the digital cameras and the triaxial stability-increasing holder are provided with a plurality of digital cameras, and each digital camera corresponds to one triaxial stability-increasing holder.
Further, the number of the digital cameras should meet the requirement of the image overlapping rate, and is calculated according to the following formula:
N＝H/(D*2tan(α/2))*(1-δ)；
n-the number of cameras (table) needs to be set; delta-three-dimensional image guarantee coefficient, delta is more than or equal to 0.6 and less than 1; h-the single-stage height (m) of the slope, wherein H is less than or equal to 15 m; d, the vertical distance (m) between the shooting device and the side slope, wherein D is more than or equal to 5 m; the alpha-digital camera 6 has a lens angle of view parameter (FOV) value (°), alpha ≧ 100.
Further, the external display device is connected to the digital camera to display the photographed image.
Further, the carrier is made of a carbon fiber material.
Furthermore, the bearing frame is of a telescopic structure, and the length of the bearing frame is adjusted according to the actual height of the side slope.
Further, bearing and installing slide rail and scale on the frame, seted up the spout on the cloud platform support plate, realize bearing frame and cloud platform support plate sliding connection and fixed through spout and slide rail cooperation, realize adjusting digital camera's quantity and concrete position.
Another object of the present invention is to provide an image data collecting method of the slope oblique photography device, the image data collecting method including:
s1, installing and starting a display device to complete self-checking of the three-axis stability-increasing cradle head;
s2, calculating a slope image acquisition moving distance parameter;
s3, adjusting the position of the digital camera and the control module of the holder to make the digital camera frame cover the side slope;
and S4, calculating the distance to the next exposure point according to the slope image acquisition moving distance parameter calculation formula.
Further, in step S2, a slope image capturing movement distance parameter is calculated according to the following formula:
S＝(D*2tan(α/2))*(1-δ)；
in the formula: delta-three-dimensional image guarantee coefficient, delta is more than or equal to 0.6 and less than 1; d, the vertical distance (m) between the shooting device and the side slope, wherein D is more than or equal to 5 m; alpha-lens angle of view parameter (FOV) value (°) of digital camera, alpha ≧ 100.
The invention also aims to provide an image data acquisition instrument for excavating the rock high slope of the hydropower engineering, wherein the image data acquisition instrument is carried with the slope oblique photographic device.
In combination with the technical solutions and the technical problems to be solved, please analyze the advantages and positive effects of the technical solutions to be protected in the present invention from the following aspects:
the oblique photographing device is slightly limited by space in the use process, can effectively collect a slope surface without the limitation of space, and realizes one-time collection of a single-gradient side slope;
the oblique photography device adopts the three-axis electronic cloud platform to increase the stability of the camera, thereby ensuring the stable posture of the camera during exposure and high image quality;
the oblique photography device has strong operability, operators can be competent for collecting work only by simple training, the quality factor of artificial image results is small, and the quality stability of the results is strong;
the oblique photographing device can acquire the digital image of the side slope through one-time exposure without reciprocating operation, thereby reducing the working strength and having high acquisition efficiency;
the electronic cloud platform can flexibly adjust the direction of the main optical axis of the camera, and effectively control the exposure image overlapping rate of adjacent cameras according to the actual situation of a side slope.
Drawings
Fig. 1 is a schematic diagram of single gradient slope image acquisition according to an embodiment of the present invention; wherein, fig. 1(a) is a three-dimensional schematic diagram; FIG. 1(b) is a front view; FIG. 1(c) left side view;
fig. 2 is a schematic connection diagram of the bearing frame, the pan/tilt support plate, and the digital camera according to the embodiment of the present invention;
fig. 3 is a schematic connection diagram of a bearing frame, a pan-tilt control module, a camera synchronization controller, and a display device according to an embodiment of the present invention;
fig. 4 is a flowchart of an image data collecting method of a slope oblique photographing apparatus according to an embodiment of the present invention;
in the figure: 1. a tripod; 2. a carrier; 3. a holder support plate; 4. a three-axis stability augmentation holder; 5. a holder control module; 6. a digital camera; 7. a camera synchronization controller; 8. a display device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
First, an embodiment is explained. This section is an illustrative example developed to explain the claims in order to enable those skilled in the art to fully understand how to implement the present invention.
Example 1
As shown in fig. 1 to 3, a slope oblique photography apparatus according to an embodiment of the present invention includes: the device comprises a tripod 1, a bearing frame 2, a tripod head support plate 3, a three-axis stability-increasing tripod head 4, a tripod head control module 5, a digital camera 6, a camera synchronous controller 7 and a display device 8.
The bearing frame 2 is arranged on the tripod 1; the three-axis stability-increasing pan-tilt 4 is arranged on the bearing frame 2 through the pan-tilt support plate 3, and the digital camera 6 is arranged on the pan-tilt 4; the pan-tilt control module 5, the camera synchronous controller 7 and the display device 8 are all integrated on the central bearing frame 2; the digital cameras 6 and the triaxial stability augmentation pan-tilt 4 are provided with a plurality of digital cameras, each digital camera 6 corresponds to one triaxial stability augmentation pan-tilt 4, the number of the cameras should meet the requirement of image overlapping rate, and the digital cameras can be calculated according to the following formula:
N＝H/(D*2tan(α/2))*(1-δ) (1)
in the formula: n-number of cameras (table) to be set; delta-three-dimensional image guarantee coefficient, wherein delta is more than or equal to 0.6 and less than 1; h-the single-stage height (m) of the slope, wherein H is less than or equal to 15 m; d, the vertical distance (m) between the shooting device and the side slope, wherein D is more than or equal to 5 m; the alpha-digital camera 6 has a lens view angle parameter (FOV) value (DEG), alpha ≧ 100.
The attitude line of the three-axis stability-increasing holder 4 and the video line of the digital camera 6 are both connected with the holder control module 5, the shutter release line of the digital camera 6 is connected with the camera synchronous controller 7, the camera synchronous controller 7 controls the plurality of digital cameras 6 to be exposed simultaneously, and the holder control module 5 controls the rotation angle of the three-axis stability-increasing holder 4.
The external display device 8 is connected to the camera and displays the photographed image.
In the embodiment of the invention, the provided slope oblique photography device target aims at the slope of the hydraulic and hydroelectric engineering, the digital camera 6 is a full-frame wide-angle digital camera, and the bearing frame 2 is made of carbon fiber materials.
In the embodiment of the invention, the bearing frame 2 is of a telescopic structure, and the length can be adjusted according to the actual height of the side slope.
In the embodiment of the present invention, the bearing frame 2 is provided with a slide rail and a scale, the pan/tilt support plate 3 is provided with a slide groove, and the sliding connection and fixation between the bearing frame 2 and the pan/tilt support plate 3 are realized through the cooperation of the slide groove and the slide rail, so as to adjust the number and specific position of the digital cameras 6.
Example 2
As shown in fig. 4. The method for acquiring the image data of the slope oblique photography device provided by the embodiment of the invention comprises the following steps:
s101, installing and starting a display device 8 to complete self-inspection of the three-axis stability augmentation holder 4;
s102, calculating a slope image acquisition moving distance parameter, wherein the slope image acquisition moving distance parameter can be calculated according to the following formula:
S＝(D*2tan(α/2))*(1-δ) (2)
the parameters in the formula are the same as those in the formula (1).
S103, adjusting the position of the digital camera 6 and the holder control module 5 to enable the digital camera to cover the side slope;
and S104, calculating the distance according to the formula (2) and moving to the next exposure point for collection.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portions may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus of the present invention and its modules may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, or software executed by various types of processors, or a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The slope oblique photographing device is characterized in that a bearing frame is arranged on the slope oblique photographing device;
a three-axis stability augmentation cloud platform is installed on the bearing frame, and a digital camera is installed on the three-axis stability augmentation cloud platform; the bearing frame is also integrated with a pan-tilt control module and a camera synchronous controller;
the attitude line of the three-axis stability-increasing holder and the video line of the digital camera are both connected with the holder control module, the shutter release of the digital camera is connected with the camera synchronous controller, the camera synchronous controller controls the plurality of digital cameras to simultaneously expose, and the holder control module controls the rotation angle of the three-axis stability-increasing holder.
2. The slope inclination camera apparatus of claim 1, wherein said carriage is mounted on a tripod; the digital cameras and the three-axis stability augmentation holder are provided with a plurality of digital cameras, and each digital camera corresponds to one three-axis stability augmentation holder.
3. The slope oblique photography device according to claim 1, wherein the number of digital cameras that satisfy the image overlap ratio requirement is calculated as follows:
N＝H/(D*2tan(α/2))*(1-δ)；
n-the number of cameras (table) needs to be set; delta-three-dimensional image guarantee coefficient, delta is more than or equal to 0.6 and less than 1; h-the single-stage height (m) of the side slope, wherein H is less than or equal to 15 m; d, the vertical distance (m) from the shooting device to the side slope, wherein D is more than or equal to 5 m; the alpha-digital camera 6 has a lens angle of view parameter (FOV) value (°), alpha ≧ 100.
4. The slope oblique photography apparatus according to claim 1, wherein the external display device is connected to a digital camera for displaying the photographed image.
5. The slope oblique photography device of claim 1, wherein the carrier is made of a carbon fiber material.
6. The slope inclination photographing device according to claim 1, wherein the loading frame is of a telescopic structure, and the length of the loading frame is adjusted according to the actual height of the slope.
7. The slope oblique photography device according to claim 1, wherein the bearing frame is provided with a slide rail and a scale, the pan/tilt support plate is provided with a slide groove, and the slide groove and the slide rail are matched to realize the sliding connection and fixation of the bearing frame and the pan/tilt support plate, so as to realize the adjustment of the number and the specific position of the digital cameras.
8. A method of acquiring image data of a slope inclination camera according to any one of claims 1-7, wherein the method of acquiring image data comprises:
s1, installing and starting a display device to complete self-checking of the three-axis stability-increasing cradle head;
s2, calculating a slope image acquisition moving distance parameter;
s3, adjusting the position of the digital camera and the control module of the holder to make the digital camera frame cover the side slope;
and S4, calculating the distance to the next exposure point according to the slope image acquisition moving distance parameter calculation formula.
9. The image data capturing method as claimed in claim 8, wherein the slope image capturing movement distance parameter is calculated in step S2 according to the following formula:
S＝(D*2tan(α/2))*(1-δ)；
in the formula: delta-three-dimensional image guarantee coefficient, delta is more than or equal to 0.6 and less than 1; d, the vertical distance (m) between the shooting device and the side slope, wherein D is more than or equal to 5 m; alpha-lens angle of view parameter (FOV) value (DEG) of digital camera, alpha is greater than or equal to 100.
10. An image data acquisition instrument for excavating a rock high slope in hydropower engineering, which is characterized in that the image data acquisition instrument is provided with the slope oblique photography device of any one of claims 1 to 7.
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