CN203845021U - Panoramic aerial photographic unit system for aircrafts - Google Patents
Panoramic aerial photographic unit system for aircrafts Download PDFInfo
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- CN203845021U CN203845021U CN201420267343.XU CN201420267343U CN203845021U CN 203845021 U CN203845021 U CN 203845021U CN 201420267343 U CN201420267343 U CN 201420267343U CN 203845021 U CN203845021 U CN 203845021U
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Abstract
The utility model provides a panoramic aerial photographic unit system for aircrafts and belongs to the field of design of aircraft accessory systems. The system comprises a hemispherical camera mounting cover and 18 aerial cameras; the hemispherical camera mounting cover is characterized in that a hemispherical plane is mounted on an aircraft airframe bottom plane, a spherical arc surface faces the ground, the aerial cameras are evenly distributed on the surface of the hemispherical camera mounting cover according to the rule of equal-area distribution, and reverse extension lines of mounting axes of the aerial cameras meet in the center of sphere of the hemispherical camera mounting cover. When applied to aerial photography on an aircraft, adjusting the directions of the aerial cameras according to the flight attitude of the aircraft is not required; no moving part or moving servo mechanism is arranged inside, and the system is simple in structure, low in cost, and applicable to manned/unmanned rotor and fixed-wing aircrafts for aerial photography and investigation.
Description
Technical field
The utility model aircraft panorama aerial device system relates to aerospace flight vehicle subsystem design field, is specifically related to one and can be used for taking photo by plane, investigates by aircraft aerial device system.
Background technology
Take photo by plane and claim aerophotography or aerial photography, referring to from aerial photographing earth landforms, obtaining birds-eye view, this figure is photo map.The pick up camera of taking photo by plane can be controlled by photographer, also can automatically snap or Long-distance Control.The platform used of taking photo by plane comprises aircraft, helicopter, fire balloon, blimp, rocket, kite, parachute etc.In order to make aerial photograph stable, need to use senior photographic equipment, it utilizes three axles or five axle gyroscope stabilization functions, makes camera stable in the process of taking photo by plane, and provides special quality to stablize picture, even also highly stable under long focal lengh lenses.The figure that takes photo by plane can show ground object clearly, therefore, except as photography art, is also applied to the aspects such as military affairs, transport development, hydraulic engineering, ecological Studies, city planning.
At present, orthodox flight device aerial device system comprises: holder for aerial photographing, gyrocontrol instrument, the camera of taking photo by plane, camera head installation rack, direction sensor, position transduser and motion servo mechanism etc.In general, it is 0 °～350 ° that The Cloud Terrace horizontally rotates angle, and vertical rotary angle is+90 °.The speed that horizontally rotates of constant speed The Cloud Terrace is generally at 3 °～10 °/s, and vertical speed is 4 °/s left and right.The speed that horizontally rotates of speed change The Cloud Terrace is generally at 0 °～32 °/s, and vertical rotary speed is in 0 °～16 °/s left and right.In some high speed video systems, the speed that horizontally rotates of The Cloud Terrace up to 480 °/more than s, vertical rotary speed 120 °/more than s, the sensitivity of The Cloud Terrace greatly depends on the speed of response of servomechanism.
Usually need to lock the target of taking photo by plane in the visual field for the aircraft system of taking photo by plane of taking photo by plane and investigate, now control system must regulate The Cloud Terrace rotating shaft position in real time according to the flight attitude of aircraft and camera position, ensures that lock onto target is positioned at camera focal length and within sweep of the eye.It is surely that whole optical systems and end instr are arranged on a stage body hanging up by ring stand system that The Cloud Terrace increases, and the inertial sensors such as gyro are installed on stage body, forms gyrostabilized platform.According to the quantity of ring stand system stability axle, can be divided into single shaft, diaxon and three axis stable platform.When the bolster of ring stand is done the used time without any disturbance torque, platform remains at relative inertness space in original orientation, in the time that platform departs from original orientation because of disturbance torque effect, attitude angle or the angular rate that gyroscope aware platform changes also feeds back to control core, through series of algorithms processing, send the torque motor of controlling quantity to ring stand, produce compensating moment by torque motor disturbance torque is compensated, thereby make platform keep stable.
Take photo by plane system authority composition of above-mentioned orthodox flight device is complicated, controls difficulty large, and especially, when aircraft runs into high turbulence flow perturbation or aircraft self serious vibration, the difficulty that fine resolution Aerial Images is stablized in acquisition increases greatly.Meanwhile, the system cost of taking photo by plane based on said structure is higher, is difficult to promote to civil area on a large scale.
Therefore, design a kind of simple in structure, control easily, realize the lower-cost aircraft panorama control system of taking photo by plane and will there is higher using value.
Summary of the invention
The utility model aircraft panorama aerial device system, its objective is and provide a kind of for taking photo by plane, investigate by the panorama aerial device system that has people/driverless operation rotor and fixed wing aircraft, avoid, by direction control and regulation devices such as The Cloud Terrace, attitude sensor and gyrocontrol instrument, lock onto target is continued to take or obtain its realtime graphic.Without motion control servo mechanism, simple in structure in the utility model apparatus system, realize cost low.
The purpose of this utility model reaches by following measures, aircraft panorama aerial device system comprises semisphere camera mounting cup and 18 use cameras of taking photo by plane, wherein semisphere camera mounting cup is characterized in that hemispherical plane is installed on aircraft fuselage lower abdomen plane, spherical arc is just to ground, take photo by plane for 18 and be uniformly distributed in spherical camera mounting cup surface by the homalographic regularity of distribution with camera, 18 cameras of taking photo by plane are installed axis reverse extendings and converge at the centre of sphere of semisphere camera mounting cup.
The utility model aircraft panorama aerial device system has the advantage of movement-less part and direction sensing servomechanism compared with the aerial device of tradition with multiaxis gyrocontrol instrument.When aerial device is started working, 18 cameras of taking photo by plane are taken at field range of living in separately at synchronization, and the image obtaining or video data are stored in airborne file storage media or return surface control station by image delivering system real-time Transmission.For the mode of operation that obtained image or video file is stored in to airborne file storage medium, image file all stores and takes back by aircraft the work that is completed 18 Image Mosaics that camera obtains and deleted superimposed images by ground image process software behind ground.For the mode of operation of image or realtime video transmission being returned to surface control station, airborne image processing system first completes in real time 18 cameras and obtains Image Mosaics and delete superimposed images, and then the processed image completing or video are transmitted back to surface control station by data transmission systems.
When this aerial device system is in the time that aircraft ventral is just worked to the flight attitude on ground, aerial device system can be obtained ground and circumferential 360 ° of visual angle images.When aircraft ventral is in maximum extreme position, when ventral plane is perpendicular to ground, aerial device can obtain ground and circumferentially maximum 180 ° of visual angle images.Aircraft flight attitude is in the time that all the other normally take photo by plane state, and aircraft panorama aerial device system of the present utility model all can ensure the image of acquisition ground and circumferential 180 °～360 °.
Brief description of the drawings
Fig. 1 is that the utility model is installed on aircraft ventral lower surface schematic diagram.
Fig. 2 is the utility model birds-eye view.
Fig. 3 is the utility model front elevation.
Fig. 4 defines the required spheric coordinate system in the utility model camera installation site.
Fig. 5 is the utility model schematic three dimensional views.
Fig. 6 be 18 cameras of the utility model while taking simultaneously just to ground and circumferential visual angle schematic diagram.
Detailed description of the invention
The utility model aircraft panorama aerial device system is installed on aircraft fuselage lower abdomen plane, as shown in Fig. 1 dashed circle position.Aircraft in Fig. 1 is Fixed Wing AirVehicle, and the utility model Applicable scope is not limited to Fixed Wing AirVehicle, when for other types aircraft, during as rotor craft, aerial device system is installed on just to subject direction.Aerial device system as shown in Figures 2 and 3, form with camera (1) and semisphere camera mounting cup (2) by taking photo by plane, 18 altogether of the cameras of wherein taking photo by plane, be uniformly distributed in semisphere camera mounting cup surface according to the homalographic regularity of distribution, 18 camera axis reverse extending lines converge at the hemisphere centre of sphere.
The position of 18 cameras of the utility model in semisphere camera mounting cup as shown in Figure 4 spheric coordinate system determined.Wherein, angle Ф is the radius of a ball and Z axis angle, in the utility model, can span be 0 °～90 °; Angle θ is the radius of a ball and X-axis angle, in the utility model, can span be 0 °～360 °.18 cameras distributing position on semisphere mounting cup specifically determines that method is: the О point that the camera of semisphere shown in Fig. 5 mounting cup centre of sphere is placed in to spheric coordinate system shown in Fig. 4, OP is semisphere mounting cup radius, hemisphere face is divided into three parts with two sphere circles shown in 3 and 4 in Fig. 5, wherein round 3 present positions are Ф=33.56 ° by Fig. 4 Coordinate system definition, and circle 4 present positions are Ф=60 ° by Fig. 4 Coordinate system definition.In Ф=0 °～and 33.56 ° of spherical surface parts arrange three cameras, camera home position (shown in Fig. 5 arrow 5) Ф=23.56 °, and three cameras are evenly distributed within the scope of θ=0 °～360 ° of spheres.In Ф=33.56 °～and 60 ° of spherical surface parts arrange six cameras, camera home position (shown in Fig. 5 arrow 6) Ф=48.19 °, and six cameras are evenly distributed within the scope of θ=0 °～360 ° of spheres.In Ф=60 °～and 90 ° of spherical surface parts arrange nine cameras, camera home position (shown in Fig. 5 arrow 7) Ф=75.52 °, and nine cameras are evenly distributed within the scope of θ=0 °～360 ° of spheres.
In the time of panorama aerial device system works, 18 cameras record all directional image at synchronization, Figure 6 shows that the image that 18 cameras are photographed is toward bottom surface and circumferential four face perspective view.In Fig. 6, the circle of bottom surface band numbering represents the picture that each camera photographs, and in figure, circle numbering is only done and illustrated.In order not produce and to obscure, in Fig. 6, only provide one of bottom surface face perspective view, circumferential four faces are by the method processing identical with bottom surface.The image that 18 cameras are photographed at synchronization, in bottom surface and circumferentially projection, is deleted the taken lap picture of single camera and reconfigures, and finally obtains bottom surface and circumferential four face images.
When aircraft flight attitude changes, semisphere camera mounting cup cannot photograph fuselage lower abdomen plane shield portions image, when semisphere camera mounting cup is positioned at attitude of flight vehicle end position, time as perpendicular to the ground in fuselage lower abdomen plane, the panorama system of taking photo by plane can only photograph within the scope of bottom surface and circumferential 180 ° not by fuselage shield portions image.Therefore, the utility model panorama aerial device system at least can be caught whole ground image and 0 °～180 ° circumferential images under different aircraft flight attitudes, can catch at most whole ground image and 0 °～360 ° circumferential images.
Claims (4)
1. an aircraft panorama aerial device system, comprise semisphere camera mounting cup (2) and 18 use cameras (1) of taking photo by plane, take photo by plane for 18 and be uniformly distributed in spherical camera mounting cup surface by the homalographic regularity of distribution with camera, 18 cameras of taking photo by plane are installed axis reverse extendings and converge at the centre of sphere of semisphere camera mounting cup.
2. a kind of aircraft panorama aerial device system as claimed in claim 1, is characterized in that semisphere camera mounting cup (2) hemispherical plane is placed in aircraft fuselage lower abdomen plane, and spherical surface is just to ground.
3. a kind of aircraft panorama aerial device system as claimed in claim 1, is characterized in that device inside is without motion control and actuating device, and semisphere camera mounting cup (2) and 18 take photo by plane and immobilize with camera (1) position in the process of taking photo by plane.
4. a kind of aircraft panorama aerial device system as claimed in claim 3, while it is characterized in that taking photo by plane by 18 cameras (1) photo in the visual field under synchronization is taken separately, by again splicing and delete lap and obtain ground and circumferential panoramic picture obtaining photo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420267343.XU CN203845021U (en) | 2014-05-23 | 2014-05-23 | Panoramic aerial photographic unit system for aircrafts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420267343.XU CN203845021U (en) | 2014-05-23 | 2014-05-23 | Panoramic aerial photographic unit system for aircrafts |
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| Publication Number | Publication Date |
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| CN203845021U true CN203845021U (en) | 2014-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420267343.XU Expired - Fee Related CN203845021U (en) | 2014-05-23 | 2014-05-23 | Panoramic aerial photographic unit system for aircrafts |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104922912A (en) * | 2015-07-07 | 2015-09-23 | 孙华鹏 | Kite remote control aerial photography system |
| CN105681757A (en) * | 2016-02-26 | 2016-06-15 | 上海八越信息技术有限公司 | Bouncing imager based on cloud computation environment and imaging method thereof |
| CN107317998A (en) * | 2016-04-27 | 2017-11-03 | 成都理想境界科技有限公司 | Full-view video image fusion method and device |
| RU2646539C1 (en) * | 2016-11-18 | 2018-03-05 | Общество с ограниченной ответственностью "СКАН" (ООО "СКАН") | Modernized airborne control system of aerial photography for manned aircraft (mbsu afs) |
| US20180081615A1 (en) * | 2016-09-20 | 2018-03-22 | Airbus Operations Gmbh | Visual output assembly for aircraft cabin |
| CN108698692A (en) * | 2015-11-06 | 2018-10-23 | 思飞锐有限责任公司 | Flight instrumentation without wing |
| CN115793698A (en) * | 2023-02-07 | 2023-03-14 | 北京四维远见信息技术有限公司 | Automatic attitude control system and method |
-
2014
- 2014-05-23 CN CN201420267343.XU patent/CN203845021U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104922912A (en) * | 2015-07-07 | 2015-09-23 | 孙华鹏 | Kite remote control aerial photography system |
| CN108698692A (en) * | 2015-11-06 | 2018-10-23 | 思飞锐有限责任公司 | Flight instrumentation without wing |
| CN108698692B (en) * | 2015-11-06 | 2022-01-14 | 思飞锐有限责任公司 | Wingless flight instrument |
| CN105681757A (en) * | 2016-02-26 | 2016-06-15 | 上海八越信息技术有限公司 | Bouncing imager based on cloud computation environment and imaging method thereof |
| CN107317998A (en) * | 2016-04-27 | 2017-11-03 | 成都理想境界科技有限公司 | Full-view video image fusion method and device |
| US20180081615A1 (en) * | 2016-09-20 | 2018-03-22 | Airbus Operations Gmbh | Visual output assembly for aircraft cabin |
| US10712989B2 (en) * | 2016-09-20 | 2020-07-14 | Airbus Operations Gmbh | Visual output assembly for aircraft cabin |
| RU2646539C1 (en) * | 2016-11-18 | 2018-03-05 | Общество с ограниченной ответственностью "СКАН" (ООО "СКАН") | Modernized airborne control system of aerial photography for manned aircraft (mbsu afs) |
| CN115793698A (en) * | 2023-02-07 | 2023-03-14 | 北京四维远见信息技术有限公司 | Automatic attitude control system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140924 Termination date: 20200523 |
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| CF01 | Termination of patent right due to non-payment of annual fee |