CN205333065U - Five degree of freedom aerial photogrametry analog system - Google Patents
Five degree of freedom aerial photogrametry analog system Download PDFInfo
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- CN205333065U CN205333065U CN201521138945.6U CN201521138945U CN205333065U CN 205333065 U CN205333065 U CN 205333065U CN 201521138945 U CN201521138945 U CN 201521138945U CN 205333065 U CN205333065 U CN 205333065U
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Abstract
The utility model discloses a five degree of freedom aerial photogrametry analog system, including guide rail system, cloud platform mechanism, image device and controlling means, the guide rail system includes three straight line track and a motion platform, a linear guide and the 2nd linear guide mutual parallel arrangement in the horizontal plane wherein, and the 3rd linear guide stretches over on a linear guide and the 2nd linear guide to form sliding connection with a linear guide and the 2nd linear guide, motion platform sliding connection is in the 3rd linear guide's below, the cloud platform fixed mounting of mechanism can realize a translational degree of freedom and two rotational degrees of freedom's motion in the below of motion platform, image device fixed mounting is in the bottom of cloud platform mechanism, the operationally motion of motion and the image device of control action platform in the track system in cloud platform mechanism of controlling means. The utility model discloses image device can be simulated and translation and image device self the every single move and lift -over campaign for aircraft of aircraft in three dimensions is followed.
Description
Technical field
This utility model relates to a kind of aerophotogrammetry system, is specifically related to a kind of five degree of freedom aerial photogrammetry simulation system。
Background technology
Aerophotogrammetry refers to absorbs photo continuously with aerophotographic apparatus on board the aircraft to ground, combined ground control point survey, adjusts and paints and the step such as stereo mapping, draws out the operation of topography。Aerophotogrammetry is always up China's base map and becomes the major way of figure, and owing to its drawing speed is fast, precision is high and uniformly, is an important development direction of our digital mapping from now on。Along with digital earth is in the extensive approval of China, digital city construction is just like a raging fire。Aviation Digital is measured as digital city construction and provides basis Urban Spatial Data, is also widely used for the aspects such as survey of territorial resources, Land_use change, urban planning, road traffic, Port Location and real estate simultaneously。By the camera objective primary optical axis perpendicularity relative to earth's surface, vertical aerial photography and oblique aerial photography can be divided into again。Studying aerophotogrammetry technology in order to more simple and effective, person skilled needs a kind of equipment that can effectively simulate aerophotogrammetry process badly。Based on this demand, Chinese patent 201310298803.5 discloses a kind of aerial photogrammetry simulation system, the motion of aircraft in fixed horizontal plane can be simulated, attitude of flight vehicle can not be regulated yet with whole analog systems, therefore this system cannot meet the research needs of oblique aerial photography。Chinese patent 201220681352.4 discloses a kind of numeral aviation oblique photograph measurement apparatus, it installs five cameras according to lower five directions all around on The Cloud Terrace, realize oblique aerial photography, if but based on this thinking develop associated ramp aeroplane photography analog systems, there is the shortcoming that cost is high, and owing to camera quantity causes that The Cloud Terrace total quality is relatively big more, thus it is unfavorable for implementing The Cloud Terrace to control smoothly。Additionally, Chinese patent 201210501131.9, Chinese patent 201220646494.7 also disclose that similar device, however these devices all cannot simulated flight device in the motion of vertical direction, it is impossible to the attitudes vibration of simulated flight device。The meaning of scientific research, aforementioned system or device still lack the motility that the integrity of analog information is arranged with course line。
Summary of the invention
This utility model provides a kind of five degree of freedom aerial photogrammetry simulation system for solving the technical problem that exists in known technology, and this system can follow aircraft translation in three dimensions and imaging device self relative to the pitching of aircraft and rolling movement by analog imaging device。
This utility model is adopted the technical scheme that by the technical problem solving to exist in known technology: a kind of five degree of freedom aerial photogrammetry simulation system, including guide track system, cradle head mechanism, imaging device and control device；Described guide track system includes three rectilinear orbits and a sports platform, wherein the first line slideway and the second line slideway are arranged in parallel in horizontal plane, 3rd line slideway is across on described first line slideway and described second line slideway, and the 3rd line slideway is formed be slidably connected with described first line slideway and described second line slideway；Described sports platform is slidably connected at the lower section of described 3rd line slideway；Described cradle head mechanism is fixedly mounted on the lower section of described sports platform, and described cradle head mechanism can realize the motion of a translational degree of freedom and two rotational freedoms；Described imaging device is fixedly installed in the bottom of described cradle head mechanism；Described control device is operatively controlled the motion on described rail system of the described sports platform and imaging device motion on described cradle head mechanism。
Described cradle head mechanism includes the mounting seat, pose guiding mechanism and the docking mechanism that set gradually from top to bottom, described mounting seat is fixed on the lower section of described sports platform, described pose guiding mechanism is installed on the lower section of described mounting seat, described pose guiding mechanism can realize the translational motion of vertical direction and around the rotary motion of two orthogonal horizontal axis, and described docking mechanism is fixedly installed in the end of described pose guiding mechanism。
Described imaging device includes clamping mechanism and CCD camera, and described clamping mechanism is fixedly installed in the lower section of described docking mechanism, and described CCD camera is clamped in the lower section of described clamping mechanism。
Described control device includes industrial computer and PMAC motion control card, described industrial computer is for generating the movement locus of described imaging device, and receive, store, process aerial photograph, described PMAC motion control card is embedded in described industrial computer, described PMAC motion control card obtains movement instruction with described industrial computer real-time Communication for Power, and control described rail system and the motion of described cradle head mechanism, make described imaging device realize the motion of three translational degree of freedom and two rotational freedoms。
Described 3rd rectilinear orbit is connected with described first rectilinear orbit by the first slide block, it is connected with described second rectilinear orbit by the second slide block, described first slide block is driven by the first drive mechanism by the first motor, described first motor is arranged on one end of described first rectilinear orbit, described second slide block is driven by the second drive mechanism by the second motor, and described second motor is arranged on one end of described second rectilinear orbit；Described sports platform is driven by the 3rd drive mechanism by the 3rd motor。
In one end of described first line slideway, the first limit switch is installed, the other end is provided with the second limit switch, in one end of described 3rd line slideway, the 3rd limit switch is installed, the other end is provided with the 4th limit switch, and described first limit switch, described second limit switch, described 3rd limit switch are all connected with described PMAC motion control card with described 4th limit switch。
Being provided with the first mechanical position limitation in one end of described first line slideway, the other end is provided with the second mechanical position limitation；Being provided with the 3rd mechanical position limitation in one end of described second line slideway, the other end is provided with the 4th mechanical position limitation；Being provided with the 5th mechanical position limitation in one end of described 3rd line slideway, the other end is provided with the 6th mechanical position limitation。
Described 3rd rectilinear orbit is connected with described first rectilinear orbit by the first slide block, it is connected with described second rectilinear orbit by the second slide block, described first slide block is driven by the first drive mechanism by the first motor, described first motor is arranged on one end of described first rectilinear orbit, described second slide block is driven by the second drive mechanism by the second motor, and described second motor is arranged on one end of described second rectilinear orbit；Described sports platform is driven by the 3rd drive mechanism by the 3rd motor；Described first motor, described second motor and described 3rd motor are connected with described PMAC motion control card respectively, and the run-in synchronism under the control of described PMAC motion control card of described first motor and described second motor。
This utility model has the advantage that and has the benefit effect that the main process that can accurately simulate vertical aerial photography and oblique aerial photography, solves the defect that prior art motility is not enough with integrity。Specifically, this system can realize the motion of three translational degree of freedom of imaging device and two rotational freedoms neatly；Aircraft translation in three dimensions and imaging device self can be followed relative to the pitching of aircraft and rolling movement by analog imaging device。Taking the photograph with ground object model, boat after data processing technique combines, can meet the teaching demand of photogrammetric relevant speciality, can carry out scientific research for photogrammetric technical professional again provides specialized experimental assembly。
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of this utility model application。
In figure: 1-rail system；4-cradle head mechanism；5-imaging device；6-controls device；10-the first rectilinear orbit；11-the first slide block；12-the first motor；13-the first limit switch；14-the second limit switch；15-the first mechanical position limitation；16-the second mechanical position limitation；20-the second rectilinear orbit；21-the second slide block；22-the second motor；25-the 3rd mechanical position limitation；26-the 4th mechanical position limitation；30-the 3rd rectilinear orbit；31-sports platform；32-the 3rd motor 12；33-the 3rd limit switch；34-the 4th limit switch；35-the 5th mechanical position limitation；36-the 6th mechanical position limitation；41-mounting seat；42-pose guiding mechanism；43-docking mechanism；51-clamping mechanism；52-CCD camera；61-industrial computer；62-PMAC motion control card；63-control line；7-ground object model。
Detailed description of the invention
For summary of the invention of the present utility model, feature and effect can be further appreciated that, hereby enumerate following example, and it be as follows to coordinate accompanying drawing to describe in detail:
Referring to Fig. 1, a kind of five degree of freedom aerial photogrammetry simulation system, including guide track system 1, cradle head mechanism 4, imaging device 5 and control device 6。
Described guide track system 1 is usually fixed at interior space top, if must be provided with in outdoor, needs system is installed additional dust cover。Described guide track system 1 includes three rectilinear orbits and a sports platform 31, wherein the first line slideway 10 and the second line slideway 20 are arranged in parallel in horizontal plane, 3rd line slideway 30 is across on described first line slideway 10 and described second line slideway 20, and the 3rd line slideway 30 is formed be slidably connected with described first line slideway 10 and described second line slideway 20；Described sports platform 31 is slidably connected at the lower section of described 3rd line slideway 30。When three rectilinear orbit routing motions, it may be achieved sports platform 31 is the motion of arbitrary trajectory in the plane of track place。
Described cradle head mechanism 4 is fixedly mounted on the lower section of described sports platform 31, and described cradle head mechanism 4 can realize the motion of a translational degree of freedom and two rotational freedoms。
Described imaging device 5 is fixedly installed in the bottom of described cradle head mechanism 4, is used for obtaining aerial photograph。
Described control device 6 is operatively controlled the motion on described rail system 1 of the described sports platform 31 and the imaging device 5 motion on described cradle head mechanism 4, and then realizes three translational degree of freedom of imaging device 5 and the motion of two rotational freedoms。
In the present embodiment, cradle head device 4 includes the mounting seat 41 set gradually from top to bottom, pose guiding mechanism 42 and docking mechanism 43, mounting seat 41 is fixedly installed on the lower section of described sports platform 31, for connecting sports platform 31 and pose guiding mechanism 42, described pose guiding mechanism 42 is installed on below described mounting seat 41, and this pose guiding mechanism 42 can realize the translational motion of vertical direction and around the rotary motion of two orthogonal horizontal axis, flying height for simulated flight device, the angle of pitch and roll angle, docking mechanism 43 is fixedly installed in the end of pose guiding mechanism 42, for connecting pose guiding mechanism 42 and imaging device 5。Described imaging device 5 includes clamping mechanism 51 and CCD camera 52, clamping mechanism 51 is fixedly installed in the lower section of docking mechanism 43, for connecting docking mechanism 43 and CCD camera 52, the fine-tuning position of CCD camera 52 it is clamped in the lower section of described clamping mechanism 51, the position of fine setting CCD camera 52 is the center of gravity in order to adjust system motion parts, to realize system exercise performance more smoothly。
Described control device 6 includes industrial computer 61 and PMAC motion control card 62, described industrial computer 61 can according to teaching or scientific research need to automatically generate the movement locus of imaging device 5, and receive, store, process aerial photograph, described PMAC motion control card 62 is embedded in described industrial computer 61, described PMAC motion control card 62 obtains movement instruction with described industrial computer 61 real-time Communication for Power, and control the motion of described rail system 1 and described cradle head mechanism 4, make described imaging device 5 realize the motion of three translational degree of freedom and two rotational freedoms。Described 3rd rectilinear orbit 30 is connected with described first rectilinear orbit 10 by the first slide block 11, it is connected with described second rectilinear orbit 20 by the second slide block 21, described first slide block 11 is driven by the first drive mechanism by the first motor 12, described first motor 12 is arranged on one end of described first rectilinear orbit 10, described second slide block 21 is driven by the second drive mechanism by the second motor 22, and described second motor 22 is arranged on one end of described second rectilinear orbit 20；Described sports platform 31 is driven by the 3rd drive mechanism by the 3rd motor 32。Described first motor 12, described second motor 22 and described 3rd motor 32 are connected respectively through a control line 63 with described PMAC motion control card 62, and described first motor 12 and the run-in synchronism under the control of described PMAC motion control card 62 of described second motor 22。In one end of described first line slideway 10, the first limit switch 13 is installed, the other end is provided with the second limit switch 14, in one end of described 3rd line slideway 30, the 3rd limit switch 33 is installed, the other end is provided with the 4th limit switch 34, and described first limit switch 13, described second limit switch 14, described 3rd limit switch 33 are all connected with described PMAC motion control card 62 with described 4th limit switch 34。When moving component moves in the working range of limit switch, limit switch can transmit a signal to PMAC motion control card 62 and then the movement instruction that halt system is carrying out, it is to avoid the generation of accident。Being provided with the first mechanical position limitation 15 in one end of described first line slideway 10, the other end is provided with the second mechanical position limitation 16；Being provided with the 3rd mechanical position limitation 25 in one end of described second line slideway 20, the other end is provided with the 4th mechanical position limitation 26；Being provided with the 5th mechanical position limitation 35 in one end of described 3rd line slideway 30, the other end is provided with the 6th mechanical position limitation 36。When limit switch break down and can not the parts of stop motion in time beyond the motion of stroke range time, mechanical position limitation will mechanically block the motion of moving component, preventing moving component from slipping from track, now operator need to cut off the electricity supply in time, and system is carried out maintenance work。
Referring to Fig. 2, this utility model is taken the photograph data processing technique combine with ground object model 7, boat, for teaching and the scientific research of the subjects such as Photogrammetry and Remote Sensing。
Principle of the present utility model is: analog imaging device carries out the position in aerophotogrammetry process and attitude with aircraft, specifically, this system can follow aircraft translation in three dimensions and imaging device self relative to the pitching of aircraft and rolling movement by analog imaging device, making this system can meet the teaching demand of photogrammetric relevant speciality, can carry out scientific research for photogrammetric technical professional again provides experimental assembly。
Although preferred embodiment of the present utility model being described above in conjunction with accompanying drawing; but this utility model is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is merely schematic; it is not restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; without departing under this utility model objective and scope of the claimed protection situation, it is also possible to making a lot of form, these belong within protection domain of the present utility model。
Claims (8)
1. a five degree of freedom aerial photogrammetry simulation system, it is characterised in that include guide track system, cradle head mechanism, imaging device and control device；
Described guide track system includes three rectilinear orbits and a sports platform, wherein the first line slideway and the second line slideway are arranged in parallel in horizontal plane, 3rd line slideway is across on described first line slideway and described second line slideway, and the 3rd line slideway is formed be slidably connected with described first line slideway and described second line slideway；Described sports platform is slidably connected at the lower section of described 3rd line slideway；
Described cradle head mechanism is fixedly mounted on the lower section of described sports platform, and described cradle head mechanism can realize the motion of a translational degree of freedom and two rotational freedoms；
Described imaging device is fixedly installed in the bottom of described cradle head mechanism；
Described control device is operatively controlled the motion on described rail system of the described sports platform and imaging device motion on described cradle head mechanism。
2. five degree of freedom aerial photogrammetry simulation system according to claim 1, it is characterized in that, described cradle head mechanism includes the mounting seat, pose guiding mechanism and the docking mechanism that set gradually from top to bottom, described mounting seat is fixed on the lower section of described sports platform, described pose guiding mechanism is installed on the lower section of described mounting seat, described pose guiding mechanism can realize the translational motion of vertical direction and around the rotary motion of two orthogonal horizontal axis, and described docking mechanism is fixedly installed in the end of described pose guiding mechanism。
3. five degree of freedom aerial photogrammetry simulation system according to claim 1, it is characterized in that, described imaging device includes clamping mechanism and CCD camera, and described clamping mechanism is fixedly installed in the lower section of described docking mechanism, and described CCD camera is clamped in the lower section of described clamping mechanism。
4. five degree of freedom aerial photogrammetry simulation system according to claim 1, it is characterized in that, described control device includes industrial computer and PMAC motion control card, described industrial computer is for generating the movement locus of described imaging device, and receive, storage, process aerial photograph, described PMAC motion control card is embedded in described industrial computer, described PMAC motion control card obtains movement instruction with described industrial computer real-time Communication for Power, and control described rail system and the motion of described cradle head mechanism, described imaging device is made to realize the motion of three translational degree of freedom and two rotational freedoms。
5. five degree of freedom aerial photogrammetry simulation system according to claim 1, it is characterized in that, described 3rd rectilinear orbit is connected with described first rectilinear orbit by the first slide block, it is connected with described second rectilinear orbit by the second slide block, described first slide block is driven by the first drive mechanism by the first motor, described first motor is arranged on one end of described first rectilinear orbit, described second slide block is driven by the second drive mechanism by the second motor, and described second motor is arranged on one end of described second rectilinear orbit；Described sports platform is driven by the 3rd drive mechanism by the 3rd motor。
6. five degree of freedom aerial photogrammetry simulation system according to claim 4, it is characterized in that, in one end of described first line slideway, the first limit switch is installed, the other end is provided with the second limit switch, in one end of described 3rd line slideway, the 3rd limit switch is installed, the other end is provided with the 4th limit switch, and described first limit switch, described second limit switch, described 3rd limit switch are all connected with described PMAC motion control card with described 4th limit switch。
7. the five degree of freedom aerial photogrammetry simulation system according to claim 1 or 6, it is characterised in that being provided with the first mechanical position limitation in one end of described first line slideway, the other end is provided with the second mechanical position limitation；Being provided with the 3rd mechanical position limitation in one end of described second line slideway, the other end is provided with the 4th mechanical position limitation；Being provided with the 5th mechanical position limitation in one end of described 3rd line slideway, the other end is provided with the 6th mechanical position limitation。
8. five degree of freedom aerial photogrammetry simulation system according to claim 4, it is characterized in that, described 3rd rectilinear orbit is connected with described first rectilinear orbit by the first slide block, it is connected with described second rectilinear orbit by the second slide block, described first slide block is driven by the first drive mechanism by the first motor, described first motor is arranged on one end of described first rectilinear orbit, described second slide block is driven by the second drive mechanism by the second motor, and described second motor is arranged on one end of described second rectilinear orbit；Described sports platform is driven by the 3rd drive mechanism by the 3rd motor；Described first motor, described second motor and described 3rd motor are connected with described PMAC motion control card respectively, and the run-in synchronism under the control of described PMAC motion control card of described first motor and described second motor。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521138945.6U CN205333065U (en) | 2015-12-29 | 2015-12-29 | Five degree of freedom aerial photogrametry analog system |
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| CN201521138945.6U CN205333065U (en) | 2015-12-29 | 2015-12-29 | Five degree of freedom aerial photogrametry analog system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105651259A (en) * | 2015-12-29 | 2016-06-08 | 天津大学 | Five-degree-of-freedom aerial photograph measurement simulation system |
| CN110986886A (en) * | 2019-12-18 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Double-camera dynamic rotation scanning three-dimensional imaging simulation device |
| CN114935331A (en) * | 2022-05-27 | 2022-08-23 | 中国科学院西安光学精密机械研究所 | Aerial camera dynamic imaging ground test system and test method |
-
2015
- 2015-12-29 CN CN201521138945.6U patent/CN205333065U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105651259A (en) * | 2015-12-29 | 2016-06-08 | 天津大学 | Five-degree-of-freedom aerial photograph measurement simulation system |
| CN110986886A (en) * | 2019-12-18 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Double-camera dynamic rotation scanning three-dimensional imaging simulation device |
| CN114935331A (en) * | 2022-05-27 | 2022-08-23 | 中国科学院西安光学精密机械研究所 | Aerial camera dynamic imaging ground test system and test method |
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Granted publication date: 20160622 Termination date: 20161229 |