CN212007200U

CN212007200U - Swinging type multi-view aviation oblique photography camera

Info

Publication number: CN212007200U
Application number: CN202020619452.9U
Authority: CN
Inventors: 韩贵丞; 王崇儒; 王跃明; 丁炳耀; 郁洪轩; 徐永平; 徐敏; 刘军
Original assignee: Shanghai Institute of Technical Physics of CAS
Current assignee: Shanghai Institute of Technical Physics of CAS
Priority date: 2020-04-23
Filing date: 2020-04-23
Publication date: 2020-11-24
Anticipated expiration: 2030-04-23

Abstract

The patent discloses a formula of sweeping many visual angles aviation oblique photography camera, its structure includes: the system comprises a base mounted on an aircraft, a pitching ring frame connected to the base through a pitching shaft, a rolling ring frame connected to the pitching ring frame through a rolling shaft, a pitching shaft servo motor driving the pitching shaft, a rolling shaft servo motor driving a rolling shaft, and a vertical shooting unit and an oblique shooting unit fixed on the rolling ring frame. The aerial oblique photography camera has the advantages of large shooting area and high shooting efficiency, can realize oblique photography in at most nine directions, solves the technical problem of large-view-field high-resolution three-dimensional surveying and mapping under the condition of high speed and high ratio flight, and has the capability of resisting the disturbance of the attitude of an aircraft.

Description

Swinging type multi-view aviation oblique photography camera

Technical Field

The patent relates to an aerial oblique photography camera, in particular to an aerial oblique photography camera and an imaging method capable of achieving large-view-field high-resolution three-dimensional surveying and mapping under a high-speed high-ratio flight condition.

Background

The oblique photography technology is a high and new technology developed in the international surveying and mapping field in recent years, which overturns the limitation that the original positive photography image can only be shot from a vertical angle, and not only can truly reflect the ground feature condition and obtain object texture information with high precision by carrying a plurality of sensors on the same flight platform and simultaneously acquiring images from different angles, but also can generate a real three-dimensional city model through advanced technologies of positioning, fusion, modeling and the like.

The aviation oblique photography device who uses at present generally adopts a plurality of built-in cameras, through putting of different angles, realizes a plurality of angles and shoots to acquire the panoramic picture on ground. Or in order to reduce the weight and the cost of the whole machine, a built-in camera is rotated to realize multi-angle shooting.

Chinese patent 201310019024.7 discloses an economical airborne oblique digital aerial photography system, which comprises four oblique photography units, namely front, rear, left and right, a vertical photography unit, a connection base plate, a miniature GPS navigator, and a system controller. Each shooting unit consists of a CCD working camera, a camera fixing piece, a camera rotating seat and a camera protective cover, the four oblique shooting units can rotate for a plurality of angles around the plane of the connecting bottom plate, and the vertical shooting unit is vertically fixed on the plane of the connecting bottom plate; the camera control line and the power line are connected with the system controller through the junction box, and the data output port of the GPS navigator is connected with the system controller. All devices of the system except the controller are fixed on the connecting bottom plate, and the system realizes isochronous or equidistant photography and synchronous acquisition of GPS navigation data through the system controller. The system realizes shooting at a plurality of angles by rotating the shooting unit so as to acquire panoramic images of the ground.

Chinese patent 201510789184.9 discloses a single-camera oblique image acquisition device and an acquisition method. The device comprises a camera, a first rotary joint connected with the aircraft and a second rotary joint connected with the camera; the first rotary joint comprises a first motor and a first rotating arm, and the second rotary joint comprises a second motor and a second rotating arm; the first motor is connected with a fixed end of a first rotating arm, a free end of the first rotating arm is connected with a second motor, the second motor is connected with a fixed end of a second rotating arm, and the camera is fixedly arranged at the free end of the second rotating arm; the motor drives the rotating arm I to rotate along a first direction so as to adjust a first inclination angle of the camera; the second motor drives the second rotating arm to rotate along a second direction so as to adjust a second inclination angle of the camera; the first direction plane is perpendicular to the second direction.

The defects of the technical scheme are as follows:

1. the rotation period of the camera is long, and large-view-field imaging cannot be performed under the condition of high-speed-to-high-ratio flight;

2. image motion compensation cannot be realized, and the shooting quality is seriously reduced under the conditions of high-speed high-ratio flight or long exposure time;

3. in order to obtain a high-definition image, a stable platform needs to be connected externally, the outer envelope of the equipment is severely limited, and the overall volume and weight are increased.

Disclosure of Invention

This patent has solved the three-dimensional mapping technical problem of big visual field high resolution under the high-speed high-ratio flight condition to have the ability of anti aircraft gesture disturbance, solve the thinking as follows:

this patent adopts the pendulum to sweep broad width imaging technique, image motion compensation technique, compound stable imaging technique and polyphaser visual field concatenation technique and combines vertical photography unit and oblique photography unit, has realized neotype aviation oblique photography. The sweep wide-width imaging technology utilizes high-speed high-precision sweep motion in the wing span direction of the rolling shaft to be matched with the vertical photographing unit and the oblique photographing unit to obtain images of the ground object in nine directions at most, namely left front view, left lower view, left rear view, front view, rear view, right front view, right lower view and right rear view, so as to realize three-dimensional imaging; the image motion compensation technology utilizes the pitch axis to rotate along the opposite direction of the flying direction of the aircraft during the working period of the camera, thereby not only compensating the image motion in the flying direction during the exposure period of the camera and avoiding the imaging image motion caused under the condition of high-speed high-ratio flying, but also keeping the sweep scanning lines parallel along the wingspan direction; the composite stabilization technology utilizes a roll and pitch two-axis structure, and superposes an attitude compensation command while performing sweeping and image motion compensation motion, so that the visual axis of the camera is not disturbed by the attitude change of the aircraft; in addition, each group of camera units can be provided with a plurality of cameras to utilize a field splicing technology, and meanwhile, the cameras are exposed and imaged for multiple times in the swinging and scanning process, so that a transverse field with a considerable width can be obtained, large field coverage in the wingspan direction can be realized even under the condition of high-speed-to-high-ratio flight, and the contradiction between high-speed-to-high ratio and high-field-to-high-resolution in three-dimensional oblique photography is solved. The concrete implementation is as follows:

the specific structure of the patent is shown in fig. 1-2, and comprises a base 1, a pitching ring frame 2, a rolling ring frame 3, a pitching axis servo motor 4, a rolling axis servo motor 5, an attitude sensor 6, a vertical shooting unit 7 and an oblique shooting unit 8.

The base 1 is mounted at the bottom of a fixed-wing aircraft, a transverse rolling shaft is parallel to the flight direction of the aircraft, a pitching shaft is parallel to the wingspan direction of the aircraft, a pitching shaft servo motor 4 is directly mounted on the pitching shaft, a pitching ring frame 2 is connected with the base 1 through the pitching shaft, a transverse rolling shaft servo motor 5 is directly mounted on the transverse rolling shaft, a transverse rolling ring frame 3 is connected with the pitching ring frame 2 through the transverse rolling shaft, two photographing units are fixed on the transverse rolling ring frame 3, a vertical downward-looking mounting mode is adopted for a vertical photographing unit 7, a forward-inclined mounting mode of 20-60 degrees is adopted for an inclined photographing unit 8, an attitude sensor 6 is arranged on the base 1 and is rigidly connected with the base 1, and a swinging-scanning type multi-view-angle aerial inclined photographing camera.

The vertical photographing unit 7 comprises two independent cameras, optical axes of the two independent cameras are coplanar and symmetrical relative to a vertical plane where the flight direction is located, and the optical axes are arranged in a crossed manner to ensure that the visual fields of the two cameras are overlapped by 0.5-2 degrees; the oblique photography unit 8 also comprises two independent cameras, the optical axes of the two independent cameras are coplanar and symmetrical relative to the vertical plane where the flight direction is located, and the optical axes are arranged in a crossed manner, so that the visual fields of the two cameras are enabled to be overlapped by 0.5-2 degrees.

The specific working mode of the swing scanning wide-range imaging and image motion compensation is as follows: when the camera works, the transverse rolling shaft servo motor 5 drives the transverse rolling ring frame 3 to perform swinging and sweeping motion perpendicular to the motion direction of the carrier, the swinging and sweeping are stopped when the transverse rolling shaft servo motor is in a proper angle, the camera performs exposure imaging at the moment, the swinging and sweeping are continued after the exposure is completed, at least one exposure imaging is performed on the left side and the right side of the carrier respectively, the pitching shaft servo motor 4 drives the pitching ring frame 2 to move along the motion direction of the carrier along the same angular velocity during the exposure imaging, image movement caused by the motion of the carrier during the exposure imaging is compensated, and meanwhile, the swinging and sweeping scanning rows are kept parallel along the wingspan direction.

The specific working mode of the composite stable working principle is as follows: when the camera works, the attitude sensor 6 acquires real-time attitude information of the aircraft, and the controller superposes a reverse attitude change command while the camera performs sweep wide-width imaging and image motion compensation according to the real-time attitude information, so that the visual axis of the camera is not disturbed by the attitude change of the aircraft.

According to another specific embodiment of the present disclosure, the oblique photography camera specifically works as shown in fig. 3, the aircraft flies along a horizontal opposite flight line, when imaging is started, the imaging module is stabilized on the left side of the aircraft along with the rolling circle frame, at this time, the vertical photography unit and all the cameras of the oblique photography unit are in linkage exposure imaging to obtain right downward-looking and right forward-looking images of the target, after exposure, the rolling circle frame drives the imaging module to swing rapidly to the right below the aircraft, and then exposure imaging is performed again to obtain right downward-looking and right forward-looking images of the target, and then swing again to stop at the right side of the aircraft to obtain left downward-looking and left forward-looking images of the target, and finally return to the starting position rapidly in the opposite direction to perform the next. During the period, the pitching shaft rotates along the opposite direction of the flying direction of the aircraft when the rolling shaft swings forwards, the rotation angular rate is the same as the flying angular rate, the image motion in the flying direction is compensated, meanwhile, the sweep scanning line is kept parallel along the wingspan direction, and the sweeping scanning line returns while the rolling shaft returns quickly. And when the swinging and image motion compensation move, the controller superposes an attitude compensation command according to the attitude information of the aircraft, so that the visual axis of the camera is not disturbed by the attitude change of the aircraft. And in the next flying line pair, images of the left back view, the front back view and the right back view of the target can be acquired, and finally, the nine-view-angle image acquisition of the ground target is realized, so that the large-view-field high-resolution three-dimensional surveying and mapping under the condition of high speed-to-height ratio is realized.

Drawings

FIG. 1 is a front view of a pan-type multi-view oblique photography camera configuration;

FIG. 2 is a bottom view of a pan-tilt multi-view oblique photography camera configuration;

wherein: 1. a base; 2. a pitching ring frame; 3. a roll ring frame; 4. a pitch axis motor; 5. a transverse roller motor; 6. an attitude sensor; 7. a vertical photographing unit; 8. an oblique photographing unit.

Fig. 3 is a schematic diagram of the operational principle of a tilt camera.

Detailed Description

A preferred embodiment of this patent is given below in conjunction with fig. 1-2:

the embodiment comprises four identical independent cameras, the field angle of each camera is 54.4 degrees x37.8 degrees, the short sides of every two cameras are spliced, the field overlap angle is 2 degrees, the field angle of the spliced two photographing units is 54.4 degrees x73.6 degrees, the vertical photographing unit adopts a vertical downward-looking mounting mode, the oblique photographing unit adopts a 45-degree forward-oblique mounting mode, the two photographing units are arranged in the wingspan direction by long sides, the in-line overlapping rate is 35 percent during imaging work, the 121.4-degree wingspan field can be obtained through two-time swinging imaging in one period, the inter-line overlapping rate is 75 percent, the highest speed-height ratio can be adapted to 0.3, the function of a stable platform is combined, the large-field high-resolution three-dimensional surveying and mapping under the condition of the large speed-height ratio is realized, and the capability of resisting airplane attitude disturbance is realized.

Although the present disclosure has been described with reference to preferred embodiments, it is not intended to limit the scope of the disclosure. It will be apparent to those skilled in the art that various modifications may be made without departing from the scope of the invention, and all equivalent modifications made in accordance with the present invention are intended to be covered by the scope of the present invention.

Claims

1. A sweep-type multi-view aerial oblique photography camera comprises a base (1), a pitching ring frame (2), a rolling ring frame (3), a pitching axis servo motor (4), a rolling axis servo motor (5), an attitude sensor (6), a vertical photography unit (7) and an oblique photography unit (8),

the base (1) is mounted at the bottom of a fixed-wing aircraft, a roll shaft is parallel to the flight direction of the aircraft, a pitch shaft is parallel to the span direction of the aircraft, a pitch shaft servo motor (4) is directly mounted on the pitch shaft, a pitch ring frame (2) is connected with the base (1) through the pitch shaft, a roll shaft servo motor (5) is directly mounted on the roll shaft, a roll ring frame (3) is connected with the pitch ring frame (2) through the roll shaft, two photographing units are fixed on the roll ring frame (3), a vertical downward-looking mounting mode is adopted for a vertical photographing unit (7), a forward inclined mounting mode of 20-60 degrees is adopted for an inclined photographing unit (8), an attitude sensor (6) is arranged on the base (1) and is rigidly connected with the base (1), and a swing-scanning type multi-view-angle aviation inclined photographing camera structure is formed.

2. A swept-type multi-view aerial tilt photography camera according to claim 1, wherein the vertical photography unit (7) comprises two independent cameras, the optical axes of the two independent cameras are coplanar and symmetrical with respect to a vertical plane in which the flight direction is located, and the optical axes are arranged in a crossed manner to ensure that the fields of view of the two cameras overlap by 0.5 ° to 2 °.

3. A swept-type multi-view aerial oblique photography camera according to claim 1, wherein the oblique photography unit (8) comprises two independent cameras, the optical axes of the two independent cameras are coplanar and symmetrical with respect to a vertical plane in which the flight direction is located, and the optical axes are arranged in a crossed manner to ensure that the fields of view of the two cameras overlap by 0.5 ° to 2 °.