CN216622953U - Ultra-wide viewing angle live-action three-dimensional data acquisition device - Google Patents
Ultra-wide viewing angle live-action three-dimensional data acquisition device Download PDFInfo
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- CN216622953U CN216622953U CN202122597766.0U CN202122597766U CN216622953U CN 216622953 U CN216622953 U CN 216622953U CN 202122597766 U CN202122597766 U CN 202122597766U CN 216622953 U CN216622953 U CN 216622953U
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Abstract
The utility model relates to an ultra-wide viewing angle live-action three-dimensional data acquisition device, which comprises an ultra-wide viewing angle camera set. In the ultra-wide viewing angle live-action three-dimensional data acquisition device, the ultra-wide viewing angle camera set comprises 6 sets of cameras, the cameras are oblique cameras, the long sides of the 6 sets of cameras are perpendicular to the flight direction of the unmanned aerial vehicle, the 6 sets of cameras are divided into 3 sets of front and back cameras, the middle cameras of the 3 sets of front cameras are perpendicular to the ground and face forward inclination angles of 30 degrees, the left and right cameras of the 3 sets of front cameras are respectively 1 camera at the left and right, the left and right inclination angles of 29 degrees after the front inclination angles of 30 degrees are formed, and the overlapping of images shot by the left and right cameras and images shot by the middle cameras is 20 percent; the rear 3 sets of middle cameras are inclined backward by 30 degrees perpendicular to the ground, the left and right of each of the rear 3 sets of cameras are inclined backward by 30 degrees by 29 degrees, and the images shot by the left and right cameras and the image shot by the middle camera are overlapped by 20 percent.
Description
Technical Field
The utility model relates to the field of aerial survey, in particular to an ultra-wide viewing angle live-action three-dimensional data acquisition device.
Background
The natural resource part starts the basic mapping planning and compiling work of fourteen five in 2019, and promotes the directional consolidation of the construction and refinement of a national mapping reference system, the real-scene three-dimensional Chinese construction, the marine mapping, the inland underwater mapping and the like to form large projects and large projects. In recent years, live-action three-dimensional construction is already developed and applied in partial areas of China, and the live-action three-dimensional construction needs to be completed in the range of 960 ten thousand square kilometers, which is a big opportunity brought to the geographic information industry by the natural resources department.
The live-action three-dimensional China mainly comprises three levels: terrain level, city level, component level. From the content and the use of three levels, the terrain level and city level construction has more basic and commonality attributes, and the component level construction emphasizes meeting the personalized requirements. The oblique photography better than 10cm is the heavy head game of the terrain level in the whole live-action three-dimensional China, the conventional oblique photography is completed by adopting a manned plane or a large unmanned plane to carry a 5-lens oblique camera when a large area is completed, and the conventional five-lens oblique photography has low acquisition efficiency and large redundant data and is not suitable for acquiring large-area live-action three-dimensional data.
SUMMERY OF THE UTILITY MODEL
Technical problem solved by the utility model
In recent years, live-action three-dimension is already developed and applied in partial areas of China, live-action three-dimension construction needs to be completed in the range of 960 ten thousand square kilometers, a large-area shooting device needs to be aimed at, conventional oblique photography is completed by adopting a manned aircraft or a large unmanned aerial vehicle to carry a 5-lens oblique camera, the manned aircraft carries a wide-view-angle oblique camera, manpower and material resources are too large, if the unmanned aerial vehicle carrying a large load is used to carry the 5-lens oblique camera, the efficiency is low, and the acquisition area is small in the case of acquiring large-area live-action three-dimension data within the same airspace allowable flight time.
Means for solving the problems
In view of the above problems, the present inventors have studied and made the following technical solutions to solve the above problems.
1. An ultra-wide viewing angle live-action three-dimensional data acquisition device, comprising:
super wide viewing angle camera group.
2. The ultra-wide viewing angle live-action three-dimensional data acquisition apparatus according to item 1, wherein,
the ultra-wide viewing angle camera set comprises 6 sets of cameras.
3. The ultra-wide viewing angle live-action three-dimensional data acquisition apparatus according to item 1 or 2, wherein,
the camera is a tilt camera.
4. The ultra-wide viewing angle live-action three-dimensional data acquisition apparatus according to item 1 or 2, wherein,
the long sides of the 6 sets of cameras are perpendicular to the flight direction of the unmanned aerial vehicle, the 6 sets of cameras are divided into 3 sets of front and back cameras respectively, the front 3 sets of middle cameras are perpendicular to the ground and face forward inclination angles of 30 degrees, the left and right cameras of the front 3 sets of cameras are 1 camera respectively and face backward inclination angles of 30 degrees and are 29 degrees, and the images shot by the left and right cameras and the images shot by the middle cameras are overlapped by 20 percent; the rear 3 sets of middle cameras are inclined towards the ground by 30 degrees towards the backward direction, the left camera and the right camera of the rear 3 sets of cameras are respectively inclined towards the left and the right by 29 degrees towards the backward direction after the backward inclination angle is 30 degrees, and the images shot by the left camera and the right camera are overlapped with the images shot by the middle camera by 20 percent.
5. The ultra-wide viewing angle live-action three-dimensional data acquisition apparatus according to item 1 or 2, wherein,
the camera includes a camera motherboard, a CMOS, and a lens.
6. The ultra-wide viewing angle live-action three-dimensional data acquisition apparatus according to item 1 or 2, wherein,
the size of the CMOS is 35.7mm multiplied by 23.8mm, the pixel is 9600x6400, the total pixel number exceeds 6100 ten thousand, and the focal length of the lens is 50 mm.
7. The ultra-wide viewing angle live-action three-dimensional data acquisition device according to item 1 or 2, wherein the acquisition device does not comprise a camera housing, a metal framework, a screen, an anti-shake device and a battery.
8. The ultra-wide viewing angle live-action three-dimensional data acquisition device according to item 1 or 2, further comprising a camera power supply interface, a data storage and a camera control trigger interface, wherein the unmanned aerial vehicle can control the camera to shoot and expose through the camera control trigger interface, and can provide a power supply function through the camera power supply interface.
The utility model realizes the effect
The utility model provides a real-scene three-dimensional data acquisition device based on an ultra-wide viewing angle, which comprises 6 sets of cameras. Compared with a 5-lens oblique camera adopted in the prior art, the live-action three-dimensional data acquisition device disclosed by the utility model can greatly and efficiently improve the operation efficiency of the unmanned aerial vehicle under the condition of ensuring the image quality and the shooting efficiency.
In addition, the ultra-wide visual angle live-action three-dimensional data acquisition device adopts a CMOS with the size of 35.7mm multiplied by 23.8mm and the pixel of 9600x6400, 6 sets of cameras with the focal length of 50mm are adopted, the total pixel is 3.66 hundred million pixels, the long sides of the 6 sets of cameras are vertical to the flight direction of the unmanned aerial vehicle, the 6 sets of cameras are divided into 3 sets of front and back cameras, the front 3 sets of middle cameras are vertical to the ground and face forward inclination angles of 30 degrees, the left and right inclination angles of the front 3 sets of cameras are 29 degrees after the front inclination angles of 30 degrees, and the images shot by the left and right cameras are overlapped with the images shot by the middle cameras by 20 percent; the rear 3 sets of middle cameras are inclined towards the ground by 30 degrees towards the backward direction, the left camera and the right camera of the rear 3 sets of cameras are respectively inclined towards the left and the right by 29 degrees towards the backward direction after the backward inclination angle is 30 degrees, and the images shot by the left camera and the right camera are overlapped with the images shot by the middle camera by 20 percent. Therefore, on one hand, the breadth of the heading data is increased, on the other hand, the photos of the 6 cameras have inclination angles and can be overlapped, the size of the synthesized CMOS of the three cameras is 88.8x23.8mm, the pixel is 24000x6400, and the combined pixel exceeds 1.5 hundred million pixels. The size and the pixel number of the CMOS of the three rear cameras are the same as those of the three front cameras, on one hand, the width of course data is increased, on the other hand, the front and rear inclination can be considered, the cameras are overlapped, images with ground resolution better than 8cm can be obtained under the condition of the aircraft height of 1000m, the three-dimensional modeling requirements can be met under the conditions of the aircraft direction overlapping degree of 80% and the side direction overlapping of 60%, the length of a photo shot by each camera is 1860m, the width of the photo is 475m, 1.5km of each aircraft route is extended according to a certain area of 50kmx50km, 67 routes need to be flown, the length of each route is 53km, and the total length of the routes is 3551 km. Calculating according to the speed per hour of 110km, and flying for 32 hours;
if a conventional 5-lens is used, 90 hours of flight are required. Meanwhile, the data volume of the traditional 5-camera is 3 times that of the traditional 6-camera, redundant data are more, the post-data processing time is long, and a data processing server is wasted.
Drawings
FIG. 1 is an optical axis diagram of a camera of the ultra-wide viewing angle live-action three-dimensional data acquisition device of the present invention;
FIG. 2 is a perspective view of a design of an ultra wide viewing angle live-action three dimensional data acquisition device of the present invention;
FIG. 3 is a top view of a design of the ultra-wide viewing angle live-action three-dimensional data acquisition device of the present invention;
FIGS. 4(1) -4 (3) are side views of a design of the ultra-wide viewing angle live-action three-dimensional data acquisition device of the present invention;
FIG. 5 is a bottom view of one design of the ultra-wide viewing angle live-action three-dimensional data acquisition device of the present invention;
FIG. 6 is a camera distribution diagram of the ultra-wide viewing angle live-action three-dimensional data acquisition device of the present invention;
Detailed Description
The utility model is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and do not limit the utility model.
The utility model relates to an ultra-wide viewing angle live-action three-dimensional data acquisition device, which comprises an ultra-wide viewing angle camera set. The ultra-wide viewing angle camera set comprises 6 sets of cameras, the cameras are oblique cameras, the long sides of the 6 sets of cameras are perpendicular to the flight direction of the unmanned aerial vehicle, the 6 sets of cameras are divided into 3 sets of front and back cameras respectively, the front 3 sets of middle cameras are perpendicular to the ground and face forward inclination angles of 30 degrees, the left and right cameras of the front 3 sets of cameras respectively have 1 left camera and right camera, the left and right inclination angles are 29 degrees after the front inclination angles of 30 degrees, and the images shot by the left and right cameras are overlapped with the images shot by the middle cameras by 20%; the rear 3 sets of middle cameras are inclined towards the ground by 30 degrees towards the backward direction, the left camera and the right camera of the rear 3 sets of cameras are respectively inclined towards the left and the right by 29 degrees towards the backward direction after the backward inclination angle is 30 degrees, and the images shot by the left camera and the right camera are overlapped with the images shot by the middle camera by 20 percent.
1. Relating to CMOS and camera arrangements in camera sets
The camera arrangement used in the present invention (fig. 6) will be compared with the prior art tilt camera set with reference to the drawings. The concrete description is as follows.
The situation of the existing tilt camera set is as follows:
the number of the oblique cameras is 6, the long edges of the 6 sets of cameras are perpendicular to the flight direction of the unmanned aerial vehicle, the size of the CMOS is 35.7mm multiplied by 23.8mm, the pixel is 9600x6400, and the focal length is 50 mm.
The oblique camera group of the utility model is arranged as follows:
6 oblique cameras, 6 sets of cameras are divided into 3 sets of front and back cameras respectively, the front 3 sets of middle cameras are inclined forwards at an angle of 30 degrees perpendicular to the ground, the left and right of the front 3 sets of cameras are inclined forwards at an angle of 30 degrees and then inclined leftwards and rightwards at an angle of 29 degrees, and images shot by the left and right cameras and images shot by the middle cameras are overlapped by 20 percent; the rear 3 sets of middle cameras are inclined backward by 30 degrees perpendicular to the ground, the left and right of each of the rear 3 sets of cameras are inclined backward by 30 degrees by 29 degrees, and the images shot by the left and right cameras and the image shot by the middle camera are overlapped by 20 percent.
As can be seen from fig. 6, the left and right cameras of the first three cameras overlap the middle camera by 20%, the combined CMOS size is 88.8 × 23.8mm, the pixel is 24000 × 6400, the combined pixel exceeds 1.5 hundred million pixels, and the same width and pixel are also applied to the last three cameras. The real-scene three-dimensional image with ground resolution better than 8cm can be obtained at the height of 1000m in the aircraft, and the image coverage area of the first three cameras is 1860m x475 m.
2. Regarding the efficiency of photographing
Taking the aerial photography requirement of 2500 square kilometers of the total area of 50x50km in a certain county as an example, the inclined image with the ground resolution being better than 10cm in the area needs to be acquired, the aerial flight height is 1000m, the downward-looking resolution is 8cm, the heading overlap degree is 80% according to the unmanned aerial vehicle flight speed of 110km/h, the two ends of the flight line are expanded by 1.5km, when the side direction overlaps 60%, the flight is required to be carried out for 32h, and when the side direction overlaps 60%, the flight is required to be carried out for 90h by adopting a conventional 5-lens inclined camera. Therefore, the device can efficiently acquire the terrain-level three-dimensional inclined image, and the original time can be shortened by over 60 percent.
On the other hand, by adopting the device, the flying height is 1000m, the heading overlapping degree of the camera is 80%, the side direction overlapping degree is 60%, and the data volume is 1/3 of the conventional 5-lens oblique camera, so that the data volume can be greatly reduced, and the later-stage data processing speed is improved.
3. About this device
The ultra-wide viewing angle live-action three-dimensional data acquisition device can select a commercially-sold shooting device. A sony A7R4 camera is used in this application. The selected sony A7R4 camera has the weight of 665g and the weight of 240g lens, and if the camera is directly installed by 6 sets of cameras and contains a shell, electronic control and the like, the weight of the whole camera set is about 6kg, so that the endurance of the unmanned aerial vehicle is greatly shortened.
Therefore, the selected camera and lens are further subjected to weight reduction processing in the present invention. The body of the sony A7R4 camera is disassembled to remove parts irrelevant to the photographing function, such as the camera housing, the metal frame, the screen, the anti-shake device, the battery, etc., and the replaceable parts are replaced by lighter materials. After disassembly, an independent shooting functional body only provided with a main board and a CMOS is formed. The total weight after weight loss was 245 g. A lens adopts a Leica 50mm prime lens, the weight of a single lens is 240g, after weight reduction, a newly manufactured aluminum alloy shell and a Leica lens are adopted, the weight of the rest 60g is obtained after all parts are reduced, the weight of a single set of camera is 350g, and the total weight of the assembled 6 sets of cameras containing a shell and being controlled by an electronic controller is about 2.7 kg.
The reduced weight camera forms a light and small independent shooting device with only a main board, a CMOS and a lens as a whole. From this, nearly 60% of shooting device weight loss has greatly alleviateed unmanned aerial vehicle's load burden. Compared with a 5-lens oblique camera adopted in the prior art, the camera group in the live-action three-dimensional data acquisition device can greatly improve the flight efficiency of the unmanned aerial vehicle and reduce the number of photos under the condition of ensuring the image quality and the shooting efficiency; compare wide visual angle camera group, this device has compromise forward backward inclination, and the outdoor scene three-dimensional data side texture of acquireing is abundanter, and the breadth is also wider visual angle camera group has had 30% promotion. The utility model adopts specific camera layout to enable the ultra-wide viewing angle camera to meet the load of the existing unmanned aerial vehicle, and can efficiently acquire real three-dimensional data, thereby adding tiles for real three-dimensional Chinese construction.
Claims (4)
1. An ultra-wide viewing angle live-action three-dimensional data acquisition device, comprising: super wide viewing angle camera unit, characterized by:
the ultra-wide viewing angle camera set comprises 6 sets of cameras,
the camera is a tilt camera and the camera is a tilt camera,
the long sides of the 6 sets of cameras are perpendicular to the flight direction of the unmanned aerial vehicle, the 6 sets of cameras are divided into 3 sets of front and back cameras respectively, the front 3 sets of middle cameras are perpendicular to the ground and face forward inclination angles of 30 degrees, the left and right cameras of the front 3 sets of cameras are 1 camera respectively and face backward inclination angles of 30 degrees and are 29 degrees, and the images shot by the left and right cameras and the images shot by the middle cameras are overlapped by 20 percent; the rear 3 sets of middle cameras are inclined backward by 30 degrees perpendicular to the ground, the left and right of the rear 3 sets of cameras are respectively inclined backward by 29 degrees after 30 degrees, the images shot by the left and right cameras and the images shot by the middle cameras are overlapped by 20 percent,
the acquisition device does not comprise a shell, a metal framework, a screen, anti-shake equipment and a battery of the camera.
2. The ultra-wide viewing angle live-action three-dimensional data acquisition device as recited in claim 1,
the camera includes a camera motherboard, a CMOS, and a lens.
3. The ultra-wide viewing angle live-action three-dimensional data acquisition device as recited in claim 2,
the size of the CMOS is 35.7mm multiplied by 23.8mm, the pixel is 9600x6400, the total pixel number exceeds 6100 ten thousand, and the focal length of the lens is 50 mm.
4. The ultra-wide viewing angle live-action three-dimensional data acquisition device as claimed in claim 1, further comprising a camera power supply interface, a data storage and a camera control trigger interface, wherein the unmanned aerial vehicle can control the camera to take a picture and expose through the camera control trigger interface, and can provide a power supply function through the camera power supply interface.
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