CN218142176U

CN218142176U - Unmanned aerial vehicle structure for aerial survey

Info

Publication number: CN218142176U
Application number: CN202221127659.XU
Authority: CN
Inventors: 王桦; 袁国武; 张西童
Original assignee: Tianjin Pegasus Robot Technology Co ltd
Current assignee: Tianjin Pegasus Robot Technology Co ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-12-27
Anticipated expiration: 2032-05-11

Abstract

The utility model relates to the technical field of unmanned aerial vehicles for aerial survey, in particular to an unmanned aerial vehicle structure for aerial survey, which comprises a camera carrier for being installed on an unmanned aerial vehicle; the downward-looking camera is fixed on the camera carrier, and the central line of the downward-looking camera is vertically arranged; further comprising: the three strabismus cameras are all fixed on the camera carrier, and the inclination angles of the strabismus cameras are all 45 degrees; the three strabismus cameras are uniformly arranged at the outer side of the downward-looking camera, and the included angle between every two adjacent strabismus cameras is 120 degrees when the upward-looking camera looks up. The utility model discloses can reduce the quantity of camera, improve unmanned aerial vehicle's load and continuation of the journey, can also reduce the shooting blank area between two adjacent strabismus cameras to can ensure or improve and shoot the effect.

Description

Unmanned aerial vehicle structure for aerial survey

Technical Field

The utility model relates to an unmanned air vehicle technical field for aerial survey, in particular to unmanned aerial vehicle structure for aerial survey.

Background

The oblique photography technology is a high and new technology developed in the field of aerial survey in recent years, image data are obtained from different angles through a camera sensor, a real-scene three-dimensional model is presented to a user in the later period, and the user is substituted into a real visual world which accords with human vision. The method overcomes the limitation of the traditional aerial photography and can truly reflect the geographic characteristic situation.

CN207652562U discloses a five-camera oblique photography system based on an unmanned aerial vehicle platform, which mainly comprises four oblique cameras forming 45-degree included angles with the ground, a downward-looking camera vertical to the ground, a control unit for controlling the exposure of the four oblique cameras, the left-right camera and the downward-looking camera, and a tripod head structure for mounting the five cameras and the control unit, wherein the four oblique cameras forming 45-degree included angles with the ground and the camera vertical to the ground are mainly used for collecting image data, a shell structure of the five-camera system connects and fixes all hardware together, and the overall structure is not larger than 230mm × 190mm × 150mm in length × width × height. The system control circuit board is responsible for operation control of the whole five cameras, the control panel is provided with a switch key, a reading state indicator lamp, an SD card and the like, the whole five camera system can be powered by an airplane and also can be powered by a storage battery, and when the storage battery is powered, the battery is stored in the battery box. The whole system is provided with a damping mechanism.

In summary, the prior art has at least the following technical problems,

first, the unmanned aerial vehicle structure for aerial survey of traditional "4+1" camera, its camera quantity is more for unmanned aerial vehicle's load is heavier, leads to unmanned aerial vehicle's continuation of the journey shorter.

Secondly, in the traditional strabismus camera corresponding to the 4 in the 4+1, the strabismus cameras are overlapped in position in the process of going and returning shooting, so that a blank area between two adjacent strabismus cameras is large, and the shooting effect is adversely affected.

SUMMERY OF THE UTILITY MODEL

Therefore, the invention provides an unmanned aerial vehicle structure for aerial survey, which can solve the problems.

In order to solve the technical problem, the utility model provides an unmanned aerial vehicle structure for aerial survey, which comprises a camera carrier for being installed on an unmanned aerial vehicle; the downward-looking camera is fixed on the camera carrier, and the central line of the downward-looking camera is vertically arranged; further comprising: the three strabismus cameras are all fixed on the camera carrier, and the inclination angles of the strabismus cameras are all 45 degrees; the three strabismus cameras are uniformly arranged on the outer side of the downward-looking camera, and the included angle between every two adjacent strabismus cameras is a distribution angle which is 120 degrees when the upward-looking camera is in a looking state.

Optionally, one of the oblique-view cameras is a heading oblique-view camera, and when the unmanned aerial vehicle flies according to a conventional course, the projection of the central line of the heading oblique-view camera on the horizontal plane is parallel to a traveling course in the conventional heading of the unmanned aerial vehicle.

Optionally, the image resolution of the downward-looking camera and the image resolution of the oblique-looking camera are both 1.5cm-3cm.

Optionally, the course overlapping rate of the downward-looking camera and the course overlapping rate of the oblique-looking camera are both 80%; the side overlapping rate of the downward-looking camera and the side overlapping rate of the oblique-looking camera are both 65-75%.

The upper table is a first structural experiment data table of the unmanned aerial vehicle for aerial survey provided by the embodiment of the utility model; the data "80/65" in the "overlap ratio" column indicates "course overlap ratio 80% and side overlap ratio 65%", and the same applies to the "overlap ratio" column in tables two, three, and four, which will be described later.

Go up the table and do the embodiment of the utility model provides an unmanned aerial vehicle structure experiment data table for aerial survey two.

Go up the table and do the embodiment of the utility model provides an unmanned aerial vehicle structure experiment data table for aerial survey is three.

The upper table does the embodiment of the utility model provides an unmanned aerial vehicle structure experiment data table for aerial survey is four.

The technical scheme of the invention has the following advantages: the number of cameras can be reduced, the load and the endurance of the unmanned aerial vehicle are improved, and the shooting blank area between two adjacent strabismus cameras can be reduced, so that the shooting effect can be ensured or improved.

Drawings

Fig. 1 is the embodiment of the utility model provides an unmanned aerial vehicle structure for aerial survey's stereogram.

Fig. 2 is the embodiment of the utility model provides an unmanned aerial vehicle structure for aerial survey's schematic view from the bottom.

Fig. 3 is the embodiment of the utility model provides an unmanned aerial vehicle structure for aerial survey looks sideways at the schematic diagram.

Fig. 4 is a footprint of an unmanned aerial vehicle structure for aerial survey according to an embodiment of the present invention; which displays a footprint area formed by the projection of the shooting area of each camera on the ground.

Fig. 5 is a schematic view of a conventional course when the unmanned aerial vehicle structure for aerial survey provided by the embodiment of the present invention is used; the return of the conventional route is the return of the original route according to the outward route of the conventional route.

Fig. 6 is the utility model provides an unmanned aerial vehicle structure for aerial survey cross the airline schematic diagram when using.

Fig. 7 is a reciprocating footprint of the structure of the unmanned aerial vehicle for aerial survey according to the embodiment of the present invention; the dotted line represents an imaginary boundary of the footprint of the drone 9 on the course of travel, according to the normal course return of said departure.

Fig. 8 is a footprint of a prior art drone structure for aerial surveying of "4+1".

Reference numerals:

arrow one ARR1; LINE1; LINE two LINE2; a downward-looking camera 1; an oblique-view camera 2; an inclination angle 21; a layout angle 22; a course squint camera 7; a camera carrier 8; and an unmanned aerial vehicle 9.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As specific embodiment, the utility model discloses an unmanned aerial vehicle structure for aerial survey of embodiment, it includes:

a camera carrier 8 for mounting on an unmanned aerial vehicle 9;

the downward-looking camera 1 is fixed on a camera carrier 8, and the center line of the downward-looking camera is vertically arranged;

three strabismus cameras 2 are fixed on the camera carrier 8, and the inclination angles 21 of the strabismus cameras 2 are all 45 degrees; the tilt angle 21 is an angle between the center line of the oblique-view camera 2 and the vertical direction.

The three strabismus cameras 2 are uniformly arranged at the outer side of the downward-looking camera 1, the included angle between every two adjacent strabismus cameras 2 is an arrangement angle 22 when looking up, and the arrangement angles 22 are all 120 degrees.

The structure of the one downward-looking camera 1 and the three oblique-looking cameras 2 is simply referred to as "3+1". The traditional structure of one downward-looking camera 1 and four oblique-looking cameras 2 is simply referred to as '4+1'.

As a specific implementation mode, one of the oblique cameras 2 is a heading oblique camera 7, and when the unmanned aerial vehicle 9 flies according to a conventional course, the projection of the center line of the heading oblique camera 7 on the horizontal plane is parallel to a traveling course in the conventional course of the unmanned aerial vehicle 9.

The operating principle is that, before using, the camera carrier 8 is fixed on the unmanned aerial vehicle 9. As shown in fig. 4, when the drone 9 is lifted and stands still, the footprint area is formed by the projection of the shooting area of the camera on the ground. And then processing the photo acquired by the camera into required aerial survey data through the existing processing software such as Context capture/Smart3D and the like, for example, acquiring a live-action three-dimensional model.

As shown in fig. 5, so that the drone 9 flies according to the conventional route shown in fig. 5. In fig. 5, the short horizontal lines without arrows are lateral lines, and the long vertical lines with arrows are heading lines. After the unmanned aerial vehicle 9 finishes the conventional route of the journey, the integral attitude of the unmanned aerial vehicle 9 is unchanged; according to the conventional course return journey of going, when unmanned aerial vehicle 9 is located the flight, as shown in fig. 7, the footprint area (namely, the area of photo shooting) overlap when locating unmanned aerial vehicle 9 in the same position on going, returning, the footprint area of returning can compensate the footprint area of going, compare in traditional "4+1", can reduce the quantity of camera, improve unmanned aerial vehicle 9's load and continuation of the journey, can also reduce the blank area of shooting between two adjacent strabismus cameras 2, thereby can ensure or improve the shooting effect. Furthermore, as shown in tables one and two, it was confirmed through experiments that the photographic effect can be ensured (within 10% of the difference between the photographic effects) or improved.

In one specific embodiment, the image resolution of the downward-view camera 1 and the image resolution of the oblique-view camera 2 are both 1.5cm to 3cm. The image resolution is an actual pixel represented by one pixel of the resolution of the image captured by the camera, for example, the image resolution is 3cm, which means that one pixel represents actual 3cm × 3cm. The image resolution is typically determined by the performance of the camera itself, the focal length of the lens, the flying height, etc. It was confirmed through experiments that this parameter can secure or improve the photographing effect as shown in table three.

As a specific implementation mode, the course overlapping rate of the downward-looking camera 1 and the course overlapping rate of the oblique-looking camera 2 are both 80%; the side overlapping rate of the downward-looking camera 1 and the side overlapping rate of the oblique-looking camera 2 are both 65-75%. The course overlapping rate is the proportion of the partial area of the two adjacent photos overlapping in the heading direction in the area of the shot photos. The partial area of two adjacent photos which are overlapped in the side direction accounts for the proportion of the area of the shot photos. It was confirmed through experiments that the parameters can secure or improve the photographing effect as shown in table one, table two, and table four.

Certainly, the unmanned aerial vehicle structure for aerial survey of the embodiment of the present invention is also applicable to the cross route shown in fig. 6; the shooting effect obtained by the experiment is basically the same as that of the conventional air route.

As used in the present invention, the term: first, second, etc. do not denote any order, quantity, or importance, but rather are used to distinguish one element from another.

As used in the present invention, the term: one, etc. do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.

Claims

1. Unmanned aerial vehicle structure for aerial survey, it includes:

a camera carrier (8) for mounting on an unmanned aerial vehicle (9);

the downward-looking camera (1) is fixed on the camera carrier (8) and the central line of the downward-looking camera is vertically arranged;

the method is characterized by further comprising the following steps:

the three strabismus cameras (2) are all fixed on the camera carrier (8), and the inclination angles (21) of the strabismus cameras (2) are all 45 degrees;

the three strabismus cameras (2) are uniformly arranged on the outer side of the downward-looking camera (1), the included angle between every two adjacent strabismus cameras (2) is an arrangement angle (22) when looking up, and the arrangement angle (22) is 120 degrees.

2. The unmanned aerial vehicle structure for aerial survey as claimed in claim 1, wherein one of the oblique-view cameras (2) is a heading oblique-view camera (7), and when the unmanned aerial vehicle (9) flies according to a regular course, a projection of a center line of the heading oblique-view camera (7) on a horizontal plane is parallel to a traveling course in the regular course of the unmanned aerial vehicle (9).

3. The unmanned aerial vehicle structure for aerial survey according to claim 1, wherein the image resolution of the downward-looking camera (1) and the image resolution of the oblique-looking camera (2) are both 1.5cm to 3cm.

4. The unmanned aerial vehicle structure for aerial survey as claimed in claim 1, wherein the heading overlap ratio of the downward-looking camera (1) and the heading overlap ratio of the oblique-looking camera (2) are both 80%; the side overlapping rate of the downward-looking camera (1) and the side overlapping rate of the oblique-looking camera (2) are both 65-75%.