CN109634292B - Oblique photography aerial photography instrument system - Google Patents
Oblique photography aerial photography instrument system Download PDFInfo
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- CN109634292B CN109634292B CN201811468539.4A CN201811468539A CN109634292B CN 109634292 B CN109634292 B CN 109634292B CN 201811468539 A CN201811468539 A CN 201811468539A CN 109634292 B CN109634292 B CN 109634292B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims abstract description 18
- 238000012937 correction Methods 0.000 claims description 33
- 238000004364 calculation method Methods 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 10
- 230000007306 turnover Effects 0.000 claims description 10
- 238000004088 simulation Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention provides an oblique photography aerial photography instrument system, which comprises an oblique aerial photography instrument and a control system, wherein the oblique aerial photography instrument comprises a tripod head, a supporting plate arranged at the upper part of the tripod head, a controller arranged at the upper part of the supporting plate, an upper computer arranged at the lower part of the supporting plate, an oblique rotating assembly arranged at the bottom of the tripod head, and a camera arranged on the oblique rotating assembly, wherein a gyroscope and an acceleration sensor are embedded in the camera, the control system comprises a data acquisition card, a posture resolving module and a posture monitoring module, and a main control module and a reference comparison module are arranged in the controller.
Description
Technical Field
The invention relates to a camera technology, in particular to an oblique photography aerial camera system.
Background
The large-scene live-action three-dimensional model based on the oblique images can provide richer geographic information for users, is more friendly to user experience, and is widely popular at home and abroad. However, the technology is slow in development and difficult to popularize, and is mainly limited by a tilt aerial camera for acquiring a tilt image.
The patent numbers are: "CN 201810093695.0" discloses an oblique photography aerial photography device, which comprises an upper shell, a lower shell, a camera group and a functional module unit arranged between the upper shell and the lower shell; a convex fixing groove is arranged below the lower shell and used for accommodating the camera group; the camera group comprises a positive camera with a curtain parallel to the plane of the lower shell and four inclined cameras arranged around the positive camera; the included angle between the curtain of the inclined camera and the plane of the lower shell is alpha, and alpha is more than or equal to 30 degrees and less than or equal to 45 degrees.
The camera cluster layout of the oblique photography aerial photography instrument device adopts 5 cameras with 1 positive camera and 4 inclinations to be arranged on the same plane and respectively shoot vertically downwards, front, back, left and right, so that the workload of flying for 5 times originally can be achieved by flying once, and meanwhile, the layout mode of the lenses is modified to be compact and harmonious, so that the mutual influence is avoided, the area of the shell is effectively reduced, and the whole weight of the device can be reduced. In addition, 5 cameras are exposed simultaneously, so that the acquired post data is simple to process. The obtained oblique camera photos can be made into a real-scene three-dimensional model after data processing, the real-scene three-dimensional model can truly reflect the current situation of geographic information of a target area, the model precision is high, and planning and approval of data, mineral data and national resources can be performed in the construction of smart cities and in the construction of national and local lands; in real estate registration; the method is applied to public security emergency, traffic, water conservancy and the like.
In the above, intelligence satisfies relatively smooth flight, however, for some areas with mountainous areas or high altitudes, flight cannot satisfy relatively smooth flight, and therefore even if 5 cameras are provided, the needs for shooting cannot be satisfied.
Disclosure of Invention
It is therefore a primary object of the present invention to provide an oblique photography aerial camera system.
The specific scheme adopted is as follows:
an oblique photography aerial photography instrument system comprises an oblique aerial photography instrument and a control system,
the inclined aerial camera comprises a tripod head, a support plate arranged at the upper part of the tripod head, a controller arranged at the upper part of the support plate, an upper computer arranged at the lower part of the support plate, an inclined rotating component arranged at the bottom of the tripod head, and a camera arranged on the inclined rotating component, wherein a gyroscope and an acceleration sensor are embedded in the camera,
the control system comprises a data acquisition card, an attitude calculation module and an attitude monitoring module,
a main control module and a reference comparison module are arranged in the controller,
the data acquisition card acquires real-time data of the gyroscope and the acceleration sensor according to a time period T;
the attitude resolving module loads parameters from a set database, configures a data acquisition card, reads two independently stored real-time data in the data acquisition card, converts the two independently stored real-time data into two analog signals, fuses the two analog signals through a low-pass filter and a high-pass filter, and obtains the initial attitude orientation of the oblique aerial camera through analog simulation;
the attitude monitoring module calls the attitude calculation module through the data processing interface by the main control module, and performs secondary calculation on the primary attitude azimuth acquired by the attitude calculation module according to the monitoring parameter configuration set by the setting module to acquire attitude azimuth correction data;
the posture and azimuth correction data of the period T above the reference comparison module is used as reference data, the main control module obtains the posture and azimuth correction data obtained by the monitored posture monitoring module through the data processing interface and compares the posture and azimuth correction data with the reference data to determine whether to turn over the camera or whether to perform posture correction or not, or whether to perform posture correction while turning over the camera or not.
Furthermore, the data acquisition card is respectively connected with the gyroscope and the acceleration sensor, the data acquisition card is connected with the attitude calculation module, the attitude calculation module is connected with the attitude monitoring module, and the attitude monitoring module is connected with the controller.
Further, the slope rotating assembly comprises a slope rotating frame and a turning motor arranged on two sides inside the slope rotating frame, a rotating connecting shaft is arranged on the turning motor, a rotating adjusting ruler is arranged on the rotating connecting shaft, a rotating adjusting hole with the same interval is formed in the rotating adjusting ruler, a rotating adjusting rod is arranged in the rotating adjusting hole, one end of the rotating adjusting rod is connected to an upper connecting plate arranged at the upper end of the camera support, a slope rotating connecting plate is arranged at the bottom of the slope rotating frame, and the slope rotating connecting plate is hinged to a lower connecting plate arranged at the bottom of the camera support.
Furthermore, an anti-collision base is arranged between the rotary connecting shaft and the inclined rotating frame, and the outer end of the rotary connecting shaft axially inclined rotating frame protrudes to prevent the anti-collision base from contacting with the camera support.
Furthermore, the rotation angle of the inclined rotating frame is 0-180 degrees, and limiting plates are arranged in the front and rear middle parts of the upper part of the inclined rotating frame.
Furthermore, the upper end and the lower end of the middle part of the camera bracket are respectively provided with a limiting block, and the limiting blocks are matched with the limiting plates.
Further, the middle part of the holder is provided with a mounting plate, and the inclined rotating assembly is arranged on the mounting plate.
Further, the upper computer is connected with the controller through a wireless receiving module, and the controller is connected with the turnover motor through a motor driving module.
The invention is provided with a turning device, a gyroscope and an acceleration sensor are arranged on a camera, real-time data of the gyroscope and the acceleration sensor are collected by a collection card, a primary attitude direction is obtained by an attitude calculation module, attitude direction correction data of the gyroscope and the acceleration sensor are obtained by an attitude monitoring module, the attitude direction correction data of the period T is used as reference data, the attitude direction correction data obtained by the monitored attitude monitoring module is obtained by a main control module through a data processing interface and is compared with the reference data, and whether attitude correction is needed or not is determined, or whether the camera is turned over or not is determined.
The invention can carry out real-time correction on the flying attitude and turn over the camera by a certain angle by monitoring the flying attitude, so that the camera can keep relatively stable flying.
Drawings
Fig. 1 is a schematic diagram of a framework of the control system of the present invention.
FIG. 2 is a schematic diagram of the tilt aerial camera of the present invention;
FIG. 3 is a schematic view of the construction of the tilt rotate assembly of the present invention;
fig. 4 is a schematic view showing the construction in which the tilting rotation assembly is turned at an angle in the practice of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention is provided with a turning device, a gyroscope and an acceleration sensor are arranged on a camera, real-time data of the gyroscope and the acceleration sensor are collected by a collection card, a primary attitude direction is obtained by an attitude calculation module, attitude direction correction data of the gyroscope and the acceleration sensor are obtained by an attitude monitoring module, the attitude direction correction data of the period T is used as reference data, the attitude direction correction data obtained by the monitored attitude monitoring module is obtained by a main control module through a data processing interface and is compared with the reference data, and whether attitude correction is needed or not is determined, or whether the camera is turned over or not is determined. The invention can carry out real-time correction on the flying attitude and turn over the camera by a certain angle by monitoring the flying attitude, so that the camera can keep relatively stable flying.
Therefore, referring to fig. 1 to 4, the present invention provides an oblique photography aerial camera system, which comprises an oblique aerial camera and a control system, wherein the oblique aerial camera comprises a pan/tilt head 2 and a plurality of support plates 7 arranged on the upper part of the pan/tilt head 2, the support plates 7 are provided with a plurality of support plates, the upper and lower parts of the support plates are fixed through bolts or screw rods, a certain gap is formed between each support plate 7, different components are arranged or fixed in the gap, the volume of the whole device is reduced, and the flight is facilitated. The device comprises a controller 8 arranged on the upper portion of a support plate 7 and an upper computer 6 arranged on the lower portion of the support plate 7, wherein a mounting plate 1 is arranged in the middle of a holder 2, and an inclined rotating assembly is arranged on the mounting plate 1. The camera 4 is arranged on the inclined rotating assembly, a plurality of camera heads are arranged on the camera 4, and at least four camera head groups are arranged, so that different data of a plurality of angles can be acquired in one flight.
A gyroscope and an acceleration sensor are embedded in the camera 4,
the control system comprises a data acquisition card, an attitude calculation module and an attitude monitoring module,
a main control module and a reference comparison module are arranged in the controller,
the data acquisition card acquires real-time data of the gyroscope and the acceleration sensor according to a time period T; in the present invention, a time period T is preferably 3S or 5S,
the attitude resolving module loads parameters from a set database, configures a data acquisition card, reads two independently stored real-time data in the data acquisition card, converts the two independently stored real-time data into two analog signals, fuses the two analog signals through a low-pass filter and a high-pass filter, and obtains the initial attitude orientation of the oblique aerial camera through analog simulation;
the attitude monitoring module calls the attitude calculation module through the data processing interface by the main control module, and performs secondary calculation on the primary attitude azimuth acquired by the attitude calculation module according to the monitoring parameter configuration set by the setting module to acquire attitude azimuth correction data;
the posture and azimuth correction data of the period T above the reference comparison module is used as reference data, the main control module obtains the posture and azimuth correction data obtained by the monitored posture monitoring module through the data processing interface and compares the posture and azimuth correction data with the reference data to determine whether to turn over the camera 4 or determine whether to perform posture correction while turning over the camera 4.
In the foregoing, the data acquisition card is connected with gyroscope and acceleration sensor respectively, the data acquisition card is connected with the attitude calculation module, the attitude calculation module is connected with the attitude monitoring module, the attitude monitoring module is connected with the controller, the host computer is connected with the controller through the wireless receiving module, and the controller is connected with the turnover motor 36 through the motor drive module.
In the above, the tilt rotating assembly includes a tilt rotating frame 3, a tilting motor 36 disposed at two sides of the interior of the tilt rotating frame 3, a rotating connecting shaft 33 disposed on the tilting motor 36, a rotation adjusting ruler 32 disposed on the rotating connecting shaft 33, the rotating adjusting ruler 32 is provided with rotating adjusting holes with equal intervals, the rotating adjusting holes are internally provided with rotating adjusting rods 31, one end of the rotation adjusting lever 31 is connected to an upper connecting plate 51 provided at the upper end of the camera bracket 5, wherein an anti-collision base 35 is arranged between the rotary connecting shaft 33 and the inclined rotating frame 3, the anti-collision base 35 protrudes the rotation connecting shaft 33 toward the outer end of the tilt turning frame 3 to prevent contact with the camera stand 5, the tilt turning frame 3 is provided at the bottom with a tilt turning connecting plate 34, the tilt pivot link 34 is hinged to a lower link 50 provided at the bottom of the camera support 5.
In the above, the rotation angle of the inclined rotating frame 3 is 0 to 180 °, and the front and rear middle parts of the upper part of the inclined rotating frame 3 are provided with the limit plates 30. The upper end and the lower end of the middle part of the camera bracket 5 are respectively provided with a limiting block 52, and the limiting blocks 52 are matched with the limiting plate 30.
Because the flight cannot meet the relatively stable flight in the mountain area or the areas of multiple altitudes, it is difficult to ensure that the camera 4 keeps a certain angle to acquire data correctly, therefore, the invention provides a turning motor 36, a gyroscope and an acceleration sensor are arranged on the camera 4, real-time data of the gyroscope and the acceleration sensor are acquired by an acquisition card, a preliminary attitude azimuth is acquired by an attitude calculation module, attitude azimuth correction data of the preliminary attitude azimuth is acquired by an attitude monitoring module, the attitude azimuth correction data of the previous period T is taken as reference data, and a main control module acquires the attitude azimuth correction data acquired by the monitored attitude monitoring module through a data processing interface and compares the attitude azimuth correction data with the reference data to determine whether to perform attitude correction or not, or determines whether to turn over the camera. The invention can carry out real-time correction on the flying attitude and turn over the camera by a certain angle by monitoring the flying attitude, so that the camera can keep relatively stable flying.
When the overturning motor is controlled, the main control module drives the motor driving module to drive the overturning motor to rotate, and the rotating angle of the overturning motor is consistent with the acquired posture and azimuth correction data.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (5)
1. An oblique photography aerial camera system, comprising
A tilt aerial camera and a control system,
the inclined aerial camera comprises a tripod head, a support plate arranged at the upper part of the tripod head, a controller arranged at the upper part of the support plate, an upper computer arranged at the lower part of the support plate, an inclined rotating component arranged at the bottom of the tripod head, and a camera arranged on the inclined rotating component, wherein a gyroscope and an acceleration sensor are embedded in the camera,
the control system comprises a data acquisition card, an attitude calculation module and an attitude monitoring module,
a main control module and a reference comparison module are arranged in the controller,
the data acquisition card acquires real-time data of the gyroscope and the acceleration sensor according to a time period T;
the attitude resolving module loads parameters from a set database, configures a data acquisition card, reads two independently stored real-time data in the data acquisition card, converts the two independently stored real-time data into two analog signals, fuses the two analog signals through a low-pass filter and a high-pass filter, and obtains the initial attitude orientation of the oblique aerial camera through analog simulation;
the attitude monitoring module calls the attitude calculation module through the data processing interface by the main control module, and performs secondary calculation on the primary attitude azimuth acquired by the attitude calculation module according to the monitoring parameter configuration set by the setting module to acquire attitude azimuth correction data;
the posture and azimuth correction data of the period T above the reference comparison module is used as reference data, the main control module acquires the posture and azimuth correction data obtained by the monitored posture monitoring module through the data processing interface and compares the posture and azimuth correction data with the reference data to determine whether to turn over the camera or determine whether to perform posture correction while turning over the camera;
the data acquisition card is respectively connected with the gyroscope and the acceleration sensor, the data acquisition card is connected with the attitude resolving module, the attitude resolving module is connected with the attitude monitoring module, and the attitude monitoring module is connected with the controller;
the inclined rotating assembly comprises an inclined rotating frame and overturning motors arranged on two sides in the inclined rotating frame, a rotating connecting shaft is arranged on each overturning motor, a rotating adjusting ruler is arranged on each rotating connecting shaft, rotating adjusting holes with equal intervals are formed in each rotating adjusting ruler, a rotating adjusting rod is arranged in each rotating adjusting hole, one end of each rotating adjusting rod is connected to an upper connecting plate arranged at the upper end of the camera support, an inclined rotating connecting plate is arranged at the bottom of the inclined rotating frame, and the inclined rotating connecting plate is hinged to a lower connecting plate arranged at the bottom of the camera support;
the upper computer is connected with the controller through the wireless receiving module, and the controller is connected with the turnover motor through the motor driving module.
2. The oblique photography aerial camera system of claim 1, wherein an anti-collision base is provided between the swivel connection shaft and the tilt swivel frame, the anti-collision base projecting the swivel connection shaft toward an outer end of the tilt swivel frame to prevent contact with the camera mount.
3. The oblique photography aerial camera system according to claim 1, wherein the rotation angle of the oblique rotation frame is 0 to 180 °, and a stopper plate is provided at an upper front and rear middle portion of the oblique rotation frame.
4. The oblique photography aerial camera system of claim 1, wherein the upper and lower ends of the middle portion of the camera mount are respectively provided with a limiting block, and the limiting blocks are matched with the limiting blocks.
5. The oblique photography aerial camera system of claim 1, wherein the mid portion of the pan head is provided with a mounting plate, the tilt rotate assembly being provided on the mounting plate.
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| CN201811468539.4A CN109634292B (en) | 2018-12-03 | 2018-12-03 | Oblique photography aerial photography instrument system |
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| CN201811468539.4A CN109634292B (en) | 2018-12-03 | 2018-12-03 | Oblique photography aerial photography instrument system |
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| CN109634292A CN109634292A (en) | 2019-04-16 |
| CN109634292B true CN109634292B (en) | 2022-04-29 |
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| CN111654634B (en) * | 2020-06-24 | 2022-02-08 | 杭州海康威视数字技术股份有限公司 | Method for determining inclination of engine core assembly and pan-tilt assembly in camera and camera |
| CN112644726B (en) * | 2021-01-12 | 2022-07-05 | 贵州理工学院 | Structure and method of oblique photography three-axis pan-tilt device for power delta wing |
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| CN108055450A (en) * | 2018-01-31 | 2018-05-18 | 北京帝信科技有限公司 | Oblique photograph aerial surveying camera device |
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| CN102829764B (en) * | 2012-08-10 | 2014-09-10 | 中国人民解放军国防科学技术大学 | Measurement method for absolute swaying quantity of unstable platform in follow-up mode |
| CN103673990B (en) * | 2012-09-13 | 2016-04-06 | 北京同步科技有限公司 | Obtain the devices and methods therefor of video camera attitude data |
| KR101353610B1 (en) * | 2013-10-14 | 2014-01-23 | 공간정보기술 주식회사 | System for auto detecting variable image according to local area using ads camera taking picture |
| WO2016191280A1 (en) * | 2015-05-22 | 2016-12-01 | Wagner Steven D | Actively stabilized payload support apparatus and methods |
| JP6080065B1 (en) * | 2016-03-07 | 2017-02-15 | パナソニックＩｐマネジメント株式会社 | Camera device |
| CN105716584A (en) * | 2016-03-31 | 2016-06-29 | 江苏鸿鹄无人机应用科技有限公司 | Oblique photographic camera provided with self-stabilizing system and control method of oblique photographic camera |
| JP6793006B2 (en) * | 2016-11-01 | 2020-12-02 | 日本電産サンキョー株式会社 | Optical unit |
| CN107367267B (en) * | 2017-07-28 | 2019-08-16 | 长光卫星技术有限公司 | The method that aerial surveying camera and boat based on the imaging of stepping framing type take the photograph imaging |
| CN107483781B (en) * | 2017-08-17 | 2020-10-16 | 上海大学 | Stabilizing device for self-leveling of unmanned boat pan-tilt camera |
| CN207876021U (en) * | 2018-01-08 | 2018-09-18 | 深圳市道通智能航空技术有限公司 | Holder, picture shooting assembly and unmanned vehicle |
| CN108170154A (en) * | 2017-12-19 | 2018-06-15 | 广东省航空航天装备技术研究所 | A kind of unmanned plane multisensor forward direction photography, which tilts, flies control adjustment method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204479902U (en) * | 2015-01-14 | 2015-07-15 | 四川省遥感信息测绘院 | 3 camera lens oblique photograph aerial surveying cameras |
| CN108055450A (en) * | 2018-01-31 | 2018-05-18 | 北京帝信科技有限公司 | Oblique photograph aerial surveying camera device |
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Denomination of invention: An oblique photography aerial camera system Effective date of registration: 20220919 Granted publication date: 20220429 Pledgee: Guangdong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUOTU GEO SURVEY GEOGRAPHIC INFORMATION Co.,Ltd. Registration number: Y2022980015617 |
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