CN111846267A - A shooting method and device for three-dimensional modeling of oblique photography - Google Patents
A shooting method and device for three-dimensional modeling of oblique photography Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
本发明公开了一种倾斜摄影三维建模的拍摄方法及其装置，它是采用对目标区进行弓字形航线飞行，在飞行过程中，云台控制器控制俯仰轴电机、横滚轴电机和方向轴电机将相机镜头指向设定角度，触发相机快门拍摄，同时记录拍摄时的空间位置坐标信息，拍摄角度为：前方45度、正下方90度、后方45度、左侧45度、右侧45度，依次循环拍摄；飞行器对目标区进行一次弓字形航线飞行，即可采集五个角度的拍照数据采集，采用单镜头相机安装在有俯仰轴、横滚轴和方向轴可三维旋转的三轴云台上，其体积小、重量轻、造价低，安装在小型无人机上，对目标区进行一次弓字形航线飞行，即可完成三维建模的数据采集。
The invention discloses a shooting method and a device for three-dimensional modeling of oblique photography. It uses a bow-shaped flight route to a target area. During the flight, a pan-tilt controller controls a pitch axis motor, a roll axis motor and a direction The axis motor points the camera lens to the set angle, triggers the camera shutter to shoot, and records the spatial position coordinate information during shooting. The shooting angle is: 45 degrees in front, 90 degrees directly below, 45 degrees behind, 45 degrees on the left, 45 degrees on the right The aircraft performs a bow-shaped flight to the target area, and can collect photo data collection from five angles. A single-lens camera is installed on a three-axis three-dimensional rotation axis with a pitch axis, a roll axis and a direction axis. On the gimbal, it is small in size, light in weight and low in cost. It can be installed on a small unmanned aerial vehicle and fly a bow-shaped route to the target area to complete the data collection of 3D modeling.
Description
Technical Field
The invention relates to the technical field of oblique photography, in particular to a shooting method and a shooting device for oblique photography three-dimensional modeling.
Background
The oblique photography technology is a high and new technology developed in the international photogrammetry field in the last ten years, and acquires abundant high-resolution textures of the top surface and the side view of a building by synchronously acquiring images from a vertical angle, four oblique angles and five different visual angles. The method can truly reflect the ground object condition, acquire object texture information with high precision, and generate a real three-dimensional city model through advanced positioning, fusion, modeling and other technologies.
At present, when an unmanned aerial vehicle is used for reconstructing three-dimensional geographic information, a camera is required to take photos at five different angles. These five angles are front 45 degrees, rear 45 degrees, left 45 degrees, right 45 degrees, and vertically down, respectively. The traditional shooting method comprises the following two methods:
five cameras are simultaneously installed on the aircraft and respectively adjusted to be at the above five angles, and when the unmanned aerial vehicle flies to a photographing point, the five cameras are exposed simultaneously to obtain five aerial photos. The shortcoming of this technique is that five cameras are installed together and are occupied volume and weight great, and unmanned aerial vehicle can't install and use. If install on large-scale fixed wing unmanned aerial vehicle or many rotor unmanned aerial vehicle, can seriously influence unmanned aerial vehicle's duration because of big load.
And installing a camera on the aircraft, adjusting the angle to one of the five angles, manually adjusting the camera to another angle for installation after the aircraft flies for one set of times, flying again along the air route of the previous set of times, and finishing data acquisition after the same air route flies for five sets of times. The technology has the defect that the photo at each angle can be collected only by flying the same flight line five times, and the efficiency is low.
Disclosure of Invention
In order to solve the above problems in the background art, the present invention provides a shooting method and a shooting device for oblique photography three-dimensional modeling.
The technical scheme adopted by the invention for solving the technical problems is as follows: a shooting method of oblique photography three-dimensional modeling is characterized in that a single-lens camera is mounted on a three-axis holder provided with a pitching axis, a rolling axis and a direction axis and capable of rotating in three dimensions, and in the process that an aircraft carrying the three-axis holder flies along a bow-shaped course line in a target area, a holder controller respectively controls a pitching axis motor, a rolling axis motor and a direction axis motor to point the camera lens at a set angle, then a camera shutter is triggered to shoot, and meanwhile space position coordinate information during shooting is recorded; the camera shooting direction angle is: shooting at five different visual angles of front 45 degrees, right below 90 degrees, rear 45 degrees, left 45 degrees and right 45 degrees; and continuously shooting five visual angles by the aircraft in the process of carrying out the bow-shaped air route flight on the target area.
Furthermore, the shooting sequence of the five different visual angles can be different sequences, and after the shooting angle sequences are set, the aircraft can circularly shoot according to the shooting angle sequences set in the bow-shaped course flight process of the target area.
Further, the holder controller sends set 1000-2000 us PWM signals to the pitch axis motor, the roll axis motor and the direction axis motor respectively according to the set interval duration between two times of shooting and the position parameters of the pitch axis motor, the roll axis motor and the direction axis motor of each shooting direction angle, controls the pitch axis motor, the roll axis motor and the direction axis motor to make corresponding actions by adopting a pulse width modulation control mode, enables a camera lens to point at the set angle, then sends a switch signal to trigger a camera shutter to shoot, and simultaneously records the space position coordinate information of the camera during shooting.
Further, in the cyclic shooting process, a time control mode is adopted to control a camera shutter, the interval duration between two times of shooting can be determined according to the shooting overlapping degree, and the calculation formula of the interval duration is as follows:
the interval duration is as follows: t = L/5V
Wherein L is the length of the flight path photography baseline: l = Bx Px
In the formula: t is interval duration (unit s); l is the shooting baseline length (unit m) of the flight route; v is the average speed of flight (in m/s); bx is the base length of the route (in m); px is shot overlap (unit%).
Further, an STM32FL03C8T6 single-chip microcomputer serving as a main control chip is arranged in the cradle head controller, the cradle head controller is provided with an input end and four output ends, the input end is connected with a shooting enabling port of a flight controller of an aircraft and used for receiving a shooting start-stop signal, and after the cradle head controller receives the shooting start-stop signal, the mechanical actions of the pitch shaft motor, the roll shaft motor and the direction shaft motor and the shooting action of the camera are started or stopped;
the first output end of the holder controller is connected with a pitch shaft motor and is used for controlling the pitch shaft to rotate to a specified angle; the second output end is connected with a transverse roller motor and is used for controlling the transverse roller to rotate to a specified angle; the third output end is connected with a direction shaft motor and is used for controlling the direction shaft to rotate to a specified angle; and the fourth output end is connected with the camera shutter trigger and the POS data recording unit and is used for triggering the camera to shoot and simultaneously recording the spatial position coordinate information of the camera during shooting.
The invention also provides a shooting device for oblique photography three-dimensional modeling, which comprises a flight controller, a holder controller, a pitching axis motor, a rolling axis motor, a direction axis motor, a camera trigger, a POS data recording unit and a single-lens camera;
the flight controller is connected with the pan-tilt controller, the pan-tilt controller is respectively connected with the pitching shaft motor, the rolling shaft motor, the direction shaft motor, the camera trigger and the POS data recording unit, and the camera trigger is connected with the camera;
the flight controller is used for controlling the aircraft to reach a shooting position and fly along a set air route;
the holder controller is used for controlling the pitching shaft motor, the rolling shaft motor and the direction shaft motor to enable the camera lens to point to a set angle; sending a switch signal to a camera trigger to trigger the camera to shoot, and sending the switch signal to a POS data recording unit to record the spatial position coordinate information of the camera during shooting;
the camera trigger is used for triggering camera shooting.
Furthermore, an STM32FL03C8T6 single-chip microcomputer serving as a main control chip is arranged in the cradle head controller, the cradle head controller is provided with an input end and four output ends, the input end of the cradle head controller is connected with a shooting enabling port of a flight controller of an aircraft and used for receiving a shooting start-stop signal, and after the cradle head controller receives the shooting start-stop signal, the mechanical actions of the pitch shaft motor, the roll shaft motor and the direction shaft motor and the camera shooting action are started or stopped;
the first output end of the holder controller is connected with a pitch shaft motor and is used for controlling the pitch shaft to rotate to a specified angle; the second output end is connected with a transverse roller motor and is used for controlling the transverse roller to rotate to a specified angle; the third output end is connected with a direction shaft motor and is used for controlling the direction shaft to rotate to a specified angle; the fourth output end is connected with the camera trigger and the POS data recording unit and used for triggering the camera to shoot and simultaneously recording the spatial position coordinate information of the camera during shooting.
Further, the POS data recording unit is configured to record spatial position coordinate information of the camera during shooting, where the spatial position coordinate information includes position information and attitude information, and the position information includes: longitude, latitude, altitude, barometric altitude, attitude information including: pitch angle, roll angle, course angle.
The implementation process comprises the following steps: the flight controller controls the aircraft to reach and shoot the position, carries out the bow font airline flight to the target area, and at the flight in-process, cloud platform controller control pitch axis motor, roll axis motor and direction axis motor are with the directional angle of setting of camera lens, trigger the camera shutter and shoot, and the spatial position coordinate information when the shooting of record simultaneously, camera shooting direction angle is: five different visual angles of front 45 degrees, right below 90 degrees, rear 45 degrees, left side 45 degrees and right side 45 degrees, the aircraft continuously circulates according to the shooting sequence in the process of carrying out the bow-shaped air route flight on the target area, and the aircraft carries out the bow-shaped air route flight on the target area once, so that a series of shooting at five angles can be realized, and the data acquisition of the three-dimensional modeling of the target area is completed.
The shooting sequence of the five different visual angles can be randomly sequenced, and after the shooting angle sequencing is set, the aircraft can continuously and circularly shoot according to the shooting angle sequencing set in the whole process of carrying out the bow-shaped course flight on the target area.
The cloud platform controller sends set 1000-2000 us PWM signals to the pitch axis motor, the roll axis motor and the direction axis motor respectively according to the set interval length between two times of shooting and the position parameters of the pitch axis motor, the roll axis motor and the direction axis motor of each shooting direction angle, controls the pitch axis motor, the roll axis motor and the direction axis motor to make corresponding actions by adopting a pulse width modulation control mode, enables a camera lens to point to the set angle when reaching a specified position, then sends a switch signal to trigger a camera shutter to shoot, and sends the switch signal to record space position coordinate information of the camera during shooting.
In the cyclic shooting process, a time control mode is adopted to control a camera shutter, the interval duration between two times of shooting can be determined according to the shooting overlapping degree, and the calculation formula of the interval duration is as follows:
the interval duration is as follows: t = L/5V
Wherein L is the length of the flight path photography baseline: l = Bx Px
In the formula: t is interval duration (unit s); l is the shooting baseline length (unit m) of the flight route; v is the average speed of flight (in m/s); bx is the base length of the route (in m); px is shot overlap (unit%).
An STM32FL03C8T6 single-chip microcomputer is arranged in the cradle head controller and serves as a main control chip, the cradle head controller is provided with an input end and four output ends, the input end of the cradle head controller is connected with a shooting enabling port of a flight controller of an aircraft and used for receiving shooting start-stop signals, and after the cradle head controller receives the shooting start-stop signals, mechanical actions of a pitch shaft motor, a roll shaft motor and a direction shaft motor and camera shooting actions are started or stopped;
the first output end of the holder controller is connected with a pitch shaft motor and is used for controlling the pitch shaft to rotate to a specified angle; the second output end is connected with a transverse roller motor and is used for controlling the transverse roller to rotate to a specified angle; the third output end is connected with a direction shaft motor and is used for controlling the direction shaft to rotate to a specified angle; the fourth output end is connected with the camera trigger and the POS data recording unit and used for triggering the camera to shoot and simultaneously recording the spatial position coordinate information of the camera during shooting.
The aircraft flies on the target area by a zigzag airline once, so that a series of shooting at five angles can be realized, and data acquisition of three-dimensional modeling of the target area is completed.
The POS data recording unit records spatial position coordinate information of the camera during shooting, wherein the spatial position coordinate information comprises position information and attitude information, and the position information comprises: longitude, latitude, altitude, barometric altitude, attitude information including: pitch angle, roll angle, course angle.
The invention has the beneficial effects that: the adoption carries out the bow font airline flight to the target area, and at the flight in-process, cloud platform controller control pitch axis motor, roll shaft motor and direction axis motor are directional with the camera lens and are set for the angle, trigger the camera shutter and shoot, the spatial position coordinate information when simultaneously taking the record, the shooting angle is: the shooting data acquisition at five angles can be acquired by continuously shooting the target area at five visual angles in the process of one-time bow-shaped air route flight by the aircraft at 45 degrees in front, 90 degrees right below, 45 degrees behind, 45 degrees on the left side and 45 degrees on the right side, and the data acquisition of the oblique shooting of the three-dimensional modeling of the target area is completed.
The cloud deck controller sends set 1000-2000 us PWM signals to the pitch axis motor, the roll axis motor and the direction axis motor respectively according to the set interval duration between two times of shooting and the position parameters of the pitch axis motor, the roll axis motor and the direction axis motor of each shooting direction angle, controls the pitch axis motor, the roll axis motor and the direction axis motor to make corresponding actions by adopting a control mode of pulse width modulation, enables a camera lens to point to the set angle when reaching a specified position, controls a camera shutter by adopting a time control mode, sends a switch signal to trigger the camera shutter to shoot, and sends the switch signal to record space position coordinate information of the camera during shooting; the synchronization of camera shooting and spatial position coordinate information can be realized.
The invention adopts the single-lens camera to be arranged on the three-axis pan-tilt with the pitching axis, the rolling axis and the direction axis capable of three-dimensionally rotating, has small volume, light weight and low manufacturing cost, is arranged on the small unmanned aerial vehicle, and can finish the image data acquisition of five-angle three-dimensional modeling by carrying out the bow-shaped course flight on the target area once, thereby greatly improving the shooting efficiency of oblique photography and reducing the shooting cost.
Drawings
FIG. 1 is a schematic flow diagram of a photographing method of the present invention;
fig. 2 is a schematic diagram of the structure of the apparatus of the present invention.
Parts and numbering in the figures:
1-a flight controller; 2-a pan-tilt controller; 3-pitch axis motor; 4-transverse roller motor; 5-a direction axis motor; 6-camera trigger; 7-POS data recording unit; 8-camera.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, a shooting method of oblique photography three-dimensional modeling, a single-lens camera is installed on a three-axis pan-tilt provided with a pitch axis, a roll axis and a direction axis capable of three-dimensionally rotating, and in the process that an aircraft carrying the three-axis pan-tilt flies along a bow-shaped air route in a target area, a pan-tilt controller respectively controls a pitch axis motor, a roll axis motor and a direction axis motor to point a camera lens at a set angle, then a camera shutter is triggered to shoot, and simultaneously, spatial position coordinate information during shooting is recorded; the camera shooting direction angle is: shooting at five different visual angles of front 45 degrees, right below 90 degrees, rear 45 degrees, left 45 degrees and right 45 degrees; and continuously shooting five visual angles by the aircraft in the process of carrying out the bow-shaped air route flight on the target area.
As shown in fig. 2, a shooting device for oblique photography three-dimensional modeling comprises a flight controller 1, a pan-tilt controller 2, a pitch axis motor 3, a roll axis motor 4, a direction axis motor 5, a camera trigger 6, a POS data recording unit 7 and a single-lens camera 8;
the flight controller 1 is connected with the holder controller 2, the holder controller 2 is respectively connected with a pitching shaft motor 3, a rolling shaft motor 4, a direction shaft motor 5, a camera trigger 6 and a POS data recording unit 7, and the camera trigger 6 is connected with a camera 8;
the flight controller 1 is used for controlling the aircraft to reach a shooting position and fly along a set air route;
the holder controller 2 is used for controlling the pitching shaft motor 3, the rolling shaft motor 4 and the direction shaft motor 5 to enable the camera 8 to point to a set angle; sending a switch signal to the camera trigger 6 to trigger the camera 8 to shoot, and sending the switch signal to the POS data recording unit 7 to record the spatial position coordinate information of the camera 8 during shooting;
the camera trigger 6 is used to trigger the camera 8 to take a picture.
The specific implementation process of the invention is as follows:
firstly, setting the flight altitude and the route spacing distance according to the Low-altitude digital aerial photography Specification (CHZ 3005-2010), planning a shooting bow-shaped route meeting the standard, and then calculating the interval duration between two times of shooting according to the distance required by the overlapping degree of course photos:
the interval duration is as follows: t = L/5V
Wherein L is the length of the flight path photography baseline: l = Bx Px
In the formula: t is interval duration (unit s); l is the shooting baseline length (unit m) of the flight route; v is the average speed of flight (in m/s); bx is the base length of the route (in m); px is shot overlap (unit%).
And inputting the interval duration value between two times of shooting into the holder controller 2, and controlling the angle of the camera 8 and shooting by the holder controller 2 according to the interval duration.
The holder controller 2 sends set 1000-2000 us PWM signals to the pitch axis motor 3, the roll axis motor 4 and the direction axis motor 5 respectively according to the set interval duration between two times of shooting and the position parameters of the pitch axis motor 3, the roll axis motor 4 and the direction axis motor 5 of each shooting direction angle, controls the pitch axis motor 3, the roll axis motor 4 and the direction axis motor 5 to make corresponding actions by adopting a pulse width modulation control mode, enables a camera 8 lens to point at the set angle when reaching a specified position, controls a camera 8 shutter by adopting a time control mode, sends a switch signal to trigger the camera 8 shutter to shoot, sends the switch signal to the POS data recording unit 7 at the same time, and records the space position coordinate information of the camera 8 during shooting.
As shown in fig. 1, the oblique photography process is specifically as follows: according to a set shooting sequence, a holder controller 2 firstly controls a pitching shaft motor 3, a rolling shaft motor 4 and a direction shaft motor 5, points a camera 8 lens at a set angle, then triggers a camera 8 shutter, and simultaneously sends a recording signal to a POS data recording unit 7, so that the POS data recording unit 7 records the space position coordinate information of the camera 8 during shooting; then turning to the next shooting angle to repeat the steps.
In this embodiment, the step of controlling the shooting direction and angle of the camera 8 is set as follows: shooting at five different visual angles of 45 degrees in front, 90 degrees right below, 45 degrees behind, 45 degrees on the left side and 45 degrees on the right side, and continuously and circularly shooting in sequence when the aircraft carries out bow-shaped course flight on the target area.
The shooting sequence of the five different visual angles can be randomly sequenced, and after the shooting angle sequencing is set, the aircraft can continuously and circularly shoot according to the shooting angle sequencing set in the whole process of carrying out the bow-shaped course flight on the target area.
Wherein, be equipped with STM32FL03C8T6 singlechip in cloud platform controller 2 as main control chip, cloud platform controller 2 is equipped with an input and four outputs, and its input is connected with the shooting enable port of flight control ware 1 of aircraft for receive and shoot and stop the signal, after cloud platform controller 2 received and shoots and stop the signal, start or stop pitching axis motor 3, roll axis motor 4, the mechanical action of direction axle motor 5 and the action of shooting of camera 8.
The first output end of the holder controller 2 is connected with the pitching shaft motor 3 and is used for controlling the pitching shaft to rotate to a specified angle; the second output end is connected with a transverse roller motor 4 and is used for controlling the transverse roller to rotate to a specified angle; the third output end is connected with a direction shaft motor 5 and is used for controlling the direction shaft to rotate to a specified angle; the fourth output end is connected with the camera trigger 6 and the POS data recording unit 7 and used for triggering the camera 8 to shoot, and the POS data recording unit 7 simultaneously records the space position coordinate information of the camera 8 during shooting.
The POS data recording unit 7 records spatial position coordinate information of the camera 8 at the time of shooting including position information and attitude information, the position information including: longitude, latitude, altitude, barometric altitude, attitude information including: pitch angle, roll angle, course angle.
The flight controller 1 controls the flight platform to carry out one-time bow-shaped air route flight on the target area, so that series of shooting at five angles can be realized, and the acquisition of oblique photography data of three-dimensional modeling of the target area is completed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
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| CN114625157A (en) * | 2020-12-10 | 2022-06-14 | 中测科技(广州)有限公司 | Automatic modeling method and system for combining aerial oblique photography with acquired data |
| CN113206958A (en) * | 2021-04-30 | 2021-08-03 | 成都睿铂科技有限责任公司 | Course shooting method |
| CN113206958B (en) * | 2021-04-30 | 2023-06-09 | 成都睿铂科技有限责任公司 | Route shooting method |
| CN113247285A (en) * | 2021-06-29 | 2021-08-13 | 深圳市勘察研究院有限公司 | Unmanned aerial vehicle and design method of three-dimensional air route of unmanned aerial vehicle |
| CN114387453A (en) * | 2022-01-04 | 2022-04-22 | 华能明台电力有限责任公司 | An image data shooting method applied to UAV oblique photography modeling shooting |
| CN117950422A (en) * | 2024-03-25 | 2024-04-30 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle inspection system and inspection method |
| CN117950422B (en) * | 2024-03-25 | 2024-06-18 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle inspection system and inspection method |
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