CN108332717A - A kind of aviation oblique photograph system for shooting matrix form image - Google Patents
A kind of aviation oblique photograph system for shooting matrix form image Download PDFInfo
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- CN108332717A CN108332717A CN201810081678.5A CN201810081678A CN108332717A CN 108332717 A CN108332717 A CN 108332717A CN 201810081678 A CN201810081678 A CN 201810081678A CN 108332717 A CN108332717 A CN 108332717A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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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Abstract
The present invention provides a kind of aviation oblique photograph systems for shooting matrix form image comprising：Carry cabin, detachably connected aircraft, carry cabin are equipped with braced frame；Imaging mechanism is set on the support frame；Imaging mechanism includes at least one camera unit, and the shooting image of camera unit is distributed in matrix form；Camera unit includes at least one inclined camera, and braced frame is equipped with multiple camera planes, angle is equipped between multiple camera planes；Inclined camera obtains the image below aircraft by camera plane；Control module is set on the support frame；The configuration of the present invention is simple is reliable, and precise angular positions are high, and the requirement to inclined camera is low, realizes Multi-angle free shooting；The actual proportions relationship that each object in operating area can more completely be reappeared keeps later stage model clearer, accurate.
Description
Technical field
The present invention relates to a kind of aviation oblique photograph systems for shooting matrix form image.
Background technology
Aviation Pan Tilt camera belongs to the technology scope of aerophotogrammetry and aviation oblique photograph amount.Aviation is taken the photograph
Shadow measurement is to be based on Aerial photography image, and utilize photogrammetric technology, produces various mapping products, including digitally face mould
Type, orthophotoquad and line draw map.Aviation oblique photograph measurement is to tilt image by shooting, obtains the side line of atural object
Reason, then by photogrammetric technology, establish true city threedimensional model.
Breakthrough of the aviation oblique photograph as traditional aerophotogrammetry passes through the camera combination of different visual angles, shooting packet
Include the natural forms on ground and artificial structure.Existing aviation oblique photograph device generally uses the shape of five camera combinations
Camera and four inclined cameras are regarded under formula, including one.Since camera is more, when in view of the volume and weight of system, design
Inclined camera will generally use commercialized middle image camera or silent frame camera.
Chinese patent 2017100622249 discloses a kind of aviation Pan Tilt camera, including gondola main body, described
Be provided in gondola main body at least two times regard camera and multiple inclined cameras, described at least two time regarding camera transversely
Arrangement, described at least two times the lower shooting area depending on camera adjacent depending in camera partly overlaps.
Chinese patent 2014800800293 discloses a kind of system for capturing aerial image, and system includes at least one
A panorama camera, multiple details cameras and the frame for supporting camera, each details camera is than at least one panorama camera
With longer focal length, each details camera angle different in the horizontal is installed so that the visual field of details camera is overlapped
To form the transverse field of extension, frame can be attached to the aircraft floor above camera hole, to be given by camera hole
Camera provides the view on the ground below aircraft.
Chinese patent 201010562117.0 discloses a kind of based on the joining image-forming system for moving axis principle, including at least one
A imaging lens, at least one imaging lens are set on same plane, and focal length having the same and visual field；And it sets
At least one image device being placed on the focal plane of each imaging lens；Wherein, each imaging lens are set
It is its optical axis perpendicular to its focal plane, and each image device is arranged to have preset shifting axis in its focal plane
Amount.
Drawback of the prior art is that：Aviation oblique photograph device used at present generally uses multiple built-in cameras, leads to
Putting for different angle is crossed, realizes multiple angle shots, to obtain the panoramic picture on ground.Required built-in camera quantity is more, takes the photograph
Image device volume and weight is big, of high cost.
Therefore, how one kind is provided, Multi-angle free shooting, applied widely, efficient oblique photograph may be implemented
System becomes problem to be solved in the industry.
Invention content
In view of the drawbacks of the prior art, the present invention provides a kind of aviation oblique photograph systems for shooting matrix form image
System, simple and reliable for structure, precise angular positions are high, and shooting efficiency is high, and the requirement to inclined camera is low, realize multi-angle certainly
By shooting.
To achieve the goals above, the present invention provides a kind of aviation oblique photograph systems for shooting matrix form image
System comprising：
Carry cabin, detachably connected aircraft, carry cabin are equipped with braced frame；
Imaging mechanism is set on the support frame；Imaging mechanism includes at least one camera unit, the shooting of camera unit
Image is distributed in matrix form；
Camera unit includes at least one inclined camera, and braced frame is equipped with multiple camera planes, multiple camera planes
Between be equipped with angle；Inclined camera obtains the image below aircraft by camera plane；
Control module is set on the support frame；
Wherein, the angle of inclination of inclined camera is determined as follows：First determine the outside of corresponding edge camera plane
The angle of inclination of inclined camera calculates the angle of inclination of residual tilt camera according to the angle of inclination of outside inclined camera.
In the present invention, the image of multiple camera planes is shot by camera unit, multiple camera planes are mutually not
Overlapping；Rectangular array formula is distributed between the image that multiple camera planes obtain, to form expanded images.
In the present invention, the requirement of operating area as needed selects the focal length of camera and determines the precision of camera；According to work
The height of object in industry region, it is first determined the angle of inclination of the outside inclined camera of corresponding edge camera plane, selection determine
After, the angle of inclination of the inclined camera of corresponding other camera planes is calculated, inclined camera is completed and needs to carry out camera site
Layout.
Another kind specific implementation mode according to the present invention, camera plane are 12, and 12 camera planes obtain
Image between be in three array column distribution of three rows and four columns or four rows.Using the style of shooting of matrix form, can obtain and original graph
As having the stitching image of similar vertical-horizontal proportion, the object original appearance of operating area more can be clearly taken, after meeting
The demand of phase modeling.
The camera lens of another kind specific implementation mode according to the present invention, inclined camera is tight shot, focal length 20mm-
150mm；It can specifically be selected as：20mm、21mm、22mm、24mm、25mm、28mm、30mm、32mm、35mm、40mm、50mm、
55mm、58mm、60mm、85mm、90mm、100mm、105mm、135mm、150mm；In the present solution, the focal length of inclined camera according to
The conditions such as the height of flight, the required precision of needs are selected.
Another kind specific implementation mode according to the present invention, the process for calculating the angle of inclination of remaining camera plane are：
Angle between vertical plane where the optical axis of outermost inclined camera and course line is α, between adjacent inclined camera
Angle is β, then：
β=2* α/(n-1), wherein n is line number or columns.In the present solution, determining the inclination of outermost inclined camera
It is in the principle of matrix distribution according to the image of 12 shooting areas in same camera site after angle, corresponding other shooting areas
The even angle of the inclined camera in domain is covered with the remaining region for needing to shoot image, to form the expanded images of matrix form distribution,
Further complete the modeling in later stage.
Another kind specific implementation mode according to the present invention, imaging mechanism include the first camera unit, the second camera unit；
Carry cabin is equipped with the first rotation cabin, the second rotation cabin, and the first rotation cabin is rotated around first rotating shaft, and the second rotation cabin surrounds second
Shaft rotates；First camera unit is set in the first rotation cabin, and the second camera unit is set in the second rotation cabin；First turn
Axis, the second shaft are mutually parallel.
Another kind specific implementation mode according to the present invention, the first camera unit include two inclined cameras, the second photography
Unit includes two inclined cameras.In the present solution, in two inclined cameras and the second camera unit in the first camera unit
Two inclined cameras need the image for completing the shooting area of same camera site three to obtain.By first rotation cabin, second turn
The rotation in dynamic cabin, drives inclined camera to three specified positions to be shot, to obtain 12 bats of same shooting area
Take the photograph the image of plane.
Another kind specific implementation mode according to the present invention, two inclined cameras in the first camera unit are relative to aviation
The heading of device is symmetrical；Two inclined cameras in second camera unit are symmetrical relative to the heading of aircraft.In this way
The purpose of setting is, ensures whole stability to the greatest extent, keeps entire camera chain carrying uniform, four inclined cameras
Center of gravity and aircraft center of gravity mutually coincide.Correspondingly, two inclined cameras and second that can also be in the first camera unit
Two inclined cameras in camera unit, the heading relative to aircraft is symmetrical, to ensure integrally-built stabilization.
Another kind specific implementation mode according to the present invention, the optical axis of two inclined cameras in the first camera unit and its
Angle between symmetrical center line is：30 ° -45 °, the optical axis of two inclined cameras in the second camera unit with its it is symmetrical in
Angle between heart line is：10°—15°.In the present solution, two inclined cameras in the first camera unit correspond to shooting along aviation
The image of six camera planes in the outside of device heading can be obtained more by the way that larger camber angle, such as 45 ° are arranged
Sufficient side grain data so that threedimensional model side is more accurate clear.Two inclined cameras in second camera unit
The image of six camera planes of inside of the corresponding shooting along aircraft direction, two cameras are covered with remaining shooting position
It sets, such as 15 °, to form the expanded images containing 12 shooting images；The inclination of two cameras in second camera unit
Angle is smaller, can be very good the image for obtaining aircraft lower zone, can model to provide for the later stage and face data.
The slewing area of another kind specific implementation mode according to the present invention, the first rotation cabin covers three continuous sides
To the slewing area in the second rotation cabin covers three continuous directions；First rotating shaft, the rotational angle of the second shaft are identical.
It is according to the present invention another kind specific implementation mode, camera unit include 12 inclined cameras, inclined camera with
Camera plane is arranged in a one-to-one correspondence.
It is according to the present invention another kind specific implementation mode, adjacent shooting area obtain expanded images between have weight
Folded, degree of overlapping is 70% -90%, and later stage modeling is facilitated to handle.
It is larger for shooting the angle of inclination of inclined camera of expanded images outer ledge image in the present invention, with shooting
Sufficient side grain data are obtained, by the rational flying height of determination, the inclination image of required resolution ratio is obtained and faces
Image.Linking is complementary to one another between photo, it can the larger range of positive photograph picture of equivalent acquisition and enough inclination images so that clap
Efficiency raising is taken the photograph, and reduces photo amount, to keep later stage modeling also faster accurate.
In the present invention, since the angle of inclination of the inclined camera for shooting expanded images outer ledge image is larger, expand
Local gap is will produce between the adjacent image of exhibition image, passes through the weight of multiple default obtained expanded images in camera site
It is folded, to supplement the image of the lack part of an independent predeterminated position expanded images, to complete the completion of entire operating area
Image obtains.
The camera chain of the present invention provided, shooting speed is fast, modeling accuracy is high, in public emergent emergency mapping,
It has a wide range of applications, promotes the process of the rapid development of aeroplane photography.For example, when the emergencies such as landslide, mud-rock flow occur
When, it can quickly measure, model in time, to rapidly reproduce the data of disaster area situation.
Compared with prior art, the invention has the beneficial effects that：
1, by the way of shooting matrix form expanded images, same position shooting area is big, and shooting efficiency is high, saves and claps
Take the photograph the time of operation；
2, entire camera system is simple and reliable for structure, and precise angular positions are high, and the requirement to inclined camera is low, realizes more
Angle is freely shot；
3, the actual proportions relationship that can more completely reappear each object in operating area, keeps later stage model more clear
It is Chu, accurate.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the expanded images schematic diagram of the airborne photography system shooting of embodiment 1；
Fig. 2 is the overall structure diagram of camera chain；
Fig. 3 is the structural schematic diagram of imaging mechanism；
Fig. 4 a are the first rotation cabin, the second rotation when inclining out of my cabin, the status diagram of four inclined cameras；
Fig. 4 b are the vertical views of Fig. 4 a；
Fig. 4 c are the side views of Fig. 4 a；
Fig. 5 a be the first rotation cabin, second rotation cabin vertically downward when, the status diagram of four inclined cameras；
Fig. 5 b are the vertical views of Fig. 5 a；
Fig. 5 c are the side views of Fig. 5 a；
When Fig. 6 a are the first rotation cabin, the second rotation cabin introversion, the status diagram of four inclined cameras；
Fig. 6 b are the vertical views of Fig. 6 a；
Fig. 6 c are the side views of Fig. 6 a；
Fig. 7 is the schematic diagram of 12 shooting direction in a shooting period；
The areal map that the image being continuously shot when Fig. 8 aircrafts are along airline operation is covered；
Fig. 9 is the overall structure diagram of embodiment 3；
Figure 10 is the upward view of Fig. 9；
Figure 11 is the schematic diagram in the first rotation cabin, the second rotation cabin in Fig. 9；
Figure 12 is the schematic diagram of the first camera unit in Fig. 9, the second camera unit.
Specific implementation mode
Embodiment 1
A kind of aviation oblique photograph system for shooting matrix form image is present embodiments provided, as shown in figures 1-8,
Camera chain includes：Carry cabin 1, imaging mechanism 2, first rotate cabin 3, second and rotate cabin 4, controller 5.
Wherein, 1 detachably connected aircraft of carry cabin is equipped with connector 11, braced frame 12, top in carry cabin 1
Support plate 13, connector 11 is located at the top of top support plate 13, for fast implementing the connection with aircraft；Braced frame 12 is set
The lower section of support plate 13 at top, control module 5 are located on the support plate 13 of top.
Imaging mechanism 2 is located in braced frame 12 comprising two camera units, each camera unit incline including two
Monoclinic phase machine can be interchanged between four inclined cameras, and the region of operation as needed is different, determines the focal length of four inclined cameras
And precision, such as flying height is 200m, it is the inclined camera of 50mm to select focal length；Each inclined camera is with different angles
Degree is installed；Wherein, four inclined cameras are respectively first camera 21, second camera 22, third camera 23, the 4th camera
24；Each inclined camera corresponds to three camera planes, 12 images is shot in the same camera site, as shown in Figure 1, ten
Two images are in four rows, three column distribution relative to heading, form the larger expanded images of shooting area.
As Figure 2-3, it is equipped with the first rotation cabin 3, second in braced frame 12 and rotates cabin 4, first camera 21, second
Camera 22 is fixed in the first rotation cabin 3, and the first rotation cabin 3 can continuously be swung around first rotating shaft, at first turn
Dynamic cabin 3 is equipped with the hatch frame for providing shooting visual field for first camera 21, second camera 22.Third camera the 23, the 4th
Camera 24 is fixed in the second rotation cabin 4, and the second rotation cabin 4 can continuously be swung around the second shaft, at second turn
Dynamic cabin 4 is equipped with the hatch frame for providing shooting visual field for third camera 23, the 4th camera 24.
Third camera 23, the layout of the 4th camera 24 as shown in figure 5, third camera 23, the 4th camera 24 relative to center
Axis L2 is symmetrical, wherein central axis L 1 and central axis L 2 are each parallel to aircraft direction, and 2 phase of central axis L 1 and central axis L
It is mutually parallel.The optical axis of third camera 23 is with the angle of central axis L 2, the optical axis of the 4th camera 24 and the angle of central axis L 2
α, wherein α are 40 °.
First camera 21, the layout of second camera 22 as shown in figure 3, first camera 21, second camera 22 relative to center
Axis L1 is symmetrical, and the optical axis of first camera 21 and the angle of central axis L 1, the optical axis of second camera 22 and the angle of central axis L 1 are equal
It it is 13.5 ° for β, wherein β.
As depicted in figure 4 a-4 c, which show the first rotation cabin, the second rotation incline out of my cabin 40 ° when, four inclined cameras
Posture, the region in figure below imaging mechanism are the field range of different inclined cameras.
As illustrated in figs. 5 a-5 c, which show the first rotation cabin, the second rotation cabin straight down when, four inclined cameras
Posture, the region in figure below imaging mechanism are the field range of different inclined cameras.
As shown in fig. 6a-6c, which show when the first rotation cabin, the second 40 ° of cabin introversion of rotation, four inclined cameras
Posture, the region in figure below imaging mechanism are the field range of different inclined cameras.
As shown in fig. 7, being shot in the period at one, the range that the images of 12 shooting direction of acquisition is covered；Expand
Local gap is will produce between adjacent image in exhibition image, passes through the weight of multiple default obtained expanded images in camera site
It is folded, to supplement the image of the lack part on independent predeterminated position shooting image, to complete the completion of entire operating area
Image obtain.
As shown in figure 8, aircraft is in flight course, it is overlapped between the expanded images that multiple camera sites obtain,
Degree of overlapping is 75%, by the overlapping between multiple expanded images, can be carried out the position omitted in each expanded images mutual
It mends, to obtain the complete image in operating area, to facilitate the foundation of later stage model.
In the present embodiment, the first rotation of driving cabin 3, second rotates the driving part that cabin 4 rotates as steering engine, and first turn
Axis, the second shaft are driven by different steering engines, complete first camera, second camera, third camera, the 4th camera position
Switching, to complete same camera site three rows and four columns expanded images shooting.
Embodiment 2
Difference lies in imaging mechanism is provided with 12 inclined cameras, each inclination phase to the present embodiment with embodiment 1
Machine corresponds to a camera plane, and the inclination angle of each camera plane is all different, in the same camera site, obtain one
Include the expanded images of 12 images.Aircraft flies along course-and-bearing, to obtain multiple expanded images, multiple shootings
Overlapped, degree of overlapping 75% between the expanded images that position obtains can be incited somebody to action by the overlapping between multiple expanded images
The position omitted in each expanded images carries out complementation, to obtain the complete image in operating area, to facilitate later stage model
It establishes.
Embodiment 3
A kind of aviation oblique photograph system for shooting matrix form image is present embodiments provided, as shown in figs9-12,
It includes：Carry cabin 6, braced frame 7, first rotate cabin 8, second and rotate cabin 9.
Wherein, 6 detachably connected aircraft of carry cabin, braced frame 7 are located at carry cabin 6；First rotation cabin 8, second
The rotation of rotation cabin 9 is located in braced frame 7；The shell that cabin 9 is rotated for wrapping up the first rotation cabin 8, second is equipped in braced frame 7
Body 71, shell 71 are equipped with guide face 72；It is equipped with the first trepanning 73, the second trepanning 74 in the lower part of shell 71, the first trepanning 73 is right
The first rotation cabin 8, the second trepanning 74 is answered to correspond to the second rotation cabin 9；Correspondingly, being equipped in the first trepanning 73, the second trepanning 74
Cover board.
It is equipped with first camera 81, second camera 82 in the first rotation cabin 8, braced frame 7 is equipped with the first steering engine 83, first
Drive rod 84, the first drive link 85, the first steering engine 83 are drivingly connected the head end of the first drive link 85 by the first drive rod 84, the
The first rotation of end connection cabin 8 of one drive link 85；Wherein, the optical axis of first camera 81, second camera 82 optical axis relative to
Vertical plane where heading is symmetrical, and angle between the two is 26 °；8 turns of cabin of the first rotation of first steering engine 83 driving
It is dynamic, slewing area cover forward, downwards, three continuous directions backward, to complete the acquisition of six different angle images.
It is equipped with third camera 91, the 4th camera 92 in the second rotation cabin 9, braced frame 7 is equipped with the second steering engine 93, second
Drive rod 94, the second drive link 95, the second steering engine 93 are drivingly connected the head end of the second drive link 95 by the second drive rod 94, the
The second rotation of end connection cabin 9 of two drive links 95；Wherein, the optical axis of third camera 91, the 4th camera 92 optical axis relative to
Vertical plane where heading is symmetrical, and angle between the two is 80 °；9 turns of cabin of the second rotation of second steering engine 93 driving
It is dynamic, slewing area cover forward, downwards, three continuous directions backward, to complete the acquisition of six different angle images.
The camera chain that the present embodiment is provided is shot at one in the period, the layout of 12 images of acquisition；Extension
Local gap is will produce in image between adjacent image, passes through the weight of multiple default obtained expanded images in camera site
It is folded, to supplement the image of the lack part on independent predeterminated position shooting image, to complete the completion of entire operating area
Image obtain.
In the present embodiment, it is equipped with control module 75 in braced frame 7, control module 75 is drivingly connected the first steering engine 83, the
Two steering engines 93, to realize the switching of first camera 81, second camera 82, third camera 91,92 position of the 4th camera, further
It controls camera and completes shooting.
Although the present invention is disclosed above with preferred embodiment, it is not limited to the range that the present invention is implemented.Any
The those of ordinary skill in field improves in the invention scope for not departing from the present invention when can make a little, i.e., every according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of for shooting the aviation oblique photograph system of matrix form image, which is characterized in that the camera chain includes：
Carry cabin, detachably connected aircraft, the carry cabin are equipped with braced frame；
Imaging mechanism is located in the braced frame；The imaging mechanism includes at least one camera unit, and the photography is single
The shooting image of member is distributed in matrix form；
The camera unit includes at least one inclined camera, and the braced frame is equipped with multiple camera planes, multiple described
Angle is equipped between camera plane；The inclined camera obtains the image below the aircraft by the camera plane；
Control module is located in the braced frame；
Wherein, the angle of inclination of the inclined camera is determined as follows：First determine the outside of corresponding edge camera plane
The angle of inclination of inclined camera calculates the angle of inclination of residual tilt camera according to the angle of inclination of outside inclined camera.
2. camera chain as described in claim 1, which is characterized in that the camera plane is 12, and 12 shootings
It is in three array column distribution of three rows and four columns or four rows between the image that plane obtains.
3. camera chain as claimed in claim 2, which is characterized in that the camera lens of the inclined camera is tight shot, focal length
For 20mm-150mm.
4. camera chain as claimed in claim 3, which is characterized in that calculate the process at the angle of inclination of remaining camera plane
For：
Angle between vertical plane where the optical axis of outermost inclined camera and course line is α, the angle between adjacent inclined camera
For β, then：
β=2* α/(n-1), wherein n is line number or columns.
5. the camera chain as described in one of claim 1-4, which is characterized in that the imaging mechanism includes that the first photography is single
Member, the second camera unit；The carry cabin is equipped with the first rotation cabin, the second rotation cabin, and first rotation cabin surrounds first turn
Shaft rotation is dynamic, and the second rotation cabin is rotated around the second shaft；First camera unit is set in first rotation cabin,
Second camera unit is set in second rotation cabin；The first rotating shaft, second shaft are mutually parallel.
6. camera chain as claimed in claim 5, which is characterized in that first camera unit includes two inclination phases
Machine, second camera unit include two inclined cameras.
7. camera chain as claimed in claim 6, which is characterized in that two inclination phases in first camera unit
Machine is symmetrical relative to the heading of the aircraft；Two inclined cameras in second camera unit are relative to institute
The heading for stating aircraft is symmetrical.
8. camera chain as claimed in claim 7, which is characterized in that two inclination phases in first camera unit
Angle between the optical axis of machine and its symmetrical center line is：30 ° -45 °, two inclinations in second camera unit
Angle between the optical axis of camera and its symmetrical center line is：10°—15°.
9. camera chain as claimed in claim 8, which is characterized in that the slewing area in first rotation cabin covers three
The slewing area in continuous direction, second rotation cabin covers three continuous directions；The first rotating shaft, described second
The rotational angle of shaft is identical.
10. camera chain as claimed in claim 2, which is characterized in that the camera unit includes 12 inclination phases
Machine, the inclined camera are arranged in a one-to-one correspondence with the camera plane.
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| CN201810081678.5A CN108332717A (en) | 2018-01-26 | 2018-01-26 | A kind of aviation oblique photograph system for shooting matrix form image |
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| CN201810081678.5A CN108332717A (en) | 2018-01-26 | 2018-01-26 | A kind of aviation oblique photograph system for shooting matrix form image |
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Application publication date: 20180727 |