CN205952332U - Fixed wing uavs sways formula oblique photography system - Google Patents
Fixed wing uavs sways formula oblique photography system Download PDFInfo
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- CN205952332U CN205952332U CN201620792778.5U CN201620792778U CN205952332U CN 205952332 U CN205952332 U CN 205952332U CN 201620792778 U CN201620792778 U CN 201620792778U CN 205952332 U CN205952332 U CN 205952332U
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Abstract
The utility model relates to a fixed wing uavs sways formula oblique photography system, including fixed wing uavs, and carry on the formula of the swaing oblique photography device that fixed wing uavs is last, sway formula oblique photography device including optical imaging unit, the drive of acquireing the multi -angle image data of surface feature the optical imaging unit wobbling sways the cloud platform, advances line location's GPS locator and control in the twinkling of an eye to optical imaging unit 's exposure optical imaging unit 's exposure action, control wave waving the action and controlling and save the central controller of the locating information of GPS locator of cloud platform, optical imaging unit is optical camera of stand alone type or two optical camera of combination formula. The utility model overcomes tradition aerial photograph technique can only be followed vertical angle and carried out the limitation of shooing, can reflect the actual conditions of surface feature more really, compensatied positive projection like not enough.
Description
Technical field
This utility model is related to a kind of unmanned plane camera chain, is specifically related to a kind of swing inclination of fixed-wing unmanned plane
Camera chain.
Background technology
Three-dimensional digital city model is the important foundation data of smart city, various in management, planning, fire-fighting, public security etc.
In the related application in city, there is important value.But the building-up work high cost of three-dimensional city mathematical model, speed is slow, consumption
Take a large amount of man power and materials.In recent years, international area of geographic information is by traditional air photo technique and digital ground acquisition technology
Combine, developed a kind of new and high technology of referred to as airborne multi-angle oblique photography, abbreviation oblique photograph technology, progressively become
One of important technical of three-dimensional city.Oblique photograph technology passes through to carry multiple stage or multiple sensing on same flying platform
Device, simultaneously from multiple angle acquisition ground image, thus overcome traditional air photo technique can only be clapped from vertical angle
The limitation taken the photograph, can more truly reflect the practical situation of atural object, compensate for the deficiency of orthography, by integrating POS,
The data such as DSM and vector, realizes the dimensional Modeling Technology based on image dense Stereo Matching.At present, multiple many camera lenses are had to incline both at home and abroad
To camera product, include ADS40, ADS80 three line scanner digital camera, Pictometry company of the U.S. multi-angle of Lai Ka company
The SWDC-5 phase of camera, the aviation oblique photograph system of 3 camera compositions of Trimble company and domestic Liu elder generation woods academician
Machine, upper Hainan Airlines distant company AMC580 camera, the TOPDC-5 inclined camera of Zhong Cexintu company.Above camera is most of to adopt 5
, through being arranged in a combination, because camera quantity is many, load is big, can be only installed on manned big aircraft for digital camera,
When carrying out actual three-dimensional modeling production, need to apply for spatial domain, the time cycle of data acquisition is long, and data acquisition cost is very high.
In recent years, the oblique photograph system of UAV flight, substantially employing for 5 cameras on small-sized many rotor wing unmanned aerial vehicles
Oblique photograph system camera assembly model, this oblique photograph measuring system is fixed together by 5 cameras and constitutes, and carries
On many rotor wing unmanned aerial vehicles, camera is combined using small-sized low-resolution cameras；Small-sized rotor wing unmanned aerial vehicle carries camera
Quantity more had a strong impact on small-sized rotor wing unmanned aerial vehicle loading capacity so that small-sized rotor wing unmanned aerial vehicle cruising time short, make
Industry inefficiency, is not suitable for the problem of big region job.
Utility model content
Technical problem to be solved in the utility model is that a kind of of offer need to carry 1 or 2 cameras just can be realized
The fixed-wing unmanned plane swing oblique photograph system of multi-angle oblique photography.
The technical scheme that this utility model solves above-mentioned technical problem is as follows：A kind of swing inclination of fixed-wing unmanned plane is taken the photograph
Shadow system, including fixed-wing unmanned plane, and is mounted in the swing oblique photograph device on described fixed-wing unmanned plane, described
Swing oblique photograph device includes obtaining the optical image unit of multi-angle image data of atural object, drives described optical imagery
What unit swung waves head, the exposure GPS locator that positioned of moment to optical image unit, and controls described light
The positioning letter waving the rocking action of head described in the exposure actions of image-generating unit, control and controlling and store GPS locator
The system controller of breath, the described head that waves is fixed on described fixed-wing unmanned plane, and described optical image unit is arranged on institute
State and wave on head, described GPS locator is arranged on the optional position of described fixed-wing unmanned plane and is controlled with described system
Device electrically connects, and described system controller is also controlled with the described flight waving head, optical image unit and fixed-wing unmanned plane
System electrically connects, and described optical image unit is a freestanding optical camera or knockdown two optical cameras.
The beneficial effects of the utility model are：A kind of swing oblique photograph system of this utility model fixed-wing unmanned plane is led to
Cross and wave that head carries 1 or multi-angle oblique photography realized by 2 cameras, waved by system controller arbitary convention camera
The action of number of times, angle and camera exposure, can obtain the multi-angle image data of atural object simultaneously, and obtain the ground of exposure moment
Reason information, thus overcoming the limitation that traditional air photo technique can only be shot from vertical angle, can be truer
The practical situation of ground reflection atural object, compensate for the deficiency of orthography；The image data being shot by the system and the ground obtaining
Reason information, then integrate POS, the data such as DSM and vector, set up the dimensional Modeling Technology based on image dense Stereo Matching, by automatic
Texture mapping, rapidly and efficiently set up digital city model, strong sense of reality, speed is fast, greatly reduces three-dimensional modeling and works into
This；The outdoor scene threedimensional model that the multi-angle image data being shot by the system is set up can be widely applied to urban planning, building
Landscape design, resource management, military battlefield manoeuvre, Governace, three-dimensional navigation and city tour's management system, anti-terrorism dimension
Surely, the national defence such as security warning, rescue and relief work and development of the national economy every field；Additionally, fixed-wing of the present utility model is unmanned
Machine passes through aeroplane photography, field arrangement photo control point and photogrammetric interior industry, only needs the time can complete topographic map drawing, subtracts
Light field survey personnel labor intensity, improves work efficiency.
On the basis of technique scheme, this utility model can also do following improvement.
Further, the described rocking action waving head is to carry out pendulum-type action along the direction of fixed-wing unmanned plane during flying.
Further, described optical image unit is a freestanding optical camera, and a freestanding optical camera hangs down
Depending on be fixed on described in wave on head, a freestanding optical camera includes CCD imaging device and tight shot.
Further, described optical image unit is knockdown two optical cameras, knockdown two optical camera edges
The symmetrical tilt distribution in direction of fixed-wing unmanned plane during flying is waved on head described in being arranged on, and described system controller
The exposure actions of knockdown two optical cameras of Synchronization Control, knockdown two optical cameras all include CCD imaging device
And tight shot.
Further beneficial effect using technique scheme is：This utility model adopts non-metric camera, and volume is light, leads to
Cross camera calibration and still can be used for aerophotogrammetry, low cost, by being mounted in fixed-wing unmanned plane, need not special field
Ground, handss are thrown or catapult-assisted take-off, the mode of parachuting or downhill race, by dense Stereo Matching, can quickly create large scale digital city
Threedimensional model and make 4D measurement product, in large-scale aeroplane photography operation, its quick-reaction capability and with traditional aviation
Photography is compared the aspects such as the economic benefit of generation with small-sized many rotor wing unmanned aerial vehicles and is had obvious advantage.
Further, described system controller includes trigger, memorizer and power module, the trigger input of described trigger
End is electrically connected with the flight control system of described fixed-wing unmanned plane, the trigger output end of described trigger respectively with described optics
Image-generating unit, wave the input electrical connection of head and GPS locator, the outfan of described memorizer and described GPS locator
Electrical connection, described power module is respectively described optical image unit and waves head and power.
Further, described power module includes DC power converter and charger, described DC power converter defeated
Enter end and connect external power source, outfan is connected with the input of described charger, the outfan of described charger and described optics
Image-generating unit electrically connects with waving head.
Further, the described head that waves includes optical image unit installing rack, pendulum part and servomotor, described servo
Motor pass through drive pendulum part drive optical image unit installing rack swing, described servomotor respectively with described trigger
Trigger output end and charger outfan electrical connection, described optical image unit is arranged on described optical image unit and installs
On frame.
Brief description
Fig. 1 is a kind of structural representation of the swing oblique photograph system of this utility model fixed-wing unmanned plane；
Fig. 2 is a kind of a kind of swing oblique photograph of the swing oblique photograph system of this utility model fixed-wing unmanned plane
The structural representation of device；
Fig. 3 is that a kind of swing inclination of another kind of the swing oblique photograph system of this utility model fixed-wing unmanned plane is taken the photograph
The structural representation of image device；
Fig. 4 is that a kind of control signal of the swing oblique photograph system of present invention fixed-wing unmanned plane is moved towards to scheme.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, fixed-wing unmanned plane, 2, swing oblique photograph device, 3, optical image unit, 4, wave head, 5, GPS fixed
Position device, 6, system controller.
Specific embodiment
Below in conjunction with accompanying drawing, principle of the present utility model and feature are described, example is served only for explaining this practicality
New, it is not intended to limit scope of the present utility model.
As shown in Figure 1, Figure 2 and Figure 3, the swing oblique photograph system of a kind of fixed-wing unmanned plane, unmanned including fixed-wing
Machine 1, and it is mounted in the swing oblique photograph device 2 on described fixed-wing unmanned plane 1.
Described fixed-wing unmanned plane 1 is main to be controlled by traditional unmanned plane during flying plateform system, GPS navigation system, flight
System, ground control system and signal transmission system composition；
Described unmanned plane during flying plateform system, provides power by motor or electromotor, is turned by adjusting motor or electromotor
Speed controls pulling force size, is rotated by rudder face and controls attitude of flight vehicle and position；
Described GPS navigation system, using GPS/INS integrated navigation, determines unmanned plane center position coordinate, cooperation flies
Row control system, allows nobody to be flown according to planning course line, thus realize unmanned plane automatically controlling；
Described UAV Flight Control System, for complete the inner-outer loop flight tracking control of unmanned plane, the navigation of unmanned plane,
Guidance, aerial mission management, task loading management and control, realize full control of authority and management to unmanned plane；
Described ground control system, is connect by automatic direction finding equipment, guidance computer, radio signal sender and remote control
Receipts machine, flight-control computer, automatic pilot, steering gear system, by unmanned plane transmission signal as radiation source, earth station uses
Radio direction finding equipment records UAV Attitude, using radio response mode, records unmanned plane distance, using height sensor
Record unmanned plane height with telemeter channel, determine unmanned plane during flying parameter from the attitude of unmanned plane, distance and height；
Described signal transmission system is logical between described ground control system and UAV Flight Control System for realizing
News.
Described swing oblique photograph device 2 includes the optical image unit 3 of multi-angle image data, the band obtaining atural object
The GPS location that what dynamic described optical image unit 3 swung wave head 4, the exposure moment to optical image unit 2 is positioned
Device 5, and control the exposure actions of described optical image unit 2, control described in wave the rocking action of head 3 and control and deposit
The system controller 6 of the location information of storage GPS locator 5；
The described head 4 that waves is fixed on described fixed-wing unmanned plane 1, and the described rocking action waving head 4 is along admittedly
The direction determining wing unmanned plane 1 flight carries out pendulum-type action；
Described optical image unit 3 waves on head 4 described in being arranged on, and described optical image unit 3 is freestanding one
Platform optical camera or knockdown two optical cameras；When described optical image unit 3 is a freestanding optical camera,
Then a freestanding optical camera hang down depending on be fixed on described in wave on head 4；When described optical image unit 3 is combination type
Two optical cameras when, then knockdown two optical cameras symmetrical incline along the direction of fixed-wing unmanned plane during flying 1
Tiltedly distributing installation waves on head 4 described；
Described GPS locator 5 be arranged on the optional position of described fixed-wing unmanned plane 1 and with described system controller 6
Electrical connection；
Described system controller 6 also with the flight control system of described fixed-wing unmanned plane 1, wave head 4 and light studies
As unit 3 electrically connects.
Described system controller 6 includes trigger, memorizer and power module, the trigger input end of described trigger and institute
State the flight control system electrical connection of fixed-wing unmanned plane 1, the trigger output end of described trigger respectively with described optical imagery
Unit 3, wave the input electrical connection of head 4 and GPS locator 5, the outfan of described memorizer and described GPS locator 5
Electrical connection, described power module is respectively described optical image unit 3 and waves head 4 and power.Described power module includes directly
Stream power supply changeover device and charger, the input of described DC power converter connects external power source, outfan and described power supply
The input of device connects, the outfan of described charger and described optical image unit 3 and wave head 4 and electrically connect.Described shake
Pendulum head 4 includes optical image unit installing rack, pendulum part and servomotor, and described servomotor passes through to drive pendulum part
Drive the swing of optical image unit installing rack, described servomotor trigger output end and the charger with described trigger respectively
Outfan electrical connection, described optical image unit 3 is arranged on described optical image unit installing rack.
In a kind of swing oblique photograph system of this utility model fixed-wing unmanned plane：
A freestanding optical camera of described optical image unit 3 or knockdown two optical cameras all include little
Type CCD imaging device and height are as matter tight shot.
Described GPS locator 5 measures the location information data in exposure moment for the optical image unit.
Described system controller 6 is connected with described head 4, optical image unit 3 and the GPS locator 5 of waving respectively, is used for
Control and wave more than 4 swing of head, control optical image unit 3 to expose, be optical image unit 3 and wave head 4 to power, deposit
The optical image unit 3 that storage GPS locator 5 records is in the real-time geographic information data of exposure moment.System controller 6 includes touching
Send out device, memorizer and power module, trigger therein is mainly used in the flight control system by receiving fixed-wing unmanned plane 1
Trigger synchronously triggering waves that head 4 swings and optical image unit 3 exposes, and feed back trigger to external equipment；
Memory module therein is for intercepting and capturing, storing the geography information in exposure moment for the optical image unit 3 that GPS locator 5 records
Data；Supply module therein is made up of DC power converter and charger, by DC power converter by external impressed current
Powered with the servomotor waving head 4 to optical image unit 3 by charger after being filtered voltage stabilizing conversion.
Fig. 4 is that a kind of control signal of the swing oblique photograph system of this utility model fixed-wing unmanned plane is moved towards to scheme：Gu
Pwm signal is passed to the system controller of swing oblique photograph device, system control by the flight control system determining wing unmanned plane
Device processed according to pwm signal send multiple wig-wag signal give wave head, multiexposure, multiple exposure signal to optical imaging system, and capture
Signal, to GPS positioning system, waves head and waves driving optical image unit rotation, the optical imagery that GPS locator will capture
The geographical location information in exposure moment for the unit is stored in system controller.
In the specific embodiment 1 of utility model, as shown in Fig. 2 optical image unit is a freestanding optics
Camera, a freestanding optical camera hang down depending on be fixed on described in wave on head.Fixed-wing unmanned plane is advised by earth station
Pull task, behind entrance operating area of independently taking off, start to execute shooting task；Taking wave cloud platform rotation three times as a example, when reaching
During to exposure point A, the flight control system of fixed-wing unmanned plane sends the system to swing oblique photograph device for the control instruction
Controller, system controller control wave head forward, downwards, rotate backward and control freestanding optical camera to expose
Light, system controller control after the completion of freestanding optical camera exposure is waved head and is returned to initial position.Expose whole
In photoreduction process, a vertical freestanding optical camera depending on carry obtains three images in an exposure point, and wherein 2 is to incline
Tiltedly image, in addition 1 is orthography；Hang down the freestanding optical camera execution autotask regarding carry it is desirable to meet
Final three-dimensional reconstruction effect, need to by earth station same operating area course line is ratated 90 degrees or 270 degree after, made again
Industry.The later stage that the multi-angle image data that a freestanding optical camera shoots is used for earth station is processed, and can be spliced into use
The wide cut image measuring in conventional radiography, and set up true threedimensional model.
In specific embodiment of the utility model 2, as shown in figure 3, described optical image unit is knockdown two
Optical camera, knockdown two optical cameras along unmanned plane during flying the symmetrical tilt distribution in direction be arranged on described in shake
On pendulum head.Fixed-wing unmanned plane has planned task by earth station, independently takes off behind entrance operating area, starts to execute shooting
Task；Taking wave cloud platform rotation three times as a example, when reaching exposure point A, the flight control system of fixed-wing unmanned plane sends control
System instruction to swing oblique photograph device system controller, system controller control wave head forward, downwards, turn round
Dynamic and control combination formula two optical cameras synchronously expose, and after the completion of knockdown two optics synchronised exposure, system controls
Device control is waved head and is returned to initial position.In whole exposure process, knockdown two optical cameras tilting carry exist
One exposure point obtains six images, and wherein 6 are inclination image.The multi-angle shadow that knockdown two optics phases shoot
As the later stage that data is used for earth station is processed, the wide cut image measuring for conventional radiography can be spliced into, and set up very three-dimensional
Model.
A kind of swing oblique photograph system of this utility model fixed-wing unmanned plane carries 1 or 2 by waving head
Multi-angle oblique photography realized by camera, number of times, angle and the camera exposure being waved by system controller arbitary convention camera
Action, can obtain the multi-angle image data of atural object simultaneously, and obtain the geography information exposing moment, thus overcoming tradition
The limitation that air photo technique can only be shot from vertical angle, can more truly reflect the practical situation of atural object,
Compensate for the deficiency of orthography；The image data being shot by the system and the geography information obtaining, then integrate POS, DSM and
The data such as vector, are set up dimensional Modeling Technology based on image dense Stereo Matching, are mapped by automatically texture, foundation rapidly and efficiently
Digital city model, strong sense of reality, speed is fast, greatly reduces three-dimensional modeling job costs；By the system shoot polygonal
The outdoor scene threedimensional model that degree image data is set up can be widely applied to urban planning, construction landscape design, resource management, military war
Field manoeuvre, Governace, three-dimensional navigation and the national defence such as city tour's management system, anti-terrorism stability maintenance, security warning, rescue and relief work
With development of the national economy every field.Additionally, fixed-wing unmanned plane of the present utility model passes through aeroplane photography, field arrangement is as control
Point and photogrammetric interior industry, only need the time can complete topographic map drawing, alleviate field survey personnel labor intensity, carry
High work efficiency.
This utility model adopts non-metric camera, and volume is light, still can be used for aerophotogrammetry by camera calibration,
Low cost, by being mounted in fixed-wing unmanned plane, need not special place, handss throw or catapult-assisted take-off, the mode of parachuting or downhill race,
By dense Stereo Matching, can quickly create large scale digital city threedimensional model and make 4D measurement product, navigate large-scale
In empty photography operation, its quick-reaction capability and compared with traditional aeroplane photography and small-sized many rotor wing unmanned aerial vehicles generation economic effect
The aspects such as benefit have obvious advantage.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all in this practicality
Within new spirit and principle, any modification, equivalent substitution and improvement made etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (7)
1. a kind of swing oblique photograph system of fixed-wing unmanned plane it is characterised in that：Including fixed-wing unmanned plane, and carry
Swing oblique photograph device on described fixed-wing unmanned plane, described swing oblique photograph device includes obtaining atural object
What the optical image unit of multi-angle image data, the described optical image unit of drive swung waves head, to optical imagery list
The exposure GPS locator that positioned of moment of unit, and control the exposure actions of described optical image unit, control described in shake
The pendulum rocking action of head and control and store GPS locator location information system controller, the described head that waves fixes
On described fixed-wing unmanned plane, described optical image unit be arranged on described in wave on head, described GPS locator is arranged on
Electrically connect on the optional position of described fixed-wing unmanned plane and with described system controller, described system controller is also shaken with described
The flight control system electrical connection of pendulum head, optical image unit and fixed-wing unmanned plane, described optical image unit is independent
One optical camera of formula or knockdown two optical cameras.
2. a kind of swing oblique photograph system of fixed-wing unmanned plane according to claim 1 it is characterised in that：Described shake
The rocking action of pendulum head is to carry out pendulum-type action along the direction of fixed-wing unmanned plane during flying.
3. a kind of swing oblique photograph system of fixed-wing unmanned plane according to claim 1 and 2 it is characterised in that：Institute
State optical image unit be a freestanding optical camera, a freestanding optical camera hang down depending on be fixed on described in wave
On head, a freestanding optical camera includes CCD imaging device and tight shot.
4. a kind of swing oblique photograph system of fixed-wing unmanned plane according to claim 1 and 2 it is characterised in that：Institute
Stating optical image unit is knockdown two optical cameras, and knockdown two optical cameras are along fixed-wing unmanned plane during flying
The symmetrical tilt distribution in direction is waved on head described in being arranged on, and described system controller Synchronization Control knockdown two
The exposure actions of platform optical camera, knockdown two optical cameras all include CCD imaging device and tight shot.
5. a kind of swing oblique photograph system of fixed-wing unmanned plane according to claim 1 and 2 it is characterised in that：Institute
State system controller and include trigger, memorizer and power module, the trigger input end of described trigger is with described fixed-wing no
Man-machine flight control system electrical connection, the trigger output end of described trigger respectively with described optical image unit, wave cloud
The input electrical connection of platform and GPS locator, described memorizer is electrically connected with the outfan of described GPS locator, described power supply
Module is respectively described optical image unit and waves head and power.
6. a kind of swing oblique photograph system of fixed-wing unmanned plane according to claim 5 it is characterised in that：Described electricity
Source module includes DC power converter and charger, and the input of described DC power converter connects external power source, output
End is connected with the input of described charger, the outfan of described charger and described optical image unit and wave head and be electrically connected
Connect.
7. a kind of swing oblique photograph system of fixed-wing unmanned plane according to claim 6 it is characterised in that：Described shake
Pendulum head includes optical image unit installing rack, pendulum part and servomotor, and described servomotor is furnished standby by driving clock
Part drives the swing of optical image unit installing rack, trigger output end and the confession with described trigger respectively of described servomotor
The outfan electrical connection of electrical equipment, described optical image unit is arranged on described optical image unit installing rack.
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| CN201620792778.5U CN205952332U (en) | 2016-07-25 | 2016-07-25 | Fixed wing uavs sways formula oblique photography system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112731824A (en) * | 2019-10-29 | 2021-04-30 | 南京迈界遥感技术有限公司 | Oblique photography control system for three-dimensional modeling |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112731824A (en) * | 2019-10-29 | 2021-04-30 | 南京迈界遥感技术有限公司 | Oblique photography control system for three-dimensional modeling |
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Effective date of registration: 20230907 Address after: 430205 room 01, 4 / F, building B2, phase II of financial background service center base construction project, No. 77, Guanggu Avenue, Donghu New Technology Development Zone, Wuhan, Hubei Province Patentee after: WUHAI DASHI INTELLIGENCE TECHNOLOGY CO.,LTD. Patentee after: WUHAN University Address before: 430000 Xingye Building Annex Building, Wuda Science and Technology Park, Donghu Development Zone, Wuhan City, Hubei Province Patentee before: WUHAI DASHI INTELLIGENCE TECHNOLOGY CO.,LTD. |