Vehicle-mounted sweep pendulum type oblique photogrammetry holder

Abstract

The invention relates to the field of photogrammetry, and discloses a vehicle-mounted sweeping type oblique photogrammetry holder which comprises a U-shaped mounting base and a main rod rotationally connected to the outer surface of the upper end of the U-shaped mounting base, and the outer wall of the main rod is rotationally connected with a transverse arm part, a steering engine clamping seat and a longitudinal arm transverse plate. According to the vehicle-mounted sweeping type oblique photogrammetry holder, the application range is greatly widened, the flexibility is greatly improved, the two cameras are carried through the carbon fiber frame, the sweeping control device is used for controlling the cameras to periodically rotate by 90 degrees, a trigger signal is provided after sweeping in place, the cameras are controlled to photograph, and in addition, a rear differential positioning module is carried, so that the stability of the holder is improved. The device is connected with a camera hot shoe to record the high-precision photographing position of the camera in real time, high-precision POS information is provided for later three-dimensional modeling, and the device can be matched with an unmanned aerial vehicle oblique photogrammetry system to obtain an air-ground integrated live-action three-dimensional image and reconstruct a fine live-action three-dimensional model.

Description

Technical Field

[0001] The invention relates to the field of photogrammetry, in particular to a vehicle-mounted sweeping and tilting photogrammetry pan-tilt platform. Background Art

[0002] The photogrammetry gimbal is a high-precision, multi-functional photography auxiliary equipment. It is mainly used to support and stabilize photographic equipment to achieve accurate photogrammetry. The gimbal can achieve flexible adjustment of photographic equipment in multiple angles and directions through its precise mechanical structure and control system, thereby meeting the precise positioning and shooting requirements of target objects in photogrammetry. In photogrammetry, the gimbal can not only ensure the stability of photographic equipment and reduce errors caused by factors such as shaking, but also achieve multi-angle shooting of target objects through its adjustment function, providing more comprehensive and accurate information for subsequent image processing and data analysis.

[0003] In recent years, with the maturity of technologies such as drones, miniaturized oblique photography pods, and 3D reconstruction, drone oblique photography technology has been promoted and applied in emergency mapping, urban and rural planning, real estate registration, 3D urban construction, and environmental emergency response due to its low cost, high precision, and high efficiency. At present, most users will focus on how to quickly obtain oblique images and quickly produce real-life 3D models, and there is little research on the quality of real-life 3D models, resulting in uneven quality of real-life 3D models. With the popularization and application of real-life 3D models in more fields, the quality and accuracy requirements of 3D models are more stringent. High-precision and more realistic real-life 3D models have become an urgent need in many application fields. In the process of data collection, drone oblique photography measurement causes near-ground objects to be affected by obstructions such as trees and eaves, resulting in incomplete geometric information and texture information collected on the target objects, making the real-life 3D models blurry, streaked, and broken, affecting the quality and accuracy of the 3D models. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a vehicle-mounted sweeping and tilting photogrammetry pan / tilt to solve the above problems.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a vehicle-mounted sweeping and tilting photogrammetry pan-tilt, comprising a U-shaped mounting base, and a main rod rotatably connected to the outer surface of the upper end of the U-shaped mounting base, the outer wall of the main rod being rotatably connected to a cross arm, a steering gear clamping seat, and a longitudinal arm cross plate, the outer wall of the main rod being fixedly connected to a first gear, the right outer surface of the steering gear clamping seat being fixedly connected to a steering gear body, the driving end of the steering gear body being fixedly connected to a second gear, the second gear being hinged to the first gear, the left and right sides of the cross arm being movably connected to two side clamping plates, the front and rear ends of the longitudinal arm cross plate being fixedly connected to the longitudinal arm, the upper end outer surfaces of the two side clamping plates being fixedly connected to a downward swept curved arm, the upper end outer surface of the downward swept curved arm being movably connected to the longitudinal arm, the inner cavity of the downward swept curved arm being fixedly connected to a camera ring, the inner wall of the camera ring being sleeved with a second camera and a first camera, and the right outer surface of the steering gear body being fixedly connected to a steering gear cover plate.

[0008] Preferably, a first rotating connection member is fixedly connected to the outer surface of the upper end of the U-shaped mounting base, a rectangular horizontal plate is fixedly connected to the inner surface of the left side of the U-shaped mounting base, a second rotating connection member is fixedly connected to the outer surface of the upper end of the rectangular horizontal plate, and the upper outer surfaces of the second rotating connection member and the first rotating connection member are both provided with a first rotating circular hole adapted to the main rod, and the first rotating connection member and the second rotating connection member are rotatably connected to the main rod through the first rotating circular hole.

[0009] Preferably, a second rotating circular hole matched with the main rod is opened on the outer surface of the upper end of the longitudinal arm cross plate, and the longitudinal arm cross plate is rotatably connected to the main rod through the second rotating circular hole.

[0010] Preferably, a third rotating circular hole matched with the main rod is opened on the outer surface of the upper end of the cross arm, and the cross arm is rotatably connected to the main rod through the third rotating circular hole.

[0011] Preferably, a strip-shaped mounting groove matched with the longitudinal arm cross plate is formed on the front end outer surface of the longitudinal arm member, and the longitudinal arm member is fixedly connected with the longitudinal arm cross plate via the strip-shaped mounting groove.

[0012] Preferably, the steering gear clamping seat is located on the lower end outer surface of the first gear, the cross arm is located on the upper end outer surface of the first gear, and the longitudinal arm cross plate is located on the upper end outer surface of the cross arm.

[0013] According to another aspect of an embodiment of the present invention, a vehicle-mounted sweeping and oblique photogrammetry system is also provided, including a gimbal module, a camera module, a controller module, a differential positioning module, a data storage module, a data display module, a wireless communication module, a power management module and a post-processing software module. The gimbal module is used to support the rotation and stable shooting of the camera to ensure the accuracy of the shooting angle. The gimbal is controlled by a motor to perform a periodic 90-degree rotation. The gimbal module adopts a carbon fiber frame, which is light and has a sturdy structure; the camera module is used to capture high-resolution images and perform oblique photogrammetry. It can carry multiple cameras to obtain data of different dimensions and be integrated with the gimbal to support the needs of multi-angle shooting; the controller module is used to drive the rotation of the gimbal, and control the camera's photo-taking behavior, start and stop the camera photo-taking at a fixed time, and accurately trigger after the gimbal rotates into place. The controller module is programmable and controllable to set the shooting frequency and rotation angle; the differential positioning module is used to provide high-precision POS (position, posture) information, and is connected to the camera hot shoe to record the position when the photo is taken in real time. The data storage module is used to store the images taken by the camera and their corresponding POS information to ensure the security and integrity of the data. The data storage module uses a high-capacity memory card or SSD to meet the needs of high-frequency shooting. The data display module is used to display real-time shooting angles, image previews and positioning information, and assists the operator to monitor the system status at any time. The wireless communication module is used to realize wireless data transmission with the ground control center or other equipment, and transmit the captured images and location information in real time. The wireless communication module supports Wi-Fi, 4G / 5G or other wireless communication technologies. The power management module is used to provide a stable power supply for all modules to ensure the continuous operation of the system during long-term operation. The power management module is equipped with a lithium battery and a charging management system to support fast charging and power monitoring. The post-processing software module is used to process and analyze the collected data, including image stitching and 3D modeling. It provides an easy-to-use interface and rich functions, and supports the selection of different algorithms and the adjustment of processing parameters.

[0014] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements system steps when calling the computer program in the memory.

[0015] According to another aspect of an embodiment of the present invention, a computer-readable medium is provided, in which computer-executable instructions are stored. When the computer-executable instructions are loaded and executed by a processor, system steps are implemented.

[0016] According to another aspect of an embodiment of the present invention, a computer program product is also provided. The computer program product is tangibly stored on a non-transitory computer-readable medium and includes machine-executable instructions. When the machine-executable instructions are executed, the machine performs system steps.

[0017] Beneficial Effects

[0018] Compared with the prior art, the present invention provides a vehicle-mounted sweeping and tilting photogrammetry pan / tilt, which has the following beneficial effects:

[0019] This vehicle-mounted sweeping and tilting photogrammetry pan-tilt is a perfect combination of modern surveying and mapping technology and intelligent technology. Through a highly integrated design concept, this vehicle-mounted sweeping and tilting photogrammetry pan-tilt realizes the close connection between the photogrammetry equipment and the vehicle platform, which not only improves the stability and reliability of the equipment, but also greatly enhances its scope of application and flexibility.

[0020] The vehicle-mounted sweeping and tilting photogrammetry gimbal adopts a unique sweeping and swinging structure design, which can rotate freely in multiple dimensions. Combined with advanced oblique photography technology, it can easily capture every detail of complex terrain and urban landscapes. This design not only enriches the information volume of spatial data, but also provides more accurate and comprehensive data support for 3D modeling and geographic information systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a vehicle-mounted sweeping and tilting photogrammetry pan-tilt according to the present invention;

[0022] Figure 2 It is a structural schematic diagram of a camera ring in a vehicle-mounted sweeping and tilting photogrammetry pan-tilt according to the present invention;

[0023] Figure 3 It is a structural schematic diagram of the main pole of a vehicle-mounted sweeping and tilting photogrammetry pan-tilt according to the present invention;

[0024] Figure 4 It is a structural schematic diagram of the steering gear main body in a vehicle-mounted sweeping and tilting photogrammetry pan-tilt according to the present invention;

[0025] Figure 5 It is a structural schematic diagram of a cross arm member in a vehicle-mounted sweeping and tilting photogrammetry pan-tilt according to the present invention;

[0026] Figure 6 The present invention is a schematic structural diagram of a camera ring in a vehicle-mounted sweeping and tilting photogrammetry pan-tilt.

[0027] In the figure: 1. U-shaped mounting base; 2. cross arm; 3. servo clamping seat; 4. servo body; 5. first gear; 6. servo cover; 7. first camera; 8. longitudinal arm; 9. longitudinal arm cross plate; 10. main rod; 11. downward swept arm; 12. second camera; 13. second gear; 14. camera ring; 15. two side clamps. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be understood that in various embodiments of the present invention, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0030] It should be understood that in the present invention, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0031] See also Figure 1-6A vehicle-mounted sweeping and tilting photogrammetry pan-tilt comprises a U-shaped mounting base 1, and a main rod 10 rotatably connected to the outer surface of the upper end of the U-shaped mounting base 1, characterized in that: the outer wall of the main rod 10 is rotatably connected with a cross arm 2, a steering gear clamping seat 3, and a longitudinal arm cross plate 9, the outer wall of the main rod 10 is fixedly connected with a first gear 5, the right outer surface of the steering gear clamping seat 3 is fixedly connected with a steering gear body 4, the driving end of the steering gear body 4 is fixedly connected with a second gear 13, and the second gear 13 is hinged with the first gear 5, the left and right sides of the cross arm 2 are movably connected with two side clamps 15, the front and rear ends of the longitudinal arm cross plate 9 are fixedly connected with the longitudinal arm 8, the upper end outer surfaces of the two side clamps 15 are fixedly connected with downward sweeping arms 11, and the downward sweeping arms 11 are fixedly connected to the lower outer surfaces of ... inner surfaces of the lower inner surfaces of the lower inner surfaces of the lower inner surfaces of the lower inner surfaces of the lower inner surfaces of the lower inner surfaces The upper outer surface of the curved arm 11 is movably connected to the longitudinal arm 8, the inner cavity of the downward curved arm 11 is fixedly connected with a camera ring 14, the inner wall of the camera ring 14 is sleeved with a second camera 12 and a first camera 7, the right outer surface of the servo body 4 is fixedly connected with a servo cover 6, the upper outer surface of the U-shaped mounting base 1 is fixedly connected with a first rotating connector, the left inner surface of the U-shaped mounting base 1 is fixedly connected with a rectangular cross plate, the upper outer surface of the rectangular cross plate is fixedly connected with a second rotating connector, the upper outer surfaces of the second rotating connector and the first rotating connector are both provided with a first rotating circular hole adapted to the main rod 10, and the first rotating connector and the second rotating connector are rotatably connected to the main rod 10 through the first rotating circular hole.

[0032] The core components of the gimbal include a U-shaped mounting base 1, a main rod 10, a cross arm 2, a servo clamping seat 3, a longitudinal arm cross plate 9, etc. The U-shaped mounting base 1 serves as the supporting base of the entire gimbal. Through the first rotating connector and the second rotating connector thereon, the main rod 10 can be flexibly rotated. Both of the two rotating connectors are provided with a first rotating circular hole adapted to the main rod 10, so that the main rod 10 can be rotated in pitch and yaw within a certain range, thereby adjusting the shooting angle of the camera.

[0033] The servo clamping seat 3 is fixedly connected to the outer wall of the main rod 10, and the servo body 4 installed thereon is hinged to the first gear 5 on the outer wall of the main rod 10 through the second gear 13 connected to the driving end. When the servo body 4 is working, it will drive the second gear 13 to rotate, and then drive the first gear 5 and the entire main rod 10 to rotate relative to the U-shaped mounting base 1, thereby realizing the tilt photogrammetry function of the pan / tilt.

[0034] The cross arm 2 is also rotatably connected to the outer wall of the main rod 10, and is connected to the downward sweeping arm 11 through the clamping plates 15 on both sides. The upper end of the downward sweeping arm 11 is movably connected to the longitudinal arm 8, and the longitudinal arm 8 is fixedly connected to the front and rear ends of the longitudinal arm cross plate 9. This structural design allows the downward sweeping arm 11 to swing within a certain range, thereby adjusting the pitch angle of the camera.

[0035] The camera ring 14 is fixedly connected to the inner cavity of the downward sweeping arm 11, and the inner wall thereof is sleeved with a first camera 7 and a second camera 12. The two cameras can synchronously perform oblique photogrammetry to capture richer and more comprehensive geographic information.

[0036] In practical applications, the operator can achieve precise control and positioning of the camera by controlling the rotation angle and speed of the steering gear body 4, and adjusting the position and angle of the cross arm 2 and the longitudinal arm cross plate 9. At the same time, the pan / tilt head can also be combined with the GPS positioning system and the intelligent control system to achieve more automated and intelligent photogrammetry operations.

[0037] A second rotating circular hole compatible with the main rod 10 is opened on the upper outer surface of the longitudinal arm cross plate 9, and the longitudinal arm cross plate 9 is rotatably connected to the main rod 10 through the second rotating circular hole. A third rotating circular hole compatible with the main rod 10 is opened on the upper outer surface of the cross arm member 2, and the cross arm member 2 is rotatably connected to the main rod 10 through the third rotating circular hole. A strip mounting groove compatible with the longitudinal arm cross plate 9 is opened on the front end outer surface of the longitudinal arm member 8, and the longitudinal arm member 8 is fixedly connected to the longitudinal arm cross plate 9 through the strip mounting groove. The servo clamping seat 3 is located on the lower outer surface of the first gear 5, the cross arm member 2 is located on the upper outer surface of the first gear 5, and the longitudinal arm cross plate 9 is located on the upper outer surface of the cross arm member 2.

[0038] The core support structure of the gimbal is the U-shaped mounting base 1, which is firmly mounted on the vehicle and provides a solid foundation for the entire gimbal system. The U-shaped mounting base 1 realizes the flexible rotation of the main rod 10 through the first rotating connector and the second rotating connector on it. The two rotating connectors are respectively provided with first rotating circular holes adapted to the main rod 10, so that the main rod 10 can rotate in pitch and yaw around its axis.

[0039] On the outer wall of the main rod 10, the cross arm 2, the steering gear clamping seat 3 and the longitudinal arm cross plate 9 are rotatably connected. The cross arm 2 is connected to the main rod 10 through the third rotating circular hole opened thereon, so that the cross arm 2 can rotate on the main rod 10 within a certain range. This rotation enables the cross arm 2 and the camera connected thereto to perform tilted shooting on a horizontal plane.

[0040] The servo clamping seat 3 is fixedly connected to the lower outer wall of the main rod 10, and the servo body 4 mounted thereon is hinged to the first gear 5 on the outer wall of the main rod 10 through the second gear 13 connected to the driving end. When the servo body 4 receives a control signal, it drives the second gear 13 to rotate, thereby driving the first gear 5 and the entire main rod 10 to rotate relative to the U-shaped mounting base 1. This rotation realizes the tilt photogrammetry function of the pan / tilt on the vertical plane.

[0041] The longitudinal arm cross plate 9 is connected to the main rod 10 through the second rotating circular hole provided thereon, so that the longitudinal arm cross plate 9 can rotate on the main rod 10 in the vertical plane. The longitudinal arm member 8 is fixedly connected to the front and rear ends of the longitudinal arm cross plate 9, and a strip-shaped mounting groove adapted to the longitudinal arm cross plate 9 is provided on the front outer surface of the longitudinal arm member 8. Through the fixed connection between the strip-shaped mounting groove and the longitudinal arm cross plate 9, the longitudinal arm member 8 can be fine-tuned in the vertical plane to further optimize the shooting angle of the camera.

[0042] The left and right sides of the cross arm 2 are movably connected with two side clamps 15, and the lower sweep arm 11 is fixedly connected to the upper end outer surface of the two side clamps 15. The upper end of the lower sweep arm 11 is movably connected to the longitudinal arm 8, so that the lower sweep arm 11 can swing under the guidance of the longitudinal arm 8. The inner cavity of the lower sweep arm 11 is fixedly connected with a camera ring 14, and the inner wall of the camera ring 14 is sleeved with the first camera 7 and the second camera 12. This structural design allows the camera to be flexibly adjusted in multiple dimensions to achieve accurate oblique photogrammetry.

[0043] According to another aspect of an embodiment of the present invention, a vehicle-mounted sweeping and oblique photogrammetry system is also provided, including a gimbal module, a camera module, a controller module, a differential positioning module, a data storage module, a data display module, a wireless communication module, a power management module and a post-processing software module. The gimbal module is used to support the rotation and stable shooting of the camera to ensure the accuracy of the shooting angle. The gimbal is controlled by a motor to perform a periodic 90-degree rotation. The gimbal module adopts a carbon fiber frame, which is light and has a sturdy structure; the camera module is used to capture high-resolution images and perform oblique photogrammetry. It can carry multiple cameras to obtain data of different dimensions and be integrated with the gimbal to support the needs of multi-angle shooting; the controller module is used to drive the rotation of the gimbal, and control the camera's photo-taking behavior, start and stop the camera photo-taking at a fixed time, and accurately trigger after the gimbal rotates into place. The controller module is programmable and controllable to set the shooting frequency and rotation angle; the differential positioning module is used to provide high-precision POS (position, posture) information, and is connected to the camera hot shoe to record the position when the photo is taken in real time. The data storage module is used to store the images taken by the camera and their corresponding POS information to ensure the security and integrity of the data. The data storage module uses a high-capacity memory card or SSD to meet the needs of high-frequency shooting. The data display module is used to display real-time shooting angles, image previews and positioning information, and assists the operator to monitor the system status at any time. The wireless communication module is used to realize wireless data transmission with the ground control center or other equipment, and transmit the captured images and location information in real time. The wireless communication module supports Wi-Fi, 4G / 5G or other wireless communication technologies. The power management module is used to provide a stable power supply for all modules to ensure the continuous operation of the system during long-term operation. The power management module is equipped with a lithium battery and a charging management system to support fast charging and power monitoring. The post-processing software module is used to process and analyze the collected data, including image stitching and 3D modeling. It provides an easy-to-use interface and rich functions, and supports the selection of different algorithms and the adjustment of processing parameters.

[0044] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements system steps when calling the computer program in the memory.

[0045] According to another aspect of an embodiment of the present invention, a computer-readable medium is provided, in which computer-executable instructions are stored. When the computer-executable instructions are loaded and executed by a processor, system steps are implemented.

[0046] According to another aspect of an embodiment of the present invention, a computer program product is also provided. The computer program product is tangibly stored on a non-transitory computer-readable medium and includes machine-executable instructions. When the machine-executable instructions are executed, the machine performs system steps.

[0047] In summary, the present invention provides a vehicle-mounted sweeping and swinging oblique photogrammetry gimbal, which carries two cameras through a carbon fiber frame, and uses a sweeping and swinging control device to control the camera to perform a periodic 90-degree rotation. After the sweeping and swinging are in place, a trigger signal is provided at the same time to control the camera to take pictures. In addition, a rear differential positioning module is installed, which is connected to the camera hot shoe to record the high-precision position of the camera in real time, and provide high-precision POS information for later three-dimensional modeling. This device can cooperate with the unmanned aerial vehicle oblique photogrammetry system to obtain air-ground integrated real-scene three-dimensional images and reconstruct a fine real-scene three-dimensional model.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle-mounted sweeping and tilting photogrammetry pan-tilt, comprising a U-shaped mounting base (1), and a main rod (10) rotatably connected to the outer surface of the upper end of the U-shaped mounting base (1), characterized in that: The outer wall of the main rod (10) is rotatably connected to a cross arm (2), a steering gear clamping seat (3), and a longitudinal arm cross plate (9); the outer wall of the main rod (10) is fixedly connected to a first gear (5); the right outer surface of the steering gear clamping seat (3) is fixedly connected to a steering gear body (4); the driving end of the steering gear body (4) is fixedly connected to a second gear (13); the second gear (13) is hinged to the first gear (5); the left and right sides of the cross arm (2) are movably connected to two side clamping plates (15); The front and rear ends of the longitudinal arm cross plate (9) are fixedly connected to the longitudinal arm member (8); the upper end outer surfaces of the two side clamps (15) are fixedly connected to the lower swept arm (11); the upper end outer surface of the lower swept arm (11) is movably connected to the longitudinal arm member (8); the inner cavity of the lower swept arm (11) is fixedly connected to the camera ring (14); the inner wall of the camera ring (14) is sleeved with a second camera (12) and a first camera (7); and the right side outer surface of the steering gear body (4) is fixedly connected to the steering gear cover plate (6).

2. The vehicle-mounted sweeping and tilting photogrammetry pan / tilt according to claim 1, characterized in that: The upper outer surface of the U-shaped mounting base (1) is fixedly connected with a first rotating connection member, the left inner surface of the U-shaped mounting base (1) is fixedly connected with a rectangular horizontal plate, the upper outer surface of the rectangular horizontal plate is fixedly connected with a second rotating connection member, the upper outer surfaces of the second rotating connection member and the first rotating connection member are both provided with a first rotating circular hole adapted to the main rod (10), and the first rotating connection member and the second rotating connection member are rotatably connected to the main rod (10) via the first rotating circular hole.

3. The vehicle-mounted sweeping and tilting photogrammetry pan / tilt according to claim 1, characterized in that: A second rotating circular hole matched with the main rod (10) is provided on the outer surface of the upper end of the longitudinal arm transverse plate (9), and the longitudinal arm transverse plate (9) is rotatably connected to the main rod (10) via the second rotating circular hole.

4. The vehicle-mounted sweeping and tilting photogrammetry pan / tilt according to claim 1, characterized in that: A third rotating circular hole matched with the main rod (10) is provided on the outer surface of the upper end of the cross arm member (2), and the cross arm member (2) is rotatably connected to the main rod (10) via the third rotating circular hole.

5. The vehicle-mounted sweeping and tilting photogrammetry pan / tilt according to claim 1, characterized in that: The front end outer surface of the longitudinal arm member (8) is provided with a strip-shaped installation groove matched with the longitudinal arm cross plate (9), and the longitudinal arm member (8) is fixedly connected to the longitudinal arm cross plate (9) via the strip-shaped installation groove.

6. The vehicle-mounted sweeping and tilting photogrammetry pan / tilt according to claim 1, characterized in that: The steering gear clamping seat (3) is located on the lower outer surface of the first gear (5), the cross arm (2) is located on the upper outer surface of the first gear (5), and the longitudinal arm cross plate (9) is located on the upper outer surface of the cross arm (2).

7. A vehicle-mounted scanning and tilting photogrammetry system, comprising a pan / tilt module, a camera module, a controller module, a differential positioning module, a data storage module, a data storage module, a wireless communication module, a power management module and a post-processing software module, characterized in that: The gimbal module is used to support the rotation and stable shooting of the camera to ensure the accuracy of the shooting angle. The gimbal is controlled by a motor and performs periodic 90-degree rotation. The gimbal module uses a carbon fiber frame, which is light and has a sturdy structure. The camera module is used to capture high-resolution images and perform oblique photogrammetry. It can carry multiple cameras to obtain data of different dimensions and integrate with the gimbal to support the needs of multi-angle shooting. The controller module is used to drive the rotation of the gimbal and control the camera's shooting behavior, start and stop the camera shooting at a scheduled time, and accurately trigger after the gimbal rotates into place. The controller module is programmable and can set the shooting frequency and rotation angle. The differential positioning module is used to provide high-precision POS (position, posture) information. By connecting to the camera hot shoe, it records the position information when the photo is taken in real time. The navigation satellite system technology is used to support subsequent precise alignment and modeling. The data storage module is used to store the images taken by the camera and their corresponding POS information to ensure the security and integrity of the data. The data storage module uses a high-capacity memory card or SSD to meet the needs of high-frequency shooting; the data display module is used to display real-time shooting angles, image previews and positioning information, and assists the operator to monitor the system status at any time; the wireless communication module is used to realize wireless data transmission with the ground control center or other equipment, and transmit the captured images and location information in real time. The wireless communication module supports Wi-Fi, 4G / 5G or other wireless communication technologies; the power management module is used to provide a stable power supply for all modules to ensure the continuous operation of the system during long-term operation. The power management module is equipped with a lithium battery and a charging management system to support fast charging and power monitoring; the post-processing software module is used to process and analyze the collected data, including image stitching and three-dimensional modeling, providing an easy-to-use interface and rich functions, and supporting the selection of different algorithms and adjustment of processing parameters.

8. An electronic device, characterized in that: The system comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the system steps as claimed in claim 7 when calling the computer program in the memory.

9. A computer-readable medium, characterized in that The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the system steps as claimed in claim 7 are implemented.

10. A computer program product, characterized in that The computer program product is tangibly stored on a non-transitory computer readable medium and includes machine executable instructions which, when executed, cause a machine to perform the system steps of claim 7.

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