Thermal imaging aerial photography device

Abstract

The invention relates to a thermal imaging aerial photography device which is provided with a flight device and three thermal imaging cameras, the thermal imaging cameras are installed below the flight device in a mode that lenses are downward, and the thermal imaging aerial photography device is characterized in that the three thermal imaging cameras are arranged in a sequence of a first camera, a second camera and a third camera, the lens normal lines of the first camera, the second camera and the third camera are coplanar, the second camera can rotate left and right on a plane formed by the lens normal lines of the three cameras, the overlapping ratio of the view field range of the first camera and the view field range of the second camera is 0-40%, and the overlapping ratio of the view field range of the second camera and the view field range of the third camera is 0-40%.

Description

Technical Field

[0001] The invention relates to an aerial photography thermal imaging remote sensing device, in particular to a thermal imaging aerial photography device, and more particularly to an array type thermal imaging aerial photography device with a wide viewing angle. Background Art

[0002] In many fields, such as security monitoring, forest fire prevention, power inspection, and industrial inspection, using drones to obtain thermal imaging data has become an efficient and indispensable means. With its flexibility and maneuverability, drones can quickly reach the target area and accurately collect thermal imaging data, providing strong support for various monitoring tasks.

[0003] In the prior art, there are devices that use visible light imaging for the above monitoring. Although the resolution of visible light imaging devices is high, their field of view is very narrow. They are more suitable for monitoring small areas such as urban buildings, roads, and parks, but they are completely unable to monitor large areas of thousands of square kilometers such as sea areas, forest fires, and wildlife habitats.

[0004] In the prior art, there are devices that use visible light imaging for monitoring. Although this type of equipment has a high resolution, its band is narrow, and it is difficult to meet the complex needs of efficient monitoring today with only visible light. At the same time, the thermal imaging aerial cameras currently on the market also have certain limitations. For example, its pixel value is low and the field of view is narrow, which makes it more suitable for monitoring small areas such as urban buildings, roads, and parks. However, when faced with large sea areas of thousands of square kilometers, forest fire areas, wildlife habitats, etc., it seems to be unable to cope with it and cannot complete effective monitoring at all.

[0005] In many fields, drone thermal imaging data collection plays a key role. Taking the temperature monitoring of nuclear power plant warm discharge water as an example, the water body is significantly affected by the tide, and work needs to be carried out during the spring tide and the neap tide, and each tide period must be monitored at high and low tides. In view of the short tidal period and the large monitoring range, relying on multiple drones to take off at the same time for thermal imaging aerial photography has become an inevitable choice. Specifically, in the monitoring of the cooling water temperature of nuclear power plants, since the cooling water of nuclear power plants mainly enters the cooling device of nuclear power plants and is discharged from nuclear power plants during spring tides, and the spring tide time is only about 1 hour, it is necessary to conduct comprehensive water temperature monitoring of the nuclear power plant cooling water discharge sea area within about 1 hour.

[0006] In addition, in the monitoring of burned areas of forest fires, due to the urgency of the fire and the rapid spread of the fire, it is necessary to fully grasp the burned area data in a very short period of time. In addition, in the monitoring of wild animals such as Tibetan antelope populations, since Tibetan antelopes move very fast, if the monitoring of the entire population is not completed quickly, once the population moves, the monitoring results will inevitably be inaccurate.

[0007] Monitoring the burned area of ​​forest fires also faces challenges. Fires are urgent and spread rapidly, so it is necessary to accurately grasp the burned area data in a very short time so as to formulate response strategies in a timely manner.

[0008] There are also difficulties in monitoring wild animal populations. For example, Tibetan antelopes move very fast. If the entire population cannot be monitored quickly, once the population moves, the accuracy of the monitoring results will be difficult to guarantee.

[0009] Therefore, there is a need for a thermal imaging aerial photography device that can efficiently and quickly complete aerial photography of large areas. In response to such a situation, those skilled in the art have also conducted targeted research and submitted relevant patent applications. In this application, a thermal imaging aerial photography device including three thermal imaging aerial photography cameras is designed for the above situation. However, although the field of view of such a thermal imaging aerial photography device has been greatly expanded, the resolution within this field of view is consistent, that is, there is no difference in resolution within the entire field of view.

[0010] However, when taking aerial photos of a large area, there are often one or more key shooting areas. For example, in monitoring the nuclear power plant drainage area, the nuclear power plant drainage outlet area is the key shooting area; in monitoring forest fires, the fire area and residential areas are the key shooting areas; in monitoring wild animal populations, wild animal populations such as Tibetan antelopes are the key shooting areas, and sometimes there are more than one Tibetan antelope population. If the previously designed aerial photography device containing three thermal imaging cameras is used for shooting, it is impossible to take high-resolution photos of key areas and obtain more detailed information of key areas.

[0011] This has led to a new technical problem, that is, although the thermal imaging aerial photography covers a large area, it also results in the inability to shoot at a higher resolution in the key shooting area, resulting in the resolution of the key shooting area being the same as other non-key areas, making it difficult to obtain more detailed information about the key shooting area. On the contrary, if the resolution is uniformly increased over the entire large-area aerial photography range, it will bring tremendous pressure on the data storage of the shooting camera and the data transmission and storage of the drone communication equipment, and the cost will increase rapidly.

[0012] In summary, whether it is the monitoring of water bodies affected by tides, the time-sensitive monitoring of forest fires, or the monitoring of fast-moving populations, there is an urgent need for a thermal imaging aerial photography device that can efficiently and quickly complete large-area aerial photography and can perform high-resolution aerial photography of key shooting areas.

[0013] Technical Problems to be Solved by the Invention Based on the above situation of the prior art, the technical problem to be solved by the present invention is to provide a thermal imaging aerial photography device that can efficiently and quickly complete thermal imaging aerial photography of a large area and can perform high-resolution aerial photography of key shooting areas. Summary of the invention

[0014] In order to solve the above technical problems, the present invention provides the following technical solutions.

[0015] Solution 1. A thermal imaging aerial photography device, comprising a flying device and three thermal imaging cameras, wherein the thermal imaging cameras are installed below the flying device with their lenses facing downward, and characterized in that the three thermal imaging cameras are arranged in the order of a first camera, a second camera, and a third camera, the lens normals of the first camera, the second camera, and the third camera are coplanar, the second camera can rotate left and right on a plane formed by the lens normals of the three cameras, the overlap rate of the field of view range of the first camera and the second camera is 0-40%, and the overlap rate of the field of view range of the second camera and the third camera is 0-40%.

[0016] Solution 2. The thermal imaging aerial photography device according to Solution 1 is characterized in that the angle between the lens normals of the first camera and the third camera is 20°~60°.

[0017] Solution 3. The thermal imaging aerial photography device according to Solution 1 is characterized in that the angle between the respective lens normals of the first camera and the second camera is 10°~50°, and the angle between the respective lens normals of the second camera and the third camera is 10°~50°.

[0018] Solution 4. The thermal imaging aerial photography device according to Solution 1 is characterized in that the boundaries of the fields of view of the first camera, the second camera and the third camera are successively attached to each other but the fields of view of the three cameras do not overlap.

[0019] Solution 5. The thermal imaging aerial photography device according to Solution 1 is characterized in that the boundaries of the fields of view of the first camera and the third camera are aligned with each other but the fields of view of the two cameras do not overlap.

[0020] Solution 6. The thermal imaging aerial photography device according to Solution 1 is characterized in that the three thermal imaging cameras use infrared rays with a wavelength of 10 μm for thermal imaging aerial photography.

[0021] Solution 7. The thermal imaging aerial photography device according to Solution 1 is characterized in that the field of view angle of the thermal imaging camera is 20°~50° (H) and 15°~40° (V).

[0022] Solution 8. The thermal imaging aerial photography device according to Solution 1 is characterized in that the field of view angle of the thermal imaging camera is 46.4° (H) and 37° (V).

[0023] Solution 9. The thermal imaging aerial photography device according to Solution 1 is characterized in that the flying device is a drone or a manned aircraft.

[0024] Technical Effects of the Invention The thermal imaging aerial photography device of the present invention comprises a flying device and three thermal imaging cameras, wherein the thermal imaging cameras are installed below the flying device with their lenses facing downward, and is characterized in that the three thermal imaging cameras are arranged in the order of a first camera, a second camera and a third camera, the lens normals of the first camera, the second camera and the third camera are coplanar, the second camera can rotate left and right on a plane formed by the lens normals of the three cameras, the overlap rate of the field of view range of the first camera and the second camera is 0-40%, and the overlap rate of the field of view range of the second camera and the third camera is 0-40%.

[0025] In the above scheme, three thermal imaging cameras are configured in an array (the three thermal imaging cameras are arranged in the order of a first camera, a second camera and a third camera), and a smaller field of view overlap rate can form a wider field of view angle, obtain thermal imaging data in a larger range, and enable the thermal imaging camera to achieve a very large effective viewing angle, thereby being able to efficiently and quickly complete thermal imaging aerial photography of a large area; in addition, since the second camera can be rotated left and right on the plane formed by the lens normals of the three cameras, the thermal imaging aerial photography device can rotate the second camera so that the second camera and the first camera or the third camera form a suitable proportion of field of view overlap, thereby improving the resolution of shooting the overlapping area, thereby being able to shoot the key area (field of view overlapping area) with high resolution to obtain more and more detailed information. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of three thermal imaging cameras and their fields of view of a thermal imaging device according to the present invention; Figure 2 It is a schematic diagram of the symmetry axes and lens normals of three thermal imaging cameras of the thermal imaging device according to the present invention; FIG3(a), FIG3(b), FIG3(c), and FIG3(d) are schematic diagrams of a method for calculating the field of view overlap ratio of three thermal imaging cameras of a thermal imaging device according to the present invention; Explanation of symbols 11: First Camera 12: Second Camera 13: Third Camera 21: Field of view of the first camera 22: Field of view of the second camera 23: Field of view of the third camera 30: Symmetry axis of the first and second cameras 31: Lens normal of the first camera 32: Lens normal of the second camera 33: Lens normal of the third camera 40: Any plane perpendicular to the lens normal S21: The area of ​​the field of view of the first camera on the plane 40 S22: The area of ​​the field of view of the second machine on plane 40 S23: The area of ​​the field of view of the third camera on the plane 40 S51: Overlapping area of ​​the field of view of the second camera and the third camera on the plane 40 S52: Overlapping area of ​​the field of view of the second camera and the first camera on the plane 40 DETAILED DESCRIPTION

[0027] The present invention relates to a thermal imaging aerial photography device, which comprises a flying device and three thermal imaging cameras, wherein the thermal imaging cameras are installed below the flying device with their lenses facing downwards, and is characterized in that the three thermal imaging cameras are arranged in the order of a first camera, a second camera and a third camera, the lens normals of the first camera, the second camera and the third camera are coplanar, the second camera can rotate left and right on a plane formed by the lens normals of the three cameras, the overlap rate of the field of view range of the first camera and the second camera is 0-40%, and the overlap rate of the field of view range of the second camera and the third camera is 0-40%.

[0028] Figure 1 Schematic diagram of three thermal imaging cameras and their fields of view of the thermal imaging device of the present invention. The three thermal imaging cameras are a first camera 11 on the left, a second camera 12 in the middle, and a third camera 13 on the right. The three cameras are installed below the flying device (not shown) with their lenses facing downward. The three cameras generate corresponding fields of view below the lenses, such as Figure 1As shown, the field of view of the first camera 11 is approximately the range of the shadow 21, the field of view of the second camera 12 is approximately the range of the shadow 22, and the field of view of the third camera 13 is approximately the range of the shadow 23. The overlap rate of the shadow 21 and the shadow 22 can be in the range of 0-40%, and the overlap rate of the shadow 23 and the shadow 22 can be in the range of 0-40%.

[0029] The meaning of the overlap rate between the field of view of the first camera 11 and the field of view of the second camera 12 being within a range of 0-40%, and the overlap rate between the field of view of the second camera 12 and the field of view of the third camera 13 being within a range of 0-40%, is explained as follows: Scene(1) When it is necessary to take aerial photos of a large area without requiring too high a resolution, the overlap rate of the fields of view of the first camera 11 and the second camera 12 is controlled to be relatively low, for example, less than 10%, preferably less than 5%, and more preferably 0 (i.e., the boundaries of the fields of view overlap each other but there is no overlapping range). Thus, it is possible to take aerial photos of a very large area. In scene (1), the overlap rate does not exceed 10%. When it exceeds 10%, the aerial photography area will be reduced, affecting the photography effect. It should be noted that the "overlap rate of the fields of view of the first camera and the second camera is 0-40%, and the overlap rate of the fields of view of the second camera and the third camera is 0-40%" means "the boundaries of the fields of view of the two cameras are close to each other but there is no overlapping range (i.e., the overlap rate is 0%)" to "the overlap rate of the fields of view of the two cameras is 40%".

[0030] It should be noted that in the past, when a visible light camera was used for aerial photography and two cameras were used to continue shooting, in order to ensure the resolution of the camera, the overlap rate of the field of view of the two cameras was required to be above 30%. Once the overlap rate is less than 30%, the resolution of the shooting cannot be ensured, and the photos or videos taken cannot be used as a basis for monitoring. For example, in the process of shooting the wild habitat of the Tibetan antelope to count the Tibetan antelope population, if the overlap rate of the camera field of view is less than 30%, then below the resolution of 5cm, the recognition accuracy of the Tibetan antelope cannot even reach 60%, and such data cannot be used as a basis for monitoring. However, the present invention finds that when a thermal imaging camera is used for aerial photography, even if the overlap rate of the field of view is very low, the monitored object can still be accurately identified. Based on this, the designer of the present invention proposes a new technical solution, that is, when a thermal imaging camera is used for aerial photography, by controlling the overlap rate of the field of view between the three cameras, the effective field of view of the aerial photography device is greatly increased, so that the shooting area can be increased each time the shooting is taken, so that the completion time of large-area aerial photography tasks is greatly reduced.

[0031] Scene(2) If it is necessary to shoot a certain key area, the second camera 12 can be rotated left and right on the plane where the normal line 32 of the three camera lenses is located, so that it overlaps with the field of view of the first camera 11 or the third camera 13, so that the overlap rate reaches more than 10%, such as more than 15%, more than 20%, more than 30%, or even 40%, and the overlapping area covers the above key area, so that the key area can be aerially photographed with high resolution to obtain more and more detailed information. In scene (2), the above overlap rate is preferably less than 40%. If it exceeds 40%, the field of view between the second camera 12 and the camera far away from the second camera 12 may have a blind spot, resulting in a loss of field of view.

[0032] It should be noted that if there are only two cameras, it is impossible to solve the above technical problems and achieve the above technical effects. In the case of only two cameras, when the overlap rate of the field of view of the two cameras is adjusted to a higher level, the field of view will be drastically reduced due to the smaller field of view angle, which will lead to a drastic reduction in the field of view.

[0033] In addition, as mentioned above, the boundaries of the field of view of two adjacent thermal imaging cameras among the three cameras can fit together but the two ranges do not overlap (i.e., the field of view overlap rate is 0%). Figure 1 As shown, the right boundary of the field of view 21 of the first camera 11 and the left boundary of the field of view 22 of the second camera 12 are mutually attached, and the two fields of view are mutually attached, but there is no overlapping part; the right boundary of the field of view 22 of the second camera 12 and the left boundary of the field of view 23 of the third camera 13 are mutually attached, and the two fields of view are mutually attached, but there is no overlapping part. That is, the boundaries of the fields of view of the first camera, the second camera and the third camera are mutually attached in sequence, but the fields of view of the three cameras do not overlap. In this way, the viewing angle range of the thermal imaging aerial photography device is maximized, and large-area aerial photography tasks can be completed at a very fast speed. In particular, for tasks with a very large area such as the determination of the temperature of the cooling water discharge of a nuclear power plant, three thermal imaging cameras with mutually attached but non-overlapping fields of view are used for shooting, which can quickly complete the task, especially when the sea area is huge and the sea conditions are poor. The extremely high shooting efficiency can not only quickly obtain information related to the sea water temperature, but also protect the safety of aerial photography devices including drones.

[0034] In a larger aspect of the present invention, in order to achieve "the overlap rate of the field of view of the first camera 11 and the field of view of the second camera 12 is within the range of 0-40%, and the overlap rate of the field of view of the second camera 12 and the field of view of the third camera 13 is within the range of 0-40%", the angle between the respective lens normals (31, 33) of the first camera 11 and the third camera 13 can be set to 20°~60°. In this way, a larger shooting area can be obtained. In addition, the angle between the respective lens normals (31, 32) of the first camera 11 and the second camera 12 can be set to 10°~50°, and the angle between the respective lens normals (32, 33) of the second camera 12 and the third camera 13 can be set to 10°~50°. In this way, the field of view of the second camera 12 can overlap with the field of view of the first camera 11 or the third camera 13, so that the key area can be photographed with high resolution.

[0035] In addition, in one embodiment of the present invention, the boundaries of the fields of view of the first camera 11 and the third camera 13 are aligned with each other but the fields of view of the two cameras do not overlap. Figure 1 The right boundary of the field of view of the first camera 11 on the left side of the image is Figure 1 The left boundaries of the field of view of the third camera 13 on the right side of the middle are in contact with each other, but the two fields of view do not overlap. In this way, a relatively large and complete field of view (hereinafter referred to as the combined field of view) has been formed between the first camera 11 and the third camera 13. The field of view of the second camera 12 must be included in the combined field of view. Therefore, no matter to which angle the second camera 12 is rotated, its field of view must fall into the above-mentioned combined field of view. Therefore, when the thermal imaging aerial photography device forms the combined field of view for aerial photography, the rotation angle of the second camera 12 can be adjusted at any time according to the direction, position, and size of the key shooting area, so as to quickly and sensitively shoot the key area. In this way, it can ensure that there is no missing field of view when shooting a large area, and can quickly shoot the key shooting area with high resolution. This is particularly suitable for situations where the key shooting areas appear randomly and dispersedly.

[0036] In order to make the boundaries of the fields of view of the first camera 11 and the third camera 13 fit together but not overlap, the acute angle (hereinafter referred to as the included angle) between the lens normal 31 and the lens normal 33 of the first camera 11 and the second camera 13 is set to be less than 40°, preferably less than 38°, preferably less than 36°, and preferably more than 20°, preferably more than 26°, and preferably more than 30°. 36° is particularly preferred. When the first camera 11 and the third camera 13 use a variety of cameras sold on the market, and when the included angle of the lens normals of the two is 36°, the boundaries of the fields of view of the two fit together and do not overlap.

[0037] The overlapping rate is defined and calculated as follows. As shown in FIG. 3(a), the first camera 11 and the third camera 13 are designed to be in an axially symmetric state. The axis of symmetry 30 is located between the two cameras (11, 13), and the axis of symmetry 30 passes through the second camera 12. As shown in FIG. 3(a), on any plane 40 perpendicular to the axis of symmetry 30, the percentage obtained by dividing the area of the overlapping region S51 (i.e., the polygon S51 in FIG. 3(a)) of the fields of view of the second camera 12 and the third camera 13 by the area of the field of view of the camera with the smallest field of view range among the two cameras on the plane 40 is the overlapping rate of the fields of view of the second camera 12 and the third camera 13; in addition, on any plane 40 perpendicular to the axis of symmetry 30, the percentage obtained by dividing the area of the overlapping region S52 (i.e., the polygon S52 in FIG. 3(a)) of the fields of view of the second camera 12 and the first camera 11 by the area of the field of view of the camera with the smallest field of view range among the two cameras on the plane 40 is the overlapping rate of the fields of view of the second camera 12 and the first camera 11.

[0038] For example, as shown in FIG. 3(c), on the plane 40, the field of view area of the second camera 12 is S22 respectively, and as shown in FIG. 3(b), on the plane 40, the field of view area of the first camera 11 is S21 respectively, and S22 < S21, then the percentage obtained by dividing the area of the polygon S52 by the area of S22 is the overlapping rate of the fields of view of the second camera 12 and the first camera 11. In addition, as shown in FIG. 3(c), on the plane 40, the field of view area of the second camera 12 is S22 respectively, and as shown in FIG. 3(d), on the plane 40, the field of view area of the third camera 13 is S23 respectively, and S22 < S23, then the percentage obtained by dividing the area of the polygon S51 by the area of S22 is the overlapping rate of the fields of view of the second camera 12 and the third camera 13.

[0039] As Figure 2 shown, the first camera 11 and the third camera 13 are designed to be in an axially symmetric form. With respect to the axis of symmetry 30 (here, the axis of symmetry 30 coincides with the lens normal 32 of the second camera 12), the first camera 11 is tilted to the left, and the third camera 12 is tilted to the right. As Figure 2As shown, the lens normal of the first camera 11 is normal 31, the lens normal of the second camera 12 is normal 32, and the lens normal of the third camera 13 is normal 33. The angle between the lens normals of the first camera 11 and the third camera 13 is 10°~60°, preferably 20°~60°, preferably 30°~60°, preferably 40°~60°; preferably 50°~60°; preferably 10°~30°, preferably 10°~40°, preferably 10°~50°, preferably: 25°, 35°, 45°, 55°, etc. If the angle between the lens normals (31, 33) of the first camera 11 and the third camera 13 is controlled within the above range, the overlap rate of the field of view range of the first camera 11 and the second camera 12 can be controlled to 0~40%, and the overlap rate of the field of view range of the second camera 12 and the third camera 13 can be controlled to 0~40%. If the angle between the respective lens normals (31, 33) of the first camera 11 and the third camera 13 exceeds 60°, a gap may occur between the field of view of the first camera 11 and the second camera 12 or the third camera 13, resulting in an incomplete field of view. If the angle between the respective lens normals (31, 33) of the first camera 11 and the third camera 13 is less than 20°, the field of view of the first camera 11 and the second camera 12 or the third camera 13 may overlap too much, resulting in a too small field of view.

[0040] Preferably, the angle between the lens normals (31, 32) of the first camera 11 and the second camera 12 is 10° to 50°, and the angle between the lens normals (32, 33) of the second camera 12 and the third camera 13 is 10° to 50°. By adjusting the angles within the above range, the technical problem of the present invention can be better solved and the technical effect of the present invention can be achieved.

[0041] In addition, the rotation of the second camera 12 can be achieved by a mechanism known to those skilled in the art, such as by using a rotating shaft connected to a motor, and fixing the second camera 12 on the rotating shaft, and the motor drives the rotating shaft to rotate the second camera 12. The motor can be a servo motor or a stepping motor, so that the rotation angle can be accurately controlled.

[0042] In the thermal imaging aerial photography device of the present invention, the three thermal imaging cameras use infrared rays with a wavelength of 10 μm for thermal imaging aerial photography. When using infrared rays for thermal imaging aerial photography, due to the longer wavelength, the propagation distance is farther. Therefore, the drone can shoot at a higher altitude. For example, the altitude (shooting altitude) can reach 700~800m from the shooting target. Such a shooting altitude is not achievable by visible light shooting. When shooting with visible light, the maximum shooting altitude is 200~300m. At a higher shooting altitude, practical resolution cannot be achieved.

[0043] Since infrared rays are used for shooting, the drone of the present invention can perform aerial photography at a very high shooting altitude, which can be above 600m, preferably above 700m, and more preferably above 800m. Such shooting can capture a larger area, which is conducive to realizing fast and efficient aerial photography.

[0044] In the thermal imaging aerial photography device of the present invention, three thermal imaging cameras use infrared rays with a wavelength of 10 μm for thermal imaging aerial photography. When using infrared rays with a wavelength of 10 μm for thermal imaging aerial photography, a wider field of view can be achieved, and a higher resolution can be achieved at the same time. In this case, fast and efficient aerial photography can be achieved with high resolution.

[0045] In the thermal imaging aerial photography device of the present invention, the field of view angle of the thermal imaging camera is 20°~50° (H) and 15°~40° (V). It should be noted that the field of view angle of 20°~50° (H) and 15°~40° (V) here refers to the field of view angle of one camera. A camera with such a field of view angle can easily achieve the field of view overlap rate of the thermal imaging aerial photography device of the present invention, thereby realizing fast and efficient aerial photography. In addition, it is preferred that the field of view angle of one thermal imaging camera is 46.4° (H) and 37° (V). Under such a field of view angle, the field of view overlap rate of the thermal imaging aerial photography device of the present invention can be more easily achieved, thereby realizing fast and efficient aerial photography.

[0046] In the thermal imaging aerial photography device of the present invention, the composite resolution of the three thermal imaging cameras is 2200×1024. It should be noted that there is no particular restriction on the resolution of the three thermal imaging cameras themselves, and the composite resolution of the three cameras combined together and after considering the field of view overlap rate is 2200×1024. Under such a resolution, since aerial photography is performed at a higher shooting altitude, a larger range can be photographed in a shorter time, so fast and efficient aerial photography can be achieved.

[0047] In the thermal imaging aerial photography device of the present invention, the focal lengths of the three thermal imaging cameras may be 15-25 mm, preferably 19 mm. Such a focal length can effectively ensure that the aerial photography device can perform aerial photography operations with high resolution.

[0048] There is no particular limitation on the thermal imaging camera in the thermal imaging aerial photography device of the present invention, and the following cameras may be selected.

[0049] DJI Zenmuse H30T Viewing angle and resolution: The thermal imaging camera has an equivalent focal length of 52mm, a DFOV of 45.2°, and both photo and video resolutions are 1280x1024.

[0050] Other advantages: It integrates five modules: wide-angle camera, zoom camera, laser rangefinder and near-infrared fill light. It uses cutting-edge intelligent algorithms to realize the same-screen display of visible light and thermal imaging images. It supports three infrared gain modes: low gain mode, high gain mode and ultra-clear mode. The temperature measurement range is -20℃ to 1600℃.

[0051] In addition, the flying device in the thermal imaging aerial photography device of the present invention is a drone or a manned aircraft. Since drones can be used for aerial photography in disaster sites such as forest fires and in places with harsh environments such as wildlife habitats, drones are preferably used.

[0052] Industrial Applicability

[0053] The thermal imaging aerial photography device of the present invention can be used for security monitoring, forest fire prevention, power inspection and industrial inspection, etc.

Claims

1. A thermal imaging aerial photography device, comprising a flying device and three thermal imaging cameras, wherein the thermal imaging cameras are installed below the flying device with their lenses facing downward, and characterized in that: The three thermal imaging cameras are arranged in the order of a first camera, a second camera and a third camera. The lens normals of the first camera, the second camera and the third camera are coplanar. The second camera can rotate left and right on the plane formed by the lens normals of the three cameras. The overlap rate of the field of view of the first camera and the second camera is 0-40%, and the overlap rate of the field of view of the second camera and the third camera is 0-40%.

2. The thermal imaging aerial photography device according to claim 1, characterized in that: The angle between the lens normals of the first camera and the third camera is 20° to 60°.

3. The thermal imaging aerial photography device according to claim 1, characterized in that: The angle between the lens normals of the first camera and the second camera is 10° to 50°, and the angle between the lens normals of the second camera and the third camera is 10° to 50°.

4. The thermal imaging aerial photography device according to claim 1, characterized in that: The boundaries of the fields of view of the first camera, the second camera and the third camera are aligned with each other in sequence, but the fields of view of the three cameras do not overlap.

5. The thermal imaging aerial photography device according to claim 1, characterized in that: The boundaries of the fields of view of the first camera and the third camera are aligned with each other but the fields of view of the two cameras do not overlap.

6. The thermal imaging aerial photography device according to claim 1, characterized in that: The three thermal imaging cameras use infrared rays with a wavelength of 10 μm for thermal imaging aerial photography.

7. The thermal imaging aerial photography device according to claim 1, characterized in that: The field of view of the thermal imaging camera is 20°~50° (H) and 15°~40° (V).

8. The thermal imaging aerial photography device according to claim 1, characterized in that: The field of view of the thermal imaging camera is 46.4° (H) and 37° (V).

9. The thermal imaging aerial photography device according to claim 1, characterized in that: The flying device is a drone or a manned aircraft.

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