Tilt photography system and tilt photography apparatus
By mounting aerial laser sensors and oblique cameras on a flight platform, and combining them with GNSS differential and RTK modules, the synchronous acquisition and fusion of laser point cloud and image point cloud data are achieved, solving the modeling loopholes and distortion problems in complex terrains, and improving the accuracy and completeness of 3D modeling.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NORTHWEST ENGINEERING CORPORATION LIMITED
- Filing Date
- 2025-09-04
- Publication Date
- 2026-06-23
AI Technical Summary
When faced with terrain obstructions such as slopes, steep cliffs, and independent complex buildings, existing technologies suffer from issues such as missing data acquisition, modeling loopholes, and distortion. Furthermore, repeated flight reshoots from the ground and air lead to inconsistent resolutions, resulting in a large workload for data processing, frequent rework, and color tone differences that affect visual aesthetics.
Aerial laser sensors are used to collect laser point cloud data, combined with image point cloud data collected by oblique cameras. Multi-source data fusion is used for 3D modeling. Airborne GNSS differential and RTK modules are used to achieve image control-free measurement. Dual oblique cameras expand the field of view to fill in obstructions and holes, improving the modeling accuracy and completeness.
It effectively reduces the frequency of aerial photography and rework in 3D modeling, improves the accuracy and integrity of real-world 3D models, solves modeling loopholes and distortion problems in complex terrain, and improves the accuracy and reliability of data acquisition.
Smart Images
Figure CN224398662U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of oblique photogrammetry technology for flight platforms, and more specifically, to an oblique photogrammetry system and an oblique photogrammetry device. Background Technology
[0002] Aerial oblique photogrammetry, a related technology, involves collecting highly overlapping aerial photographic data from various downward angles in the air, and then building a realistic 3D model. However, in areas with large terrain undulations, such as slopes and steep cliffs, terrain obstruction often occurs. Similar situations exist with independent and complex buildings (such as intricate eaves).
[0003] The following problems often exist in this type of surveying: (1) When collecting texture data of slopes, cliffs and independent complex building facades and eaves, there are data collection gaps due to occlusion, which causes modeling loopholes and distortions in subsequent indoor processing; (2) Repeated flight reshoots using ground and aerial perspective will cause the ground resolution of the reshoots to be inconsistent with the large scene, resulting in a large workload for indoor data processing and loss of images in the reconstruction of the real scene 3D model, with a high frequency of rework in both indoor and outdoor work, and there are also color differences caused by aerial photography at different times, which affect the visual aesthetics.
[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention
[0005] The purpose of this disclosure is to overcome the shortcomings of the prior art and provide an oblique photography system and oblique photography device. It uses an aerial laser sensor to collect laser point cloud data of the measured area, and then combines it with the image point cloud data of the measured area collected by the oblique camera device. This is beneficial to the accuracy and completeness of 3D modeling, and at the same time effectively reduces the frequency of rework in aerial photography and indoor modeling of 3D modeling.
[0006] According to one aspect of this disclosure, an oblique imaging apparatus is provided, comprising:
[0007] Aerial laser sensors are used to collect and generate laser point cloud data of the measured area;
[0008] An oblique camera module is disposed on one side of the aerial laser sensor. The oblique camera module includes a main structure and at least two oblique camera devices disposed on the main structure. The main structure is disposed on the aerial laser sensor. In the coverage of each oblique camera device, the camera areas of at least two adjacent oblique camera devices partially overlap. The oblique camera devices are used to collect and generate image point cloud data of the measured area.
[0009] The aerial laser sensor is stationary relative to the tilting camera module.
[0010] In one embodiment of this disclosure, the number of tilting camera devices is two, and the two tilting camera devices are arranged symmetrically.
[0011] In one embodiment of this disclosure, the included angle between the optical axes of the two tilting camera devices is 30°-40°.
[0012] In one embodiment of this disclosure, the included angle between the optical axes of the two tilting camera devices is 35°.
[0013] According to another aspect of this disclosure, an oblique photography system is provided, having the above-described oblique photography apparatus.
[0014] In one embodiment of this disclosure, the oblique photography system further includes a flight platform and an airborne GNSS differential and RTK module;
[0015] The airborne GNSS differential and RTK module and the oblique photography device are mounted on the flight platform, with the airborne GNSS differential and RTK module located at the upper end of the flight platform and the oblique photography device located at the lower end of the flight platform.
[0016] In one embodiment of this disclosure, the flight platform is a multi-rotor flight platform.
[0017] In one embodiment of this disclosure, the airborne GNSS differential and RTK module has an epoch data storage, and the acquisition frequency of the epoch data storage is not less than 20Hz.
[0018] In one embodiment of this disclosure, the airborne GNSS differential and RTK module is configured to receive at least GPS signals, GLONASS signals, GALILEO signals, and BDS signals.
[0019] In one embodiment of this disclosure, the aerial laser sensor is configured to acquire data at the same time as the oblique camera device.
[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description
[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.
[0022] Figure 1 This is a schematic diagram of the oblique photography system in one embodiment of the present disclosure.
[0023] Figure 2 This is a schematic diagram of the oblique photography device in one embodiment of the present disclosure.
[0024] Figure 3 This is a schematic diagram of the oblique photography system in one embodiment of the present disclosure.
[0025] Figure 4 This is a schematic diagram of the oblique photography system in one embodiment of the present disclosure. Detailed Implementation
[0026] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore detailed descriptions of them will be omitted. Furthermore, the drawings are merely illustrative of this disclosure and are not necessarily drawn to scale.
[0027] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.
[0028] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.
[0029] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed connection, a detachable connection, or an integral part; it may be a direct connection or an indirect connection through an intermediate medium.
[0030] Oblique photogrammetry, a related technology that utilizes a flight platform, collects highly overlapping aerial photographic data from various downward angles and then builds a realistic 3D model. However, in areas with large terrain undulations, such as slopes and steep cliffs, terrain obstruction often occurs. Similar situations exist with independent and complex buildings (such as intricate eaves).
[0031] The following problems often exist in this type of surveying: (1) When collecting texture data of slopes, cliffs and independent complex building facades and eaves, there are data collection gaps due to occlusion, which causes modeling loopholes and distortions in subsequent indoor processing; (2) Repeated flight reshoots using ground and aerial perspective will cause the ground resolution of the reshoots to be inconsistent with the large scene, resulting in a large workload for indoor data processing and loss of images in the reconstruction of the real scene 3D model, with a high frequency of rework in both indoor and outdoor work, and there are also color differences caused by aerial photography at different times, which affect the visual aesthetics.
[0032] In summary, the oblique photogrammetry technology based on flight platforms used in related technologies has technical problems such as aerial photography loopholes and modeling distortions in detailed modeling scenarios such as slopes, steep cliffs, and independent complex buildings.
[0033] To solve the above problem, see Figure 1 This disclosure provides an oblique photography system, including a flight platform 1, an airborne GNSS differential and RTK module 2, and an oblique photography device 3.
[0034] Among them, the flight platform 1 is used to carry the oblique photography device 3, which is used to collect image cloud data and laser cloud data of the area to be measured.
[0035] In one embodiment of this disclosure, the flight platform 1 is a multi-rotor flight platform such as a quadcopter, hexacopter, or octagonal, which is used to carry the oblique photography device 3.
[0036] See in this example. Figure 1 and Figure 4 The flight platform 1 is connected to an airborne GNSS differential and RTK module 2, an oblique photography device 3, an autopilot module, a communication module, and a power module. The oblique photography device 3, the airborne GNSS differential and RTK module 2, the autopilot module, and the communication module are all electrically connected to the power module. The autopilot module is also electrically connected to the airborne GNSS differential and RTK module 2, the communication module, and the oblique photography device 3.
[0037] The airborne GNSS differential and RTK module 2 is used for positioning, while the autopilot module is responsible for controlling the flight of the entire flight platform 1, as well as the acquisition of image cloud data and laser cloud data by the oblique photography device 3. The communication module is used to receive external commands, and the power module is responsible for supplying power to the flight platform 1 and its various electronic modules.
[0038] In one embodiment of this disclosure, the airborne GNSS differential and RTK module 2 includes at least an airborne multimode GNSS receiver, a GNSS receiving antenna, a history data storage, an RTK positioning module, and electronic coupling connection accessories. In one example, the airborne GNSS differential and RTK module consists of an airborne multimode GNSS receiver, a GNSS receiving antenna, a history data storage, an RTK positioning module, and electronic coupling connection accessories.
[0039] The system comprises an airborne multi-mode GNSS receiver electrically connected to the GNSS receiving antenna, a history data storage device electrically connected to the airborne multi-mode GNSS receiver, an RTK positioning module electrically connected to the airborne multi-mode GNSS receiver, and an electronic coupling connector connected at one end to the airborne multi-mode GNSS receiver and at the other end to the autopilot module. The airborne multi-mode GNSS receiver can receive broadcast signals from four commonly used satellite navigation systems: GPS, GLONASS, GALILEO, and BDS. The history data storage device has a data acquisition frequency of no less than 20Hz to obtain and store accurate position information, enabling the multi-rotor flight platform 1 to perform image-controlled measurements and providing precise observation data for the 3D reconstruction of images from the flight platform 1.
[0040] Optionally, the autopilot module in this disclosure uses existing autopilot equipment for flight platform 1, which is used for automatic flight control and pulse signal transmission and control for aerial photography operations. In actual use, it enables flight platform 1 to fly autonomously along a preset route, while simultaneously driving the oblique photography device 3 and the airborne multi-mode GNSS receiver to record and collect data.
[0041] Optionally, the communication module in this disclosure adopts the existing GNSS-RTK field base station and rover signal transmission module, which is used for real-time positioning information communication between the oblique photography device 3 and the ground base station, realizing stable and efficient transmission of data transmission signals and positioning coordinate signals between the flight platform 1 and the ground control system in real time.
[0042] In this disclosure, the airborne GNSS differential and RTK module 2 can accurately acquire the spatial information of the flight platform 1 during aerial photography, and achieve image control-free measurement in complex terrain where it is difficult to set up image control points.
[0043] In one embodiment of this disclosure, the oblique photography device 3 includes an aerial laser sensor 6 and the oblique photography device 3.
[0044] Optionally, the aerial laser sensor 6 is used to collect and generate laser point cloud data of the measured area. The aerial laser sensor 6 is connected to the flight platform 1 and located below the flight platform 1.
[0045] See Figure 2The tilting camera module 5 is disposed on one side of the aerial laser sensor 6. The tilting camera module 5 includes a main structure 51 and at least two tilting camera devices 52 disposed on the main structure 51. The main structure 51 is disposed on the aerial laser sensor 6. Among the various tilting camera devices 52, the imaging areas of at least two adjacent tilting camera devices 52 partially overlap. The tilting camera devices 52 are used to collect and generate image point cloud data of the measured area.
[0046] In one embodiment of this disclosure, the imaging areas of two adjacent tilting camera devices 52 partially overlap, so as to enable a comprehensive measurement of the area to be measured.
[0047] Optionally, the main structure 51 can be a servo motor or similar structure to drive the tilting camera device 52 to rotate.
[0048] In one embodiment of this disclosure, the tilting camera device 52 can be a camera.
[0049] In this disclosure, the angle of the tilt camera device 52 is matched with the viewing angle of the aerial laser sensor 6. In this way, the tilt camera device 52 and the aerial laser sensor 6 can simultaneously collect corresponding data on the area to be measured. Using multi-source data is beneficial to the precision and completeness of 3D modeling, while effectively reducing the frequency of rework in aerial photography and indoor modeling of 3D modeling.
[0050] In one embodiment of this disclosure, the aerial laser sensor 6 is configured to acquire data at the same time as the oblique camera device 52. This allows for simultaneous data acquisition, ensuring data accuracy.
[0051] In this disclosure, the aerial laser sensor 6 can acquire data synchronously with the oblique camera module 5 during aerial surveying, and perform point cloud coloring by fusing image point cloud data and laser point cloud data during office processing, which greatly improves the accuracy of real-scene 3D model reconstruction. It also has a good compensating effect on shadow occlusion and holes caused by complex terrain in the generated model. Furthermore, multi-source data image point cloud data and laser point cloud data are beneficial to the precision and completeness of 3D modeling, while effectively reducing the frequency of rework in aerial surveying and office modeling for 3D modeling.
[0052] In one embodiment of this disclosure, the aerial laser sensor 6 is configured to acquire data at the same time as the oblique camera device 52. In this disclosure, the aerial laser sensor 6 and the oblique camera device 52 can acquire data synchronously during aerial surveying, and during office processing, by fusing image point cloud data and laser point cloud data, the accuracy of the real-scene three-dimensional model reconstruction is significantly improved through point cloud coloring.
[0053] In one embodiment of this disclosure, see [link to relevant documentation]. Figure 2The system comprises two tilting camera devices 52, symmetrically arranged. The dual tilting camera devices 52 increase the lateral viewing angle, improving the operational efficiency of the integrated tilting device combining the dual tilting camera devices 52 and the aerial laser sensor 6 while acquiring visible light images at the same ground resolution. Simultaneously, the device is lighter, effectively increasing the cruise time of the flight platform 1 and expanding the single-operation area of the flight platform 1.
[0054] In this disclosure, the two oblique camera devices 52 of the oblique photography apparatus 3 can be set at different angles according to the requirements of the planned flight path during oblique photography to obtain different lateral viewing angles to match the field of view of the aerial laser sensor 6. Furthermore, during flight path planning involving detailed modeling of slopes, steep cliffs, and independent complex buildings, the two oblique camera devices 52, with their wider field of view, can acquire more comprehensive image point cloud data. Combined with the laser point cloud data collected by the aerial laser sensor 6, this effectively compensates for shadow occlusions and voids caused by complex terrain in the three-mode reconstruction model generated by oblique photogrammetry, and also reduces the overall system weight.
[0055] In one example, the included angle between the optical axes of the two tilting camera devices 52 is 30°-40°. For example, the included angle between the optical axes of the two tilting camera devices 52 is 30°, 32°, 34°, 35°, 36°, 38°, 40°, etc. Of course, in other embodiments, the included angle between the optical axes of the two tilting camera devices 52 can also be other angles not shown. The dual tilting camera device 52 in this disclosure can expand the lateral viewing angle, and can comprehensively capture the texture of slopes, steep cliffs, and independent complex buildings, avoiding the problems of aerial photography loopholes and modeling distortion caused by occlusion and shadows in complex terrain environments.
[0056] The oblique camera system disclosed herein, when conducting oblique photography in complex terrain, can simultaneously acquire highly overlapping image point cloud data from multiple angles using dual oblique camera devices 52. Furthermore, the aerial laser sensor 6, carried during aerial surveying, simultaneously acquires laser point cloud data. In post-processing, this effectively combines image point cloud data and laser point cloud data to fill modeling gaps. The onboard airborne GNSS differential and RTK modules 2 enable image control-free aerial surveying, effectively solving the problem of not being able to deploy image control points in complex terrains such as slopes and steep cliffs. This significantly improves the completeness and accuracy of 3D reality modeling and effectively reduces the frequency of rework in both aerial surveying and post-processing.
[0057] The scheme disclosed herein is particularly suitable for fine modeling routes of slopes and steep cliffs, as well as fine modeling routes of independent complex buildings.
[0058] The oblique photogrammetry system disclosed herein can adjust the angle of the oblique camera device 52 as needed when conducting aerial photography in complex terrains such as slopes and steep cliffs. It simultaneously acquires laser point cloud data and image point cloud data within a wide angle coverage, and supports control-point-free modeling during result processing. Based on an airborne GNSS differential and RTK module 2, this device enables control-point-free aerial surveying. It uses image acquisition data from the wide-angle dual oblique camera device 52 to colorize the point cloud, and processes the image point cloud data and laser point cloud data together during modeling, enabling 3D reconstruction based on oblique images. This solves the industry pain points of traditional aerial photography in complex environments where it is difficult to deploy control points, such as modeling loopholes and distortions. It can specifically perform high-precision, control-point-free real-world 3D model reconstruction for slopes, steep cliffs, and independent complex buildings, effectively reducing the frequency of rework in aerial photography and office modeling.
[0059] In one embodiment of this disclosure, the tilting camera 52 and the aerial laser sensor 6 are relatively stationary (in other words, the tilting camera 52 and the aerial laser sensor 6 move together and remain stationary together). See also [link to relevant documentation] in this example. Figure 3 The oblique photography system also includes a direction control component, which is located between the oblique photography device 3 and the flight platform 1. The direction control component is used to keep the oblique photography device 3 always vertical, thereby reducing the interference of environmental features such as windy weather on the data acquisition of the oblique photography device 3, keeping the oblique photography device 3 at a relatively stable shooting angle, improving the reliability and accuracy of data acquisition, and improving the imaging quality.
[0060] In one example, the direction control assembly includes multiple elastic elements 9, with both ends of each elastic element 9 connected to the flight platform 1 and the oblique imaging device 3 via insulating elements 8, thus preventing electrical interference. In one example, the elastic element 9 can be a spring. Of course, in other examples, other elastic structures can also be used.
[0061] In one example, the direction control component also includes a counterweight 7, which is suspended in the middle of the oblique imaging device 3. The position of the counterweight 7 allows the oblique imaging device 3 to remain basically horizontal. In addition, the placement of the counterweight 7 does not interfere with the viewing angle of the aerial laser sensor 6 and the camera device 5. The gravity of the counterweight 7 generates a constant downward vertical torque. When the oblique imaging device 3 tilts due to external forces (wind), the gravitational torque of the counterweight 7 will automatically correct its position.
[0062] Of course, the weight setting of the counterweight 7 needs to take into account the relevant performance of the flight platform 1 and be set according to requirements.
[0063] In one example, the counterweight 7 is covered with a silicone cushioning sleeve (not shown in the figure) to prevent the counterweight 7 from colliding with other components and causing vibration.
[0064] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.
Claims
1. An oblique photography device, characterized in that, include: Aerial laser sensor (6) is used to collect and generate laser point cloud data of the measured area; A tilting camera module (5) is disposed on one side of the aerial laser sensor (6). The tilting camera module (5) includes a main structure (51) and at least two tilting camera devices (52) disposed on the main structure (51). The main structure (51) is disposed on the aerial laser sensor (6). The camera areas of at least two adjacent tilting camera devices (52) partially overlap. The tilting camera devices (52) are used to collect and generate image point cloud data of the measured area. The aerial laser sensor (6) is stationary relative to the tilt camera module (5).
2. The oblique photography apparatus according to claim 1, characterized in that, The number of the tilting camera devices (52) is two, and the two tilting camera devices (52) are arranged symmetrically.
3. The oblique photography apparatus according to claim 2, characterized in that, The included angle between the optical axes of the two tilting camera devices (52) is 30°-40°.
4. The oblique photography apparatus according to claim 3, characterized in that, The included angle between the optical axes of the two tilting camera devices (52) is 35°.
5. An oblique photography system, characterized in that, The device has the oblique photography apparatus according to any one of claims 1-4.
6. The oblique photography system according to claim 5, characterized in that, The oblique photography system also includes a flight platform (1) and an airborne GNSS differential and RTK module (2); The airborne GNSS differential and RTK module (2) and the oblique photography device (3) are mounted on the flight platform (1), with the airborne GNSS differential and RTK module (2) located at the upper end of the flight platform (1) and the oblique photography device (3) located at the lower end of the flight platform (1).
7. The oblique photography system according to claim 6, characterized in that, The flight platform (1) is a multi-rotor flight platform.
8. The oblique photography system according to claim 6, characterized in that, The airborne GNSS differential and RTK module (2) has an epoch data storage, and the acquisition frequency of the epoch data storage is not less than 20Hz.
9. The oblique photography system according to claim 6, characterized in that, The airborne GNSS differential and RTK module (2) is configured to receive at least GPS signals, GLONASS signals, GALILEO signals and BDS signals.
10. The oblique photography system according to any one of claims 6-9, characterized in that, The aerial laser sensor (6) is configured to acquire data at the same time as the tilt camera (52).