Synchronous acquiring device of aerial photo data

The technical field of

[0001] this utility model claims an aerial device especially claims an aerial data synchronization obtaining device it is especially suitable for the unmanned machine and so on unmanned aircraft remote low-altitude aerial using.

Background technology

[0002] in recent years and without human as representative of unmanned aircraft technology development quickly it has simple structure low cost high efficiency is flexible and smart wireless personal injury risk of operation and maintenance are simple it can be widely applied to national defence military low altitude remote control resource exploration forest fire fighting water source detects power line inspection evaluation personnel disaster rescue and so on each field through several times of checking in the practice its application effect is influenced by the wide chan yu.

[0003] by making use of unmanned machine the flying platform carrying the aerial photography machine to carry out the low altitude remote control aerial becomes by the weight and wide application. To obtain the good effect of the aerial effect aircraft remote control camera positive projection image the request of aviation camera of ccd sensor and the ground face must be kept to be parallel and the cameras to the navigation chip of the central point of the navigation coordinate and camera sensor ccd optical plane coordinate be kept consistent. Remote control aerial it must request the step of obtaining the aerial image at the same time of each outer side of position data comprises three the posture of three dimensional position and so on after a period of aerial image of correction fusion jointing it provides foundation data for the. Normal these data is transmitted to the uav flight control computer is connected providing the sensor installation position of angle and connecting method of different flight control computer to the camera exposing time of the position and pose data and so on and it is not very accurate it increases the outside of orientation parameters the error of greatly influence of the latter image processing.

Utility model claims a content

[0004] is to overcome the above technique defect that the utility model claims an aerial data synchronization acquiring device and it is especially suitable for small sized unmanned machine using. Can control the aerial the aerial photography machine to carry out at the same time to obtain the machine exposure of three axes of the posture of three dimensional position and so on the position data is greatly convenient after a period of the image processing.

[0005] to solve the technical problem the adopted technical plan is as follows: This utility model comprises a data processing module and respectively connected with the data processing module is connected with for receiving remote controlling instruction of the aerial instruction input interface and the hang camera is connected with the shutter is used for controlling the action of the aerial photography camera shutter wire interface is used for identifying hang camera position and attitude sensor module is used for storing the data storing module and the hang camera tripod head is connected with the invention claims a method for controlling navigation camera tripod the navigation camera is in the transmitting state of the servo interface is used for receiving or outputting the data communication interface and supplying power source power supply module interface.

[0006] said aerial an instruction input interface is connected with the aerial photography camera shutter wire interface sensor module data processing module memory module communication interface the servo interface and power supply module is connected with the opening of the work of the matching relationship is as follows: Aerial an instruction input interface receives a shooting instruction through a data processing module is transmitted to the aerial photography camera shutter line interface control the action of the shutter; Sensor module identifying hang camera position pose of the position and attitude data is transmitted to the data processing module processes; Data processing module according to processing result to servo interface transmits navigation command controls camera tripod the navigation camera is in the shape of irradiation state to the aerial photography camera shutter wire interface sending instruction controlling the action of the shutter; Storing module is used for storing data processing module obtains the data; Communication interface is used for receiving or outputting the data processing module data obtained; Power supply module interface is connected with the power supply for said device providing electric power source.

[0007] said sensor module it comprises gps locating module and three shaft micro-mechanical gyro module.

[0008] said three shaft micro-mechanical gyro a navigation module and camera is placed horizontally and hang ccd camera sensitive surface the same direction is used for obtaining the navigation camera cross rolling and pitching course angle of three axes of the attitude data.

[0009] said gps positioning module is used for obtaining aviation camera three dimensional position latitude and longitude high speed and working time of the three dimensional position data.

[0010] of the said device aerial an instruction input interface is connected with the aerial photography camera shutter wire interface sensor module data processing module memory module communication interface the servo interface and power supply module is connected with the outlet is set on a circuit board is installed on said circuit board is set on the shell body said shell body is set with hang camera fixing component.

[0011] of the said device aerial an instruction input interface of the unmanned machine automatic driving device or connected with the remote control receiver is connected with the.

[0012] this utility model can be used for aerial an instruction input interface and un-manned aerial vehicle automatic driving device can be connected directly and remote control receiver is connected with the ground station remote control remote control aerial.

[0013] if it does not have aircraft automatic driving device is connected with the opening can be used for communication interface and wireless digital transmission broadcasting station is connected with the ground aerial transmitting control signals may comprise a shooting instruction camera exposing time interval and makes use of the communication interface to download to the ground aerial related data. Also can be used in the flight specifically according to the front of the flight speed and height of the preset control aerial camera exposing time interval.

[0014] storage module can be used to board memory module of safety digital card sd card memory of remote control data aerial comprises aerial photograph sequence shooting time of longitude and latitude and height of the pitching angle of horizontal roll angle course angle and so on as the space remote sensing slice after a period of treatment the invention claims must be the outside of orientation parameters.

[0015] adopting the designed structure of the relative to the existing technology this utility model has the advantages as follows:

[0016] i which can be synchronous to obtain the machine exposure of three axes of the posture of three dimensional position and so on the position data and it can be transmitted to the ground it not only greatly it is convenient for the latter image processing and remote control and it is convenient for people and time adjusting method of aerial work efficiency is improved the operation is simple.

[0017] 2 small volume light weight it is especially suitable for small unmanned aerial vehicles the low altitude remote control aerial application.

[0018] 3 aerial the process of full automatic intelligent environment adaptability is strong it can automatically control the remote control aerial photography tripod the navigation remote control camera is always in the shape of irradiation state to obtain optimal aerial photograph.

Specification attached drawing

[0019] image i is the structure of the utility model is of principle picture.

[0020] picture 2 is that this utility model makes use of the program flow chart.

Specific implementing manner

[0021] a lower surface of the attached drawing and example of this utility model to further explain.

[0022] picture i show: The structure of this utility model comprises aerial an instruction input interface i aerial photography camera shutter wire is connected with the opening 2 the sensor module data processing module storage module 4 5 communication interface port 6 servo interface 7 the power supply module interface port 8.

[0023] data processing module i and the sensor module 3 arranged on a circuit board circuit board is set on the aerial an instruction input interface i aerial photography camera shutter wire is connected with the opening 2 safety digital card sd card memory module communication interface 5 6 servo interface 7 and a +5v power supply module is connected with the opening 8. Circuit board is fixed on the shell body the inner shell body is fixed on the camera on the hang. Aerial an instruction input interface i receiving of unmanned machine instruction and identification judging whether starting or stopping the camera shooting; Aerial photography camera shutter wire is connected with the opening 2 the output pulse width modulation pwm signal to hang camera to shoot or stopping the shooting; Sensor module 3 comprises a gps positioning module and three shaft micro-mechanical gyro module a gps locating module measuring aerial photography digital camera of the three dimensional position latitude and longitude high speed and working time and the measuring data is transmitted to the data processing module; Triaxial micro-machine gyroscope navigation module and camera is placed horizontally and hang camera sensor ccd optical surface directions is consistent to the pitching machine to supply course angle of transverse roller and; Data processing module to input instruction to carry out identifying and judging by aerial photography camera shutter wire is connected with the opening 2 controlling camera according to set the shooting time interval can work during flying front according to specific flying speed and height of the pre-set controlling digital camera aerial exposure time intervals data processing module according to the sensor module 3 provided by the attitude data by servo control interface 7 the camera tripod head is always in the shape of irradiation state; Module via the sd card to record the camera exposing time the shooting space of the sequence time position and attitude speed and so on data; Through the power supply module is connected with the input opening 8 is a +5v power supply device each module provides stable power supply; Device can be through the communication interface port 6 is connected to the exposure control exposure time intervals and parameter it also can output the camera exposing the outside of orientation parameters.

[0024] this utility model is working procedure such as picture 2 the.

0025 starting [ 101 ] step device to the process begins to run.

0026 [ 102 ] following steps initializing comprises system initialization safety digital card sd card file system initialization sensor modules initializing.

[0027] step 103 data processing module for obtaining gps locating shaft and the attitude data.

[0028] step 104 data processing and calculating the pitching angle and horizontal roller deviation.

0029 [ 105 ] step and outputs the bias to the servo device drives the clouds terrace the camera and the lower part of the axial direction and horizontal surface is vertical to the orthogonal state.

0030 step 106 ] [ receives the instruction and judges whether it is aerial camera exposing instruction if it is not returning to step 106 if it is continuing to wait step 107 acquiring the exposure time are set distantly.

[0031] step 108 ] the output of the exposure instruction to aerial photography camera shutter.

0032 [ 106 ] steps are recorded simultaneously for exposure of the sequence time position speed and position posture of the writing the data sd memory module.

0033 [ 110 ] following steps judging whether received stop exposure instruction if it is executing step 111 stop of the camera exposing.

0034 [ 112 ] step process is ending otherwise returning to step 107 continuously according to setting exposure time interval between the camera exposing.