Oblique photographic camera provided with self-stabilizing system and control method of oblique photographic camera

Abstract

The invention discloses a tilting photographic camera with a self-stabilizing system and a control method thereof. The tilting photographic camera is provided with an inertial navigation system and a servo drive system; the inertial navigation system includes an inertial navigation sensor (1), the The servo drive system includes a rolling servo brushless motor (2) and a pitching servo brushless motor (3), and the tilting camera also includes a control circuit system. Because the control rate of the inertial navigation control system is very fast, the present invention can quickly respond to the attitude change of the tilt camera brought about by the attitude change of the UAV itself, so that the real-time control servo system can correct the tilt camera, and then combine the physical Vibration reduction system, tilting the camera will get very good practical effect.

Description

technical field [0001] The invention relates to an oblique photographic device used in the field of surveying and mapping, in particular to an oblique photographic camera with a self-stabilizing system and a control method thereof. Background technique [0002] In recent years, a high-tech technology has been developed in the field of international remote sensing and surveying and mapping, which is oblique photography technology. It breaks through the limitation that the traditional aerial survey single camera can only capture orthophoto images from vertical angles. By carrying multiple sensors on the same flight platform, it collects real images with spatial information from different vertical and oblique angles at the same time. Obtain more comprehensive ground texture details, presenting users with a real and intuitive world that conforms to human vision. However, at present, the traditional tilt camera and the aircraft (currently mostly rotor drones and gliding drones) ...

AI Technical Summary

Problems solved by technology

However, at present, the traditional tilt camera and the aircraft (currently mostly rotor drones and gliding drones) are rigidly connected or some shock absorption devices (such as shock-absorbing cotton or shock-absorbing balls, etc.) are added. The aircraft is flying at high speed. High-frequency vibrations will be generated during the process, and the above-mentioned hard connections or physical damping devices are not enough to filter out such high-frequency vibrations, which will have a bad effect on the images collected by the tilt camera (such as blurred photos). Traditional The best way is to reduce the possibility of blurring the collected photos by reducing the exposure time of the camera sensor, which will also bring the disadvantage of insufficient exposure of the image in bad light weather; at the same time, oblique photography technology requires the orthographic camera It is perpendicular to the ground, especially the characteristics of multi-rotor drones. During the flight of the rotor drone, in order to generate power in the heading direction, the rotor drone must keep the body tilted so that the propeller can generate forward thrust. The speed of the drone The faster the angle of inclination must be, the greater the angle of inclination must be. If an oblique photographic device is mounted, each sensor will have an inclination angle with the ground, such as Figure 1 As shown, this will bring a lot of trouble to image acquisition and later 3D modeling, and it will also affect the quality of modeling. If the acquisition effect and modeling quality are to be guaranteed, the flying speed of the UAV must not be too high. This will reduce the collection efficiency

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