• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    System of acquisition of nadirales and oblique images. System (1) of image acquisition comprising an expandable structure which in turn comprises a frame (2) with a first section (3) linked to a second section (4), wherein both sections (3, 4) respectively comprise a first and a second extensible mechanism (5, 6). When the system (1) is in use, the first section (3) is positioned on a floor and the second section (4) is linked with a pivotable support (7) comprising a body with a fork (8) linked to a rocker (9) to house at least one sensor (10) for image and/or video acquisition. Additionally, said pivotable support (7) comprises a wireless antenna (21) connected to the sensor (10) to link it with a remote viewing mechanism (11) that allows a user to know which perspective is framing the sensor (10). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2644168A1
    申请号:ES201630694
    申请日:2016-05-27
    公开日:2017-11-27
    发明作者:Pablo RODRÍGUEZ GONZÁLVEZ；Alberto HOLGADO BARCO；Diego GONZÁLEZ AGUILERA；Diego GUERRERO SEVILLA；David HERNÁNDEZ LÓPEZ
    申请人:Universidad de Salamanca；Universidad de Castilla La Mancha；
    IPC主号:
    专利说明:

    NADIRAL AND OBLIQUE IMAGE ACQUISITION SYSTEM
    D E S C R I P C I O N
    5 OBJECT OF THE INVENTION
    The object of the present invention is a system of acquisition of nadirales and oblique images from a high point with respect to the ground, preferably for the generation of 3D models, cartographic and / or architectural models.
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    BACKGROUND OF THE INVENTION
    Currently, several image acquisition systems are known areas for taking photographs, generating 3D models and cartographic products. Typically, these systems 15 are conditioned by the typology or geometry of the object, or by the study site. Mainly, these conditions are based on the extension and / or height of the object or location.
    Currently, these image acquisition systems are based on techniques of 20 terrestrial photograms that have become popular due to technological advances in image sensors, the speed of computation of images and the appearance of new algorithms that improve post-treatment of these images.
    However, when the object is elevated or when the location is at ground level in 25 areas of little relief, such as for example in archaeological sites, these configurations of the object or terrain can cause deformations in the perspective of the image generated and therefore degrade the quality of the final image. This is a problem to meet the technical specifications required to meet the quality standards of photographs, 3D models or cartographic products.
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    Currently, to solve this problem, the presence of high points close to the object, or to the site, such as adjacent buildings, is used. However, this possibility occurs only in urban settings, and even so! There are access restrictions for legal or administrative reasons. Therefore, artificial elements such as
    cranes, scaffolding, ladders or masts that can overcome the limitations of the perspective and achieve a photogrammetric acquisition that meets the required technical specifications.
    However, in some cases, such as with objects and / or archeological sites, this solution may not comply with the conservation protocols, or due to the volume and / or mass of the artificial elements being unable to access the study area, or even that these artificial elements lack the stability and / or security necessary to be used.
    To solve this problem, portable systems have arisen, such as the one shown in the patent application US20150108777A1, where a type device is described with a support bracket in its lower part to be held by a user, and a camera support in the upper one to insert a camera. Although this system is limited to the length of the beam, you can take oblique photographs. Additionally, this disturbance only allows the use of sensors with internal batteries, it has an unstable mass center 15 which, although it can be handled with one hand, the chances of the image being blurred are high and lack of trigger control from the support bracket.
    On the other hand, in patent application US20130287386A1, an extensible monopod 20 capable of supporting at its upper end any photographic instrument or accessory is described, while its lower end is resting on the ground. This monopod has practically the same characteristics as the previous one, with the exception that it allows its extension and longitudinal contraction facilitating its transfer and allowing photographs to be taken at higher heights.
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    Additionally, as stabilized in the US9052573B2 patent, a stabilization system for recording video images by means of a counterweight system has been developed. Video recording is done by a video image sensor that allows the user to control the images that are being recorded when a screen is included. In spite of this, the stabilization system is designed to work without contacting the ground, that is, it is designed so that the user can hold it with one hand, which seriously limits the weight of the ported video image sensor. In addition, the stabilization system is designed to carry a single sensor with an internal power supply and does not allow a nadiral position to be reached at an optimum height.
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    Alternatively, unmanned aerial systems have emerged that perform such photogrammetric acquisition. Bypassing the aspects linked to the particular regulations of unmanned aerial systems, these solutions do not allow a rigorous image acquisition plan to be generated for the generation of 3D models or quality cartographic products, especially when the object presents complex shapes not previously modeled being necessary to decide in real time the optimal shots to make.
    Likewise, these unmanned aerial systems are considered to be due to the limitation of the type of image sensor that can be carried. This is mainly due to the limitations of these systems to the weight and volume of the image sensor. Normally, this image sensor is a camera of medium or low performance, and with a range of work limited to less than 20 minutes in most cases.
    Finally, it should also be noted the frequent need to acquire images with low shutter speeds in dimly lit scenarios, which is only possible using at least semi-professional reflex cameras with very static positions, an impossible mission to perform with an unmanned aerial system , both due to the high payload and the blurred effect on the acquired images due to the movement linked to the trepidation derived from its lack of stability.
    DESCRIPTION OF THE INVENTION
    The present invention describes an image acquisition system with nadiral and / or oblique perspective from a raised point with respect to the ground comprising an extensible structure linkable at its upper end to an image and / or video acquisition sensor, and where its end Lower is intended to be positioned on the ground during use by a user. More specifically, the extensible structure is a frame comprising:
    • a first section, intended to be substantially vertical in use, incorporating an ergonomic support intended to be grasped by a user, wherein this first section comprises a lower end that is intended to be positioned on the ground, an upper end, and a first vertical extensible mechanism for extending or longitudinally extending said first section,
    • a second section, intended to be substantially horizontal in use, comprising
    a first end linked to the upper end of the first section, a second
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    end comprising a pivotable support with at least two degrees of freedom to accommodate and position the sensor, and a second extensible mechanism to extend or longitudinally extend said second section, and wherein said pivotable support comprises a vertical orientation mechanism and a mechanism of horizontal orientation linked with a joystick, included in the ergonomic support so that the user can respectively control the vertical and horizontal position of the sensor. Said sensor is linked with a remote vision mechanism to allow the user to know what perspective the sensor is framing, and to acquire the image or video in nadiral and / or oblique perspective by activating a trigger button located in the ergonomic support.
    Additionally, the frame comprises a compensator with a vertical section that forms an angle of at least 90 ° with a horizontal section, where the end of the vertical section is linked to the second section of the frame, and the end of the horizontal section is linked to the second section of the frame to provide the frame with greater stability.
    Said frame has its hollow interior, where the wiring that allows the feeding of all the devices that require it, such as the sensor, is distributed from a group of batteries preferably installed in the base of the first section to increase its weight and improve the system stability
    The system comprises a control panel that is centralized in the ergonomic support. This ergonomic support comprises the joystick so that the user can control the position of the sensor, a trigger button linked to the sensor to activate or deactivate the acquisition of images or videos, and a video connector to link the remote vision mechanism
    The pivotable support comprises a body consisting of a fork linked with a rocker to accommodate at least one type of image and / or video sensor. This balance can simultaneously accommodate several image and / or video sensors of different configurations.
    Additionally, said pivotable support comprises:
    • an electrical connection linked to the battery pack, to power the sensor electrically,
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    • a vertical stabilization mechanism located on the fork, designed to vertically stabilize the position of the sensor,
    • a horizontal stabilization mechanism located on the fork, designed to stabilize the position of the sensor horizontally,
    • the vertical orientation mechanism, to control the fork position vertically, this vertical orientation mechanism is linked with the joystick of the ergonomic support,
    • the horizontal orientation mechanism, to control the position of the rocker horizontally, this horizontal orientation mechanism is linked to the joystick of the ergonomic support,
    • an anti-vibration mechanism located between the union of the second section of the frame and the pivotable support itself, to avoid possible vibrations transmitted from the frame to the image and / or video sensor, and finally
    • the wireless antenna connectable with the sensor, to link it wirelessly with the remote vision mechanism.
    This remote vision mechanism comprises augmented reality glasses with an internal communication antenna that establishes communication with the preferred sensor through the wireless antenna. This remote vision mechanism allows both hands to be released to enable the structure to be handled by an ergonomic support arranged in the first section of the frame.
    Alternatively, the wireless antenna is linked, by wiring distributed through the interior of the frame, with a video connector included in the ergonomic support. This 25 video connector is wire linkable with the remote vision system. This video connector solves possible interference problems that the wireless antenna may have.
    It should be ruled out that the sensor can be selected from: geomatic sensor, photogrammetric sensor, thermographic sensor, multispectral sensor, video sensor, or a combination 30 of the above.
    Finally, this image acquisition system comprises an interchangeable regaton at the lower end of the first section. This interchangeable regaton is selected from a
    rubber slip for interior floors or a tip with hard tip for floors
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    outside
    DESCRIPTION OF THE DRAWINGS
    5 To complement the description that is being made, and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical realization thereof, a game is accompanied as an integral part of said description. of drawings where, with an illustrative and non-limiting nature, the following has been represented:
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    Figure 1.- Shows a general schematic view of a preferred embodiment of the present invention.
    Figure 2.- Shows a detailed view of the pivotable support of the preferred embodiment.
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    Figure 3.- Shows a detailed view of the ergonomic support of the preferred embodiment.
    Figure 4.- Shows a detailed view of the interior of the lower part of the first section of the frame of the present invention.
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    PREFERRED EMBODIMENT OF THE INVENTION
    In a preferred embodiment, as shown in Figures 1 and 2, the present invention describes an image acquisition system (1) comprising an extensible structure 25 which in turn comprises a frame (2) with a first section (3) linked to a second section (4), where both sections (3, 4) respectively comprise a first and a second extensible mechanism (5, 6).
    More specifically, when the system (1) is in use the first section (3) is positioned on a ground, or a terrestrial surface, and the second section (4) is linked with a pivotable support (7) comprising a body consisting of a fork (8) linked with a balandn (9) to accommodate at least one image and / or video acquisition sensor (10). Additionally, said pivotable support (7) comprises a wireless antenna (21). This wireless antenna (21) is wired to the sensor (10) to link it,
    preferably wirelessly, with a remote vision mechanism (11). More specifically, this remote vision mechanism (11) comprises augmented reality glasses with an internal communication antenna, a video input connector and an internal battery group.
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    Additionally, this remote vision mechanism (11) allows a user to know the framing of the sensor (10), incorporating augmented reality glasses with an internal communication antenna, allowing both hands to be released to put the structure through an ergonomic support ( 15) arranged in the first section (3) of the frame (2).
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    Additionally, the frame (2) comprises a compensator (12) with a vertical section (14) that forms an angle of at least 90 ° with a horizontal section (13), where the end of the vertical section (14) is connected with the second section (4), and the end of the horizontal section (13) is linked to the first section (3) to provide the frame (2) with greater stability.
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    It should be noted that both the first and the second section (3, 4) of the frame (2) respectively comprise the first and the second extensible mechanism (5, 6). More specifically, the first extensible mechanism (5) allows extending the first section (3) to a height of 2.5 meters, and the second extensible mechanism (6) allows extending the length of the second section 20 (4) up to 5 meters with in order to overcome obstacles and / or modify the distance between the sensor (10)
    and the object or location of which images are acquired when the system (1) is in use.
    Said frame (2) has a light weight, less than 3500 g, since it is preferably made of PVC, aluminum or carbon fiber, and its interior is hollow. As shown in figure 4, 25 through this hole, the wiring (26) is distributed, which allows the power supply of all the devices that require it, such as the sensor (10), from a group of batteries (27) preferably installed at the base of the first section (3) to increase its weight and improve the stability of the system (1). Preferably, this group of batteries (27) is of the LiPo type. Additionally, in the contact part with the ground of this first section (3), an interchangeable regaton (29) is incorporated which is selected from a non-slip rubber material for interior floors or a hard tip material for terrestrial surfaces .
    Additionally, in figure 2 it is shown that the pivotable support (7) type "gimbal" comprises:
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    • an electrical connection, not shown, linked to the battery pack (27), to electrically power the sensor (10),
    • a vertical stabilization mechanism (16) located on the top of the fork (8), designed to vertically stabilize the position of the sensor (10),
    • a horizontal stabilization mechanism (17) located on the side of the fork (8), designed to horizontally stabilize the position of the sensor (10),
    • a vertical orientation mechanism (18) located on the top of the fork (8), to control the rotation position of the vertical axis of the fork (8),
    • a horizontal orientation mechanism (19) located on the top of the fork (8), to control the rotation position of the shaft horizontally of the rocker (9),
    • an anti-vibration mechanism (20) located between the union of the second section (4) of the frame (2) and the pivotable support itself (7) to avoid possible vibrations transmitted from the frame (2) to the sensor, (10) , and finally,
    • a wireless antenna (21) connectable with the sensor (10) to link it wirelessly with the remote vision mechanism (11).
    It should be noted that this pivotable support (7) can be exchanged for an alternative pivotable support, not shown, whose configuration is designed to accommodate another type of sensor (10) according to its typology so that it meets the requirements of resistance and / or dimensions . In order to facilitate this work, a universal connection thread (22) and an electrical and data supply connector are available to connect and disconnect each pivotable support (7) with the frame (2).
    Additionally, the rotation of the vertical orientation mechanism (18) is limited to prevent wiring (26) towards the sensor (10) from being damaged.
    Preferably, the vertical and horizontal orientation mechanisms (18, 19) consist of brushless motors arranged according to both axes of motion.
    Preferably, the vertical and horizontal stabilization mechanisms (16, 17) consist of two brushless motors and servo controllers that correct the position of the sensors shipped based on a control board (with gyroscopes and accelerometers).
    Preferably, the anti-vibration mechanism (20) consists of several silicone rubber bands to dampen the vibrations, arranged in a square plate.
    It should be noted that in this preferred embodiment the sensor (10) is a photographic camera that is electrically powered by the electrical connector that is linked to the battery group (27) by wiring (26).
    Figure 3 shows in more detail a control panel that is centralized in the ergonomic support (15). This ergonomic support (15) comprises a joystick (23) 10 linked to the vertical and horizontal orientation mechanisms (18, 19) by wiring (26) so that the user can control the vertical and horizontal orientation mechanisms (18, 19) in order to achieve framing with the sensor (10).
    More specifically, this joystick (23) comprises two potentiometers to control the two directions of each vertical and horizontal orientation mechanism (18, 19). The ergonomic support (15) also includes a trigger button (24) linked to the sensor (10) to activate or deactivate the acquisition of images or videos. Additionally, the ergonomic support (15) comprises a video connector (25) to link the remote vision mechanism (11) wired for those cases in which the reception of the signal of the wireless antenna (21) is not acceptable.
    权利要求:
    Claims (9)
    [1]
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    R E I V I N D I C A C I O N E S
    1. - System (1) for acquisition of imageries with a nadiral and oblique perspective from a raised point with respect to the ground comprising an extensible structure linked by its upper end to a sensor (10) for image or video acquisition, and where lower end is intended to be positioned on the ground during use by a user, characterized in that the extensible structure comprises a frame (2) which in turn comprises:
    • a first section (3) incorporating an ergonomic support (15), wherein this first section (3) comprises a lower end that is intended to be positioned vertically on the ground when the system (1) is in use, an end upper aligned with the lower end, and a first extensible mechanism (5), between the lower end and the upper end, to extend or collect longitudinally said first section,
    • a second section (4) comprising a first end linked to the upper end of the first section (3), a second end that is aligned with the first end and comprising a pivotable support (7) with at least two degrees of freedom to accommodate and position at least the sensor (10), and a second extensible mechanism (6), between the first end and the second end, to extend or longitudinally extend said second section (4), and
    wherein said pivotable support (7) comprises a vertical orientation mechanism (18) and a horizontal orientation mechanism (19) linked with a joystick (23) comprised in the ergonomic support (15) so that the user can control respectively the vertical and horizontal position of the sensor (10), said sensor (10) is linked to a remote vision mechanism (11) so that the user knows what perspective the sensor (10) is framing and to acquire the image or video in nadiral perspective and oblique with the activation of a firing button (24) located in the ergonomic support (15).
    [2]
    2. - System (1) according to revindication 1, characterized in that the frame (2) comprises a compensator (12) with a vertical section (14) that forms an angle of at least 90 ° with a horizontal section (13), in where the end of the vertical section (14) is linked to the second section (4) of the frame (2), and the end of the horizontal section (13) is linked to the first section (3) of the frame (2).
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    [3]
    3. - System (1) according to claim 1, characterized in that the interior of the frame (2) is hollow to distribute the wiring (26) that carries out the electrical supply of at least the sensor (10) from a group of batteries (27). ) installed at the base of the first section (3).
    [4]
    4. - System (1) according to claim 3, characterized in that the ergonomic support (15) comprises a control panel which in turn comprises the joystick (23) so that the user can control the position of the sensor (10 ), the trigger button (24) linked to the sensor (10), by means of said wiring (26), to activate or deactivate the acquisition of images or videos, and a video connector (25) to link the vision mechanism wired remote (11) to the sensor (10).
    [5]
    5. - System (1) according to any one of the preceding claims, characterized in that the pivotable support (7) comprises a body consisting of a fork (8) linked with a rocker (9) to accommodate at least the sensor (10 ).
    [6]
    6. - System (1) according to claim 5, characterized in that said pivotable support (7) comprises:
    • an electrical connection linked to the battery group (27) of the frame (2), to electrically power the sensor (10),
    • a vertical stabilization mechanism (16) located on the fork (8), designed to vertically stabilize the position of the sensor (10),
    • a horizontal stabilization mechanism (17) located on the fork (8), designed to horizontally stabilize the position of the sensor (10),
    • the vertical orientation mechanism (18), to vertically control the fork position (8),
    • the horizontal orientation mechanism (19), to control horizontally the position of the rocker (9),
    • an anti-vibration mechanism (20) located between the union of the second section (4) of the frame (2) and the pivotable support itself (7), to avoid possible vibrations transmitted from the frame (2) to the sensor (10) , and finally,
    • the wireless antenna (21) connectable with the sensor (10), to link it wirelessly with the remote vision mechanism (11).
    [7]
    7. System (1) according to claim 6, characterized in that the ergonomic support (15) comprises a video connector (25), to connect the wireless antenna (21) to the remote viewing mechanism (11).
    5. System (1) according to claim 6, characterized in that the remote vision mechanism
    (11) comprises augmented reality glasses with an internal communication antenna that establishes communication with the preferred sensor (10) through the wireless antenna (21).
    10. System (1) according to any one of the preceding claims, characterized in that
    said sensor (10) is selected from: geomatic sensor, photogrammetric sensor, thermographic sensor, multispectral sensor, video sensor, or a combination of the above.
    [10]
    10. - System (1) according to any one of the preceding claims, characterized in that the lower end of the first section (3) in its part intended to be positioned vertically
    on the ground it comprises an exchangeable regaton (29).
    [11]
    11. - System (1) according to claim 10, characterized in that the interchangeable regaton (29) is selected from a non-slip rubber regaton or a hard tip regaton.
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    同族专利:
    公开号 | 公开日
    ES2644168B1|2018-09-14|
    引用文献:
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    US7706673B1|2007-04-06|2010-04-27|Staudinger Robert J|Portable remote camera control device|
    US20150108777A1|2012-10-21|2015-04-23|Anthony Francis Anari, III|Camera pole|
    WO2015192207A1|2014-06-19|2015-12-23|Khalili Ali|Telescoping extension|
    WO2016050011A1|2014-09-29|2016-04-07|源德盛塑胶电子（深圳）有限公司|Pull rod type digital camera|CN109739065A|2019-02-25|2019-05-10|长光卫星技术有限公司|Single lever-type main force support structure suitable for micro-nano remote sensing camera|
    法律状态:
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    优先权:
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    ES201630694A|ES2644168B1|2016-05-27|2016-05-27|SYSTEM FOR THE ACQUISITION OF NADIRAL AND OBLIQUE IMAGES|ES201630694A| ES2644168B1|2016-05-27|2016-05-27|SYSTEM FOR THE ACQUISITION OF NADIRAL AND OBLIQUE IMAGES|
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