R&D mutsara weRainpoo's product series

Kuburikidza nesumo yeMabatiro akareba anokanganisa 3D modhi yemhedzisiro, unogona kuve nekunzwisisa kwekutanga kwekubatana pakati pehurefu hwefocal neFOV. Kubva pakumisikidzwa kwemaparamita endege kuenda ku3D modelling process, aya ma paramita maviri anogara aine nzvimbo yawo. Saka maparamita maviri aya ane mhedzisiro yei pamhedzisiro yekuenzanisira ye3D? Muchinyorwa chino, tichasuma kuti Rainpoo yakawana sei kubatana mukuita kwechigadzirwa R&D, uye maitiro ekuwana chiyero pakati pekupokana pakati pehurefu hwendege uye 3D modhi mhedzisiro.

1, Kubva D2 kusvika D3

RIY-D2 chigadzirwa chakanyatsogadzirirwa mapurojekiti ekuongorora ecadastral. Iyo zvakare ndiyo yekutanga oblique kamera inotora yekudonha-pasi uye yemukati-lens dhizaini. D2 ine yemhando yepamusoro yekurongeka uye yakanaka mhando yemhando, iyo inokodzera chiitiko chekuenzanisira ine nzvimbo yakati sandara uye kwete yakanyanya kukwira pasi. Zvisinei, nokuda kwekudonha kukuru, nzvimbo yakaoma uye topography (kusanganisira mitsetse ye-high-voltage, chimneys, zviteshi zvepasi uye zvimwe zvivako zvepamusoro-soro), kuchengetedzwa kwendege ye drone ichava dambudziko guru.

Mukushanda chaiko, vamwe vatengi havana kuronga kureba kwakanaka kwendege, izvo zvakaita kuti drone irembedze mitsetse yakakwira-voltage kana kurova base station; Kana kuti kunyange zvazvo dzimwe drones dzakaita rombo rakanaka kudarika nzvimbo dzine ngozi, dzakangoona kuti drones dzakanga dziri pedyo zvikuru nenzvimbo dzine ngozi pavakatarisa mifananidzo yepamhepo.

Chiteshi chepasi chinoratidza mumufananidzo, unogona kuona iri padyo neiyo drone, ingangoita yekurova pairi Naizvozvo, vatengi vazhinji vakatipa mazano: Ko iyo yakareba yakatarisa kureba oblique kamera inogona kugadzirwa kuti iite kureba kwekubhururuka kweiyo drone uye kuita kuti ndege ive yakachengeteka? Zvichienderana nezvinodiwa nevatengi, zvichibva paD2, takagadzira vhezheni yakareba yakatarisa inonzi RIY-D3. Kuenzaniswa neD2, pachigadziro chimwe chete, D3 inogona kuwedzera kureba kwendege ye drone ne60%.

Munguva yeR&D yeD3, tagara tichitenda kuti kureba kwekutarisa kunogona kuve nekukwirira kwendege kwepamusoro, mhando yemodheni iri nani uye huchokwadi hwepamusoro. Asi mushure mekushanda chaiko, takaona kuti zvaisaita sezvaitarisirwa, enzanisa neD2, iyo 3D modhi yakavakwa neD3 yaive yakaomerwa, uye kushanda zvakanaka kwaive kwakadzikira.

Zita	Riy-D2/D3
Kurema	850g
Dimension	19018088mm
Sensor type	APS-C
CMOS saizi	23.5mm × 15.6mm
Saizi yemuviri yepixel	3.9um
Total pixels	120MP
Mininum exposure time interval	1s
Camera exposure mode	Isochronic / Isometric Exposure
focal urefu	20mm/35mm yeD235mm/50mm yeD3
Magetsi	Uniform supply (Simba ne drone)
ndangariro kugona	320G
Kudhawunirodha data kwakawedzera	≥70M/s
Tembiricha yebasa	-10°C~+40°C
Firmware updates	Zvemahara
IP rate	IP 43

2, Kubatana pakati pehurefu hwekutarisa uye mhando yemhando

Kubatana pakati pehurefu hwakatarisana nemhando yekuenzanisira hakusi nyore kune vatengi vazhinji kuti vanzwisise, uye kunyangwe vazhinji vagadziri vekamera oblique vanotenda zvisirizvo kuti refu yakatarisa kureba lens inobatsira pamhando yekuenzanisira.

Mamiriro chaiwo ari pano ndeaya: pane chirevo chekuti mamwe maparameter akafanana, kune facade yekuvaka, iyo yakareba iyo yakatarisa kureba, iyo yakaipisisa yekuenzana kwemuenzaniso. Rudzii rweukama hune musoro hunobatanidzwa pano?

Muchikamu chekupedzisira Hurefu hwefocal hunokanganisa sei 3D modelling results takataura kuti:

Pasi pechirevo chekuti mamwe ma parameter akafanana, kureba kwekutarisa kunongokanganisa kureba kwendege. Sezvinoratidzwa pamufananidzo uri pamusoro, kune maviri akasiyana lenzi akatarisana, tsvuku inoratidza refu yakatarisa lenzi, uye yebhuruu inoratidza pfupi yakatarisa lenzi. Iyo yakakura kona yakaumbwa neiyo yakareba focal lens uye madziro ndeye α, uye iyo yakanyanya kona inoumbwa neiyo pfupi focal lens uye madziro ndi β. Zviri pachena:

Ko “kona” iyi inorevei? Iyo yakakura kona iri pakati pemupendero weFOV yelens uye madziro, iyo yakanyanya kuchinjika lenzi maererano nemadziro. Paunenge uchiunganidza ruzivo rwekuvaka ma facades, mapfupi ekutarisa lenzi anogona kuunganidza ruzivo rwemadziro zvakachinjika, uye iyo 3D modhi yakavakirwa pairi inogona kuratidza zvirinani kuumbwa kwefacade. Naizvozvo, kune zviratidziro zvine ma facade, kupfupika kwekutarisa kureba kwelenzi, kupfuma kwakaunganidzwa kwefacade ruzivo uye zvirinani mhando yekuenzanisira.

Kune zvivakwa zvine eaves, pasi pemamiriro ekufanana kwepasi kugadziriswa, kureba kwekutarisa kwelenzi, kukwirisa kukwirira kwendege ye drone, nzvimbo dzakapofumadza pasi pemavharo, ipapo kuipa kwemhando yekuenzanisira kuchave. Saka muchiitiko ichi, iyo D3 ine refu yakatarisa kureba lenzi haigone kukwikwidza neD2 ine ipfupi focal kureba lens.

3, Kupokana pakati pehurefu hwekubhururuka kweiyo drone uye kunaka kweiyo 3D modhi

Zvinoenderana nekubatana kunonzwisisika kwehurefu hwefocal uye mhando yemodhi, kana kureba kwelenzi kuri kupfupi zvakakwana uye kona yeFOV yakakura zvakakwana, hapana kamera yemalenzi akawanda inodiwa zvachose. Iyo super wide-angle lens (hove-ziso lens) inogona kuunganidza ruzivo rwese mativi. Sezvinoratidzwa pasi apa:

Hazvina kunaka here kugadzira iyo yakatarisa kureba kwelens ipfupi sezvinobvira?

Tisingatauri nezve dambudziko rekukanganiswa kukuru kunokonzerwa ne-ultra-short focal urefu. Kana iyo yakatarisa kureba kwe ortho lens ye oblique kamera yakagadzirirwa kuve 10mm uye data yakaunganidzwa pakugadziriswa kwe2cm, kureba kwekubhururuka kweiyo drone chete 51 metres.

Zviripachena, kana iyo drone yakashongedzerwa neoblique kamera yakagadzirwa nenzira iyi kuita mabasa, zvichave zvine njodzi.

PS: Kunyangwe iyo Ultra-wide-angle lens ine mashoma ekushandisa kwezviratidziro mune oblique mafoto modhi, ine inoshanda kukosha kune Lidar modhi. Kare, imwe kambani yakakurumbira yeLidar yakanga yataura nesu, ichitarisira kuti isu tigadzire kamera yakakura-ekona lens yemuchadenga, yakaiswa neLidar, yekududzira chinhu chepasi uye kuunganidzwa kwemavara.

4, Kubva paD3 kuenda kuDG3

Iyo R&D yeD3 yakaita kuti tizive kuti kune oblique kutora mafoto, iyo yekutarisa kureba haigone kuve yakarebesa kureba kana kupfupika. Kureba kwakanyatsoenderana nehutano hwemuenzaniso, kushanda kwekushanda, uye kureba kwendege. Saka mulenzi R&D, mubvunzo wekutanga kufunga ndewekuti: sei kuseta kureba kwemalenzi?

Kunyangwe iyo ipfupi focal ine yakanaka yemhando yemhando, asi kureba kwendege kwakadzikira, haina kuchengetedzeka pakubhururuka kwedrone. Kuti uve nechokwadi chekuchengetedzwa kwemadrones, kureba kwekutarisa kunofanirwa kugadzirwa kwenguva yakareba, asi kureba kwekutarisa kuchakanganisa kushanda zvakanaka uye mhando yemhando. Pane kumwe kupokana pakati pehurefu hwendege uye 3D modelling mhando. Tinofanira kutsvaga kuwirirana pakati pekupokana uku.

Saka mushure meD3, zvichibva pakufunga kwedu kwakadzama kwezvinhu izvi zvinopokana, takanga tagadzira iyo DG3 oblique kamera. DG3 inofunga nezve 3D yemhando yemhando yeD2 uye kureba kwendege yeD3, ichiwedzerawo kupisa-kubvisa uye guruva-kubvisa system, kuitira kuti igone kushandiswa pane yakatarwa-bapiro kana VTOL drones. DG3 ndiyo inonyanya kufarirwa oblique kamera yeRainpoo, zvakare ndiyo inonyanya kushandiswa oblique kamera pamusika.

Zita	Riy-DG3
Kurema	650g
Dimension	17016080mm
Sensor type	APS-C
CCD saizi	23.5mm × 15.6mm
Saizi yemuviri yepixel	3.9um
Total pixels	120MP
Mininum exposure time interval	0.8s
Camera exposure mode	Isochronic / Isometric Exposure
focal urefu	28mm/40mm
Magetsi	Uniform supply (Simba ne drone)
ndangariro kugona	320/640G
Kudhawunirodha data kwakawedzera	≥80M/s
Tembiricha yebasa	-10°C~+40°C
Firmware updates	Zvemahara
IP rate	IP 43

5, Kubva kuDG3 kuenda kuDG3Pros

RIY-Pros yakatevedzana oblique kamera inogona kuwana zvirinani modhi yemhando. Saka ndeipi yakakosha dhizaini ine maPros mune lens dhizaini uye yakatarisa kureba kuseta? Muchikamu chino, isu ticharamba tichisuma dhizaini-logic kuseri kwePros paramita.

6, Oblique lens angle uye mhando yekuenzanisira

Zvapfuura zvakataura maonero akadai: iyo ipfupi yehurefu hwekutarisa, yakakura kona yekuona, iyo yakawanda yekuvaka facade ruzivo runogona kuunganidzwa, uye zvirinani mhando yekuenzanisira.

Pamusoro pekuisa hurefu hwekutarisa hunonzwisisika, hongu, isu tinogona zvakare kushandisa imwe nzira yekuvandudza maitiro ekuenzanisira: kuwedzera zvakananga kona ye oblique lenses, iyo inogona zvakare kuunganidza yakawanda yakawanda facade ruzivo.

Asi muchokwadi, kunyangwe kuseta yakakura oblique angle inogona kuvandudza mhando yekuenzanisira, kune zvakare maviri mhedzisiro:

1:Kushanda zvakanaka kuchaderedzwa. Nekuwedzera kwe oblique angle , kuwedzera kwekunze kwenzira yekubhururuka kuchawedzerawo zvakanyanya. Kana iyo oblique angle inodarika 45 °, kushanda kwendege kunodonha zvakanyanya.

Semuenzaniso, iyo nyanzvi yemuchadenga kamera Leica RCD30, iyo oblique angle inongova 30 °, chimwe chezvikonzero zvekugadzirwa uku kuwedzera kushanda zvakanaka.

2:Kana iyo oblique angle yakakurisa, chiedza chezuva chinopinda nyore mukamera, zvichikonzera kupenya (kunyanya mangwanani uye masikati ezuva rakasviba). Rainpoo oblique kamera ndiyo yekutanga kutora iyo yemukati-lens dhizaini. Iyi dhizaini yakaenzana nekuwedzera hood kune lenzi kudzivirira kuti isakanganiswa nechiedza chezuva.

Kunyanya kune madiki madrones, kazhinji, maitiro avo ekubhururuka ane hurombo. Mushure meiyo lens oblique angle uye maitiro eiyo drone yakasimudzwa, mwenje wakarasika unogona kupinda nyore mukamera, ichiwedzera kuwedzera dambudziko rekupenya.

7, nzira inopindirana uye mhando yemhando

Maererano nechiitiko, kuitira kuti uve nechokwadi chemhando yemhando, kune chero chinhu chiri munzvimbo, zvakanakisisa kuvhara ruzivo rwemashoko emapoka mashanu e lenses panguva yekubhururuka.

Izvi zviri nyore kunzwisisa. Semuenzaniso, kana tichida kuvaka 3D modhi yechivako chekare, mhando yekuenzanisira yendege yedenderedzwa inofanira kunge iri nani kupfuura kunaka kwekutora mifananidzo mishoma pamativi mana.

Iyo yakawanda yakavharwa mafoto, iyo yakawanda nzvimbo uye mameseji ruzivo rwainarwo, uye zviri nani mhando yemhando. Izvi ndizvo zvinoreva nzira yekubhururuka inopindirana kune oblique mafoto.

Dhigirii rekupindirana ndechimwe chezvinhu zvakakosha zvinotaridza kunaka kweiyo 3D modhi. Muchiitiko chakajairwa chekutora mafoto oblique, mwero wekupindirana unowanzo 80% musoro uye 70% padivi (iyo chaiyo data haina basa).

Muchokwadi, zvakanakisa kuve nedhigirii rakafanana rekupindirana kwepadivi, asi yakanyanyisa mativi kupindirana kunoderedza zvakanyanya kushanda kwendege (kunyanya kune yakagadziriswa-wing drones), saka zvichibva pakubudirira, kupindirana kweparutivi kuchave kwakaderera kupfuura heading overlap.

Mazano: Tichifunga nezvekushanda kwekushanda, iyo inopindirana dhigirii haina kukwirira sezvinobvira. Mushure mekupfuura imwe "yakajairwa", kuvandudza iyo inopindirana dhigirii ine shoma mhedzisiro pane iyo 3D modhi. Zvinoenderana nemhinduro yedu yekuyedza, dzimwe nguva kuwedzera kupindirana kunozodzikisa kunaka kweiyo modhi. Semuenzaniso, kune 3 ~ 5cm resolution yekuenzanisira chiitiko, mhando yekuenzanisira yedhigirii yakaderera yakatarisana dzimwe nguva iri nani pane dhigirii repamusoro rinopindirana.

8, Musiyano uripo pakati pekupindirana kwedzidziso uye kupindirana chaiko

Tisati tatiza, tinoseta 80% musoro uye 70% padivi padhuze, inova inongori yekufungidzira kupindirana. Mukubhururuka, iyo drone ichakanganiswa nekuyerera kwemhepo,uye shanduko yemafungiro ichaita kuti kupindirana chaiko kuve kushoma pane kupindirana kwedzidziso.

Kazhinji, ingave iri multi-rotor kana fixed-wing drone, iyo yakashata maitiro ekubhururuka, akaipisisa mhando ye3D modhi. Nekuti madiki ma-multi-rotor kana fixed-wing drones akareruka muhuremu uye ari madiki muhukuru, anogona kukanganisa kukanganisa kubva kunze kwemhepo. Mafungiro avo ekubhururuka kazhinji haana kunaka seaya epakati / akakura akawanda-rotor kana akamiswa-bapiro drones, zvichikonzera kuti iyo chaiyo inopindirana dhigirii mune imwe nzvimbo yepasi haina kukwana, izvo zvinozokanganisa mhando yekuenzanisira.

9, Matambudziko mu3D modelling yezvivakwa zvepamusoro

Sezvo kureba kwechivako kunowedzera, kuoma kwe 3D modeling kuchawedzera. Imwe ndeyokuti chivako chepamusoro-soro chichawedzera njodzi yekubhururuka kwe drone, uye yechipiri ndeyokuti sezvo kukwirira kwechivako kunowedzera, kupindirana kwezvikamu zvepamusoro kunodonha zvakanyanya, zvichiita kuti hurombo husina kunaka hwemuenzaniso we3D.

1 Pesvedzero yekuwedzera Kupindirana pa 3D Kuenzanisira Hunhu hweChivakwa chepamusoro-soro

Kune dambudziko riri pamusoro, vatengi vazhinji vane ruzivo vakawana mhinduro: wedzera dhigirii rekupindirana. Zvechokwadi, nekuwedzera kwechiyero chekupindirana, maitiro emuenzaniso achavandudzwa zvikuru. Izvi zvinotevera kuenzanisa kwekuedza kwatakaita:

Kuburikidza nekuenzanisa kwepamusoro, tichaona kuti: kuwedzera kwehuwandu hwekupindirana kune simba shoma pamhando yekuenzanisa yezvivako zvakaderera; asi ine simba guru pamhando yekuenzanisira yezvivakwa zvepamusoro.

Nekudaro, sezvo dhigirii rekupindirana richiwedzera, huwandu hwemifananidzo yemuchadenga huchawedzera, uye nguva yekugadziriswa kwedata ichawedzerawo.

2 Kufurira kwe focal urefu on 3D Kuenzanisira Hunhu hweChivakwa chepamusoro-soro

Takaita mhedziso yakadai mune zvakapfuura:For chivakwa chefacade 3D mapikicha ekuenzanisira, kureba kwehurefu hwefocal , ndiko kuwedzera kwemuenzaniso quality. Nekudaro, kune iyo 3D modhi yenzvimbo dzakakwirira, kureba kwekutarisa kunodiwa kuve nechokwadi chemhando yekuenzanisira. Sezvinoratidzwa pasi apa:

Pasi pemamiriro ekugadziriswa kumwechete uye dhigirii rinopindirana, iyo yakareba yakatarisa kureba lens inogona kuve nechokwadi chekupidigura dhigirii redenga uye yakachengeteka zvakakwana kureba kwendege kuti uwane iri nani yekuenzanisira mhando yezvivakwa zvepamusoro-soro.

Semuenzaniso, kana iyo DG4pros oblique kamera inoshandiswa kuita 3D modhi yezvivakwa zvepamusoro-soro, kwete chete inogona kuwana yakanaka mhando yekuenzanisira, asi iko kurongeka kuchiri kukwanisa kusvika 1: 500 cadastral ongororo zvinodiwa, inova mukana weiyo yakareba focal. kureba lenzi.

Nyaya: Mhosva yekubudirira ye oblique kutora mafoto

10, RIY-Pros akatevedzana oblique makamera

Kuti uwane hutano huri nani hwekuenzanisira, pasi pechigadziro chekugadzirisa kwakafanana, zvakakosha kuve nechokwadi chekupindirana kwakakwana uye minda mikuru yekuona.Kune nharaunda dzine misiyano mikuru yeurefu hwepasi kana zvivakwa zvepamusoro-soro, kureba kwekutarisa kwe lens kunowanikwawo. chinhu chakakosha chinokanganisa maitiro ekuenzanisira. Zvichienderana nemisimboti iri pamusoro, Rainpoo RIY-Pros akateedzana oblique makamera akaita zvinotevera matatu optimizations pane lens:

1 Shandura marongerwo e lenses

Kune maPros akateedzana oblique makamera, iyo yakanyanya intuitive kunzwa ndeyekuti chimiro chayo chinoshanduka kubva kutenderera kuenda kune square. Chikonzero chakanyanya chekuchinja uku ndechekuti marongerwo emalenzi achinja.

Kubatsira kweiyo dhizaini ndeyekuti saizi yekamera inogona kugadzirwa kuve diki uye huremu hunogona kunge hwakareruka. Zvisineyi, marongerwo aya anozoita kuti dhigirii rekupindirana kwelenzi rekuruboshwe nekurudyi rive rakaderera pane iro remberi, repakati, uye kumashure maonero: kureva, nzvimbo yemumvuri A idiki pane nzvimbo yemumvuri B.

Sezvatakambotaura, kuitira kuvandudza kushanda kwendege, kupindirana kweparutivi kunowanzo kudiki pane kupindirana kwemusoro, uye iyi "yakatenderedza marongero" ichawedzera kuderedza kupindirana kweparutivi, ndosaka iyo lateral 3D modhi ichave yakashata kupfuura iyo 3D yemusoro. model.

Saka kune iyo RIY-Pros nhevedzano, Rainpoo yakachinja marongero emalenzi kuita: parallel dhizaini. Sezvinoratidzwa pasi apa:

Iyi dhizaini inopira chikamu chechimiro uye uremu, asi chakanakira ndechekuti inogona kuve nechokwadi chakakwana pamativi anopindirana uye kuwana iri nani yemhando yemhando. Mukurongeka chaiko kwendege, RIY-Pros inogona kutodzikisa mamwe mativi anopindirana kuti ivandudze kunyatsoita basa rekubhururuka.

2 Rongedza kona ye oblique lenses

Kubatsira kwe "parallel dhizaini" nderekuti haisi kungoita kuti kupindirana kwakakwana, asiwo kunowedzera FOV yedivi uye inogona kuunganidza mamwe mameseji ezvivakwa.

Pahwaro uhwu, isu takawedzerawo kureba kweiyo oblique lenses kuitira kuti mupendero wepasi uenderane nechepazasi mupendero weiyo yapfuura "yakakomberedza marongero", tichiwedzera kuwedzera kudivi kwekona, sezvakaratidzwa mumufananidzo unotevera:

Kubatsira kwegadziriro iyi ndeyekuti kunyange kona ye oblique lenses yakashandurwa, haikanganisi kushanda kwendege. Uye mushure mekunge iyo FOV yemalenzi eparutivi yavandudzwa zvakanyanya, yakawanda facade data data inogona kuunganidzwa, uye mhando yekuenzanisira inovandudzwa.

Mienzaniso yekuenzanisa inoratidzawo kuti, kana ichienzaniswa neyechinyakare marongero emalenzi, Pros akatevedzana marongero anogona kunyatso kuvandudza mativi emhando ye3D modhi.

Kuruboshwe ndiyo 3D modhi yakavakwa neyakajairwa marongero kamera, uye kurudyi ndiyo 3D modhi yakavakwa nePros kamera.

3 Wedzera kutarisisa kureba kwe oblique lenzi

RIY-Pros oblique cameras lenses inoshandurwa kubva kune yechinyakare "yakakomberedza marongero" kuenda ku "parallel marongerwo", uye chiyero chepedyo-chigadziriso kusvika kure-kure kugadziridzwa kwemifananidzo yakatorwa ne oblique lenses ichawedzerawo.

Kuti uone kuti chiyero hachipfuure kukosha kwakakosha, Pros oblique lenses focal urefu inowedzerwa ne5% ~ 8% kupfuura kare.

Zita	Riy-DG3 Pros
Kurema	710g
Dimension	13014299.5mm
Sensor type	APS-C
CCD saizi	23.5mm × 15.6mm
Saizi yemuviri yepixel	3.9um
Total pixels	120MP
Mininum exposure time interval	0.8s
Camera exposure mode	Isochronic / Isometric Exposure
focal urefu	28mm/43mm
Magetsi	Uniform supply (Simba ne drone)
ndangariro kugona	640G
Kudhawunirodha data kwakawedzera	≥80M/s
Tembiricha yebasa	-10°C~+40°C
Firmware updates	Zvemahara
IP rate	IP 43