阅读说明：本技术 用于中小型场景的环形三维影像采集装置及实景建模方法 (Annular three-dimensional image acquisition device for small and medium-sized scenes and live-action modeling method ) 是由 张泽林 王毅超 赵文钰 贺美杰 安海娜 于 2021-08-18 设计创作，主要内容包括：本发明提出一种用于中小型场景的环形三维影像采集装置及实景建模方法,装置由环形导轨、导轨滑台、转动轴承、液压装置、机械臂、云台、照相机组成,环形导轨包括导轨、轨道和导轨支架,导轨、轨道均为环形,导轨滑台滑动或滚动连接于轨道,导轨滑台沿轨道转动,导轨滑台连接转动轴承,转动轴承连接液压装置,液压装置由转动轴承转动而调节倾斜角度,液压装置的活塞伸缩杆顶部经旋转轴连接机械臂,机械臂上安装云台,云台用于安装稳定照相机,机械臂由角度调节机构沿旋转轴调整角度。使用该装置采集影像,图片导入软件,进行模型重建,获取实景模型。有益效果：拍照稳定,且方便调节拍摄角度,拍摄范围更全面。(The invention provides an annular three-dimensional image acquisition device for small and medium-sized scenes and a live-action modeling method. The device is used for collecting images, and the images are imported into software to reconstruct a model and obtain a real scene model. Has the advantages that: the photographing is stable, the photographing angle is convenient to adjust, and the photographing range is more comprehensive.)

1. An annular three-dimensional image acquisition device for small and medium-sized scenes is characterized in that: an annular guide rail (10), a guide rail sliding table (20), a rotating bearing (30), a hydraulic device (40), a mechanical arm (50), a holder (60) and a camera (70), wherein the annular guide rail (10) comprises a guide rail (11), a track (12) and a guide rail support (13), the guide rail (11) and the track (12) are both annular, the bottom of the guide rail support (13) is arranged on a plane, the upper part of the guide rail support is connected with a fixed guide rail (11), the track (12) is arranged on the guide rail (11), the guide rail sliding table (20) is connected with the track (12) in a sliding or rolling way, the guide rail sliding table (20) rotates along the track (12) when obtaining power, the guide rail sliding table (20) is connected with the rotating bearing (30), the rotating bearing (30) is connected with the hydraulic device (40), the hydraulic device (40) is rotated by the rotating bearing (30) to adjust the inclination angle, the top of a piston telescopic rod (43) of the hydraulic device (40) is connected with the mechanical arm (50) through a rotating shaft (52), the mechanical arm (50) is provided with a cloud platform (60), the cloud platform (60) is used for installing a stable camera (70), and the angle of the mechanical arm (50) is adjusted by an angle adjusting mechanism along the rotating shaft (52).

2. The annular three-dimensional image acquisition device for small and medium-sized scenes as claimed in claim 1, characterized in that: the guide rail sliding table (20) comprises a main connecting plate (21), a pulley connecting plate (22), pulleys (23), an auxiliary connecting plate (24), a transmission gear (25), a transmission chain (26), a sliding table motor (27), a connecting bolt (28), the main connecting plate (21), the auxiliary connecting plate (24) and the pulley connecting plate (22) are connected through the connecting bolt (28) to jointly form a sliding table main body, the auxiliary connecting plate (24) is arranged between the main connecting plate (21) and the pulley connecting plate (22) to separate the main connecting plate (21) from the pulley connecting plate (22), the pulley connecting plate (22) is provided with two groups of shafts through bearing connection, the pulleys (23) are arranged on the shafts, the upper and lower positions of each group of pulleys (23) are arranged, the rails (12) are of a groove structure, the upper surface and the bottom surface of the guide rail (11) are both provided with the rails (12), the upper and lower pulleys (23) are arranged in the grooves and are axially and limited by the grooves, one connecting shaft of each group of pulleys (23) is provided with a transmission gear (25), the transmission gear (25) is connected with a transmission chain (26) in a matching way, the pulley (23) connecting shaft connected with the transmission gear (25) is connected with a sliding table motor (27), and the sliding table motor (27) is connected and fixed on the main connecting plate (21).

3. The annular three-dimensional image acquisition device for small and medium-sized scenes as claimed in claim 2, characterized in that: the rotary bearing (30) comprises a base (31), a worm and gear rotating device (32), a servo motor (33) and a connecting plate (34), the connecting plate (34) is fixedly connected with a main connecting plate (21), the base (31) is fixed on the connecting plate (34), a rotating shaft is fixed at the lower end of the hydraulic device (40), bearings are respectively connected to two ends of the rotating shaft, a bearing outer ring is fixed on the base (31), a worm wheel in the worm and gear rotating device (32) is connected and fixed to one end of a bearing inner ring or the rotating shaft, the servo motor (33) is fixed on the connecting plate (34), the output end of the servo motor (33) is connected with a worm in the worm and gear rotating device (32), the worm drives a worm wheel to rotate, and the hydraulic device (40) is driven to rotate.

4. The annular three-dimensional image acquisition device for small and medium-sized scenes as claimed in claim 1, characterized in that: hydraulic means (40) are including oil storage bin (41), cylinder (42), piston telescopic link (43), oil pump motor (44), oil storage bin (41) lower extreme is connected with rolling bearing (30), oil pump motor (44) are connected in oil storage bin (41), the tail end connection of piston telescopic link (43) is to the sealed front end housing of cylinder (42), the front end setting of oil storage bin (41) and the cylinder socket of cylinder (42) tail end looks adaptation, the tail end of cylinder (42) sets up the oilhole, so that the cylinder communicates with each other with oil storage bin behind the cylinder socket that makes the cylinder tail end insert oil storage bin, oil pump motor (44) control the oil mass change through inhaling oil pipe makes piston telescopic link (43) reciprocate.

5. The annular three-dimensional image acquisition device for small and medium-sized scenes as claimed in claim 4, characterized in that: the mechanical arm (50) comprises a mechanical joint arm (51), a rotating shaft (52) and a hydraulic support adjusting device (53), wherein the rotating shaft (52) is fixed at the top of a piston rod of the hydraulic device (40), the lower end of the mechanical joint arm (51) is connected with the rotating shaft (52), two ends of the hydraulic support adjusting device (53) are respectively hinged to a piston telescopic rod (43) and the mechanical joint arm (51), the rotating shaft (52) serves as a movable rotating connecting shaft of the piston telescopic rod (43) and the mechanical joint arm (51), the hydraulic support adjusting device (53) serves as an angle adjusting mechanism, and the mechanical joint arm (51) can rotate through the expansion and contraction of the hydraulic support adjusting device (53).

6. The annular three-dimensional image acquisition device for small and medium-sized scenes as claimed in claim 5, characterized in that: the pan-tilt (60) is arranged on the mechanical knuckle arm (51), and the pan-tilt (60) adopts an elastic hoop to fix the camera (70).

7. The annular three-dimensional image acquisition device for small and medium-sized scenes as claimed in claim 2, characterized in that: the sliding table motor (27) is controlled by the controller, the controller controls the sliding table motor (27) to operate, the camera (70) moves along with the sliding table motor, the camera (70) takes pictures at intervals, and the camera (70) is provided with a wireless data transmission module.

8. The annular three-dimensional image acquisition device for small and medium-sized scenes as claimed in claim 3, characterized in that: the sliding table motor (27) and the servo motor (33) are controlled through wireless signals.

9. The annular three-dimensional image acquisition device for small and medium-sized scenes as claimed in claim 5, characterized in that: the oil pump motor (44) and the hydraulic support adjusting device (53) are controlled by wireless signals.

10. A live-action modeling method for three-dimensional image acquisition of small and medium-sized scenes, using the apparatus of one of claims 1 to 7, comprising the steps of:

step one, installing and placing an annular guide rail (10): placing the guide rail bracket (13) around an object to be shot, and firmly fixing the guide rail bracket by adopting foundation bolts or adopting a steel structure base and a balance weight for fixing in a connection mode; then, the guide rail (11) is arranged on a guide rail bracket (13) and is adjusted to be horizontal, and the connection mode adopts bolt fixation;

step two, installing a guide rail sliding table (20): installing the guide rail sliding table (20) and a driving device on the track (12), and performing a sliding test to ensure that the guide rail sliding table (20) slides smoothly;

step three, installing a rotating bearing (30), a hydraulic device (40) and a mechanical arm (50): fixing a rotating bearing (30) on a guide rail sliding table (20) through a bolt, inserting the lower end of a hydraulic device (40) into the rotating bearing (30), then connecting a mechanical arm (50) with the hydraulic device (40) through a connecting piece, and fixing a cloud deck (60) on the mechanical arm (50);

step four, image acquisition: installing a camera (70), adjusting the pitching angle of a cloud deck (60), setting parameters of the camera including aperture, speed and light sensitivity according to the field situation of a shot object, then adjusting a hydraulic device (40) and a mechanical arm (50) to a proper height, starting a guide rail sliding table (20) to drive the camera (70) to take pictures at intervals, wherein the overlapping rate of adjacent pictures reaches 50-65%, and the pictures are transmitted back to a computer end through WiFi (wireless fidelity) to be checked and the shooting parameters, the visual angle and the like are corrected in time; after one circle of image pictures are collected, the hydraulic device (40) and the mechanical arm (50) are adjusted to enable the camera to be lifted to another proper height, and the angle of the cradle head (60) and the camera is adjusted to collect the images of the next round;

step five, model reconstruction: importing the image picture into software with aerial triangulation calculation, performing complementary shooting on the object when an inappropriate position exists, and performing model reconstruction to obtain a real scene model;

step six, model application: and converting the model into a required format according to application requirements, and analyzing and viewing.

Technical Field

The invention belongs to the technical field of three-dimensional live-action modeling, and relates to a three-dimensional image acquisition device for small and medium-sized scenes and a live-action modeling method.

Background

The real-scene modeling technology is a technology for forming a three-dimensional model through data such as pictures, videos and point clouds, and the principle is that a plurality of static pictures shot from different viewpoints are analyzed to automatically detect pixels corresponding to the same physical point, and a high-resolution three-dimensional model is automatically generated by continuously shooting two adjacent pictures with a certain overlapping rate. Compared with the traditional modeling technology, the technology has the characteristics of high modeling efficiency, wide application range, more real production model and the like, can create a complex special-shaped curved surface body which is difficult to establish in the traditional modeling mode, and can directly perform reverse modeling under the condition of missing drawing of a modeling object. The technology has wide application prospect in the fields of architectural engineering design and construction, industrial product modeling and measurement, engineering digitization, medical cosmetology, cultural relic protection, public security and military.

The most important part of the live-action modeling technology is to collect images required by modeling, and when modeling is carried out on objects in medium and small scenes, an artificial photographing mode is generally adopted, and the mode has the defects that: the acquisition efficiency is low, and the image acquisition quality and the image overlapping rate required by modeling are greatly influenced by human factors.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a three-dimensional image acquisition device and a live-action modeling method for small and medium-sized scenes, which can quickly acquire full-angle images of objects in the small and medium-sized scenes.

The technical scheme of the invention is as follows: the utility model provides a three-dimensional image acquisition device of annular for middle-size and small-size scene, annular guide rail, guide rail slip table, rolling bearing, hydraulic means, arm, cloud platform, camera, annular guide rail includes guide rail, track and guide rail support, and guide rail, track are the annular, and guide rail support bottom is arranged in on the plane, upper portion and is connected fixed guide, and the track sets up in the guide rail, guide rail slip table slides or roll connection in track, and guide rail slip table rotates along the track when obtaining power, and guide rail slip table connects rolling bearing, and rolling bearing connects hydraulic means, and hydraulic means rotates and adjusts inclination by rolling bearing, and hydraulic means's piston telescopic link top is connected the arm through the axis of rotation, installs the cloud platform on the arm, and the cloud platform is used for installing stable camera, and the arm is followed rotation axis adjustment angle by angle adjustment mechanism.

The guide rail sliding table comprises a main connecting plate, a pulley connecting plate, pulleys, an auxiliary connecting plate, a transmission gear, a transmission chain, a sliding table motor, a connecting bolt, the main connecting plate, the auxiliary connecting plate, the pulley connecting plate and the main connecting plate are connected through the connecting bolt to jointly form a sliding table main body, the auxiliary connecting plate is arranged between the main connecting plate and the pulley connecting plate to separate the main connecting plate from the pulley connecting plate, two groups of shafts are arranged on the pulley connecting plate through bearing connection, the pulleys are mounted on the shafts, the upper position and the lower position of each group of pulleys are arranged, the rails are of a groove structure, the upper surface and the bottom surface of each guide rail are provided with rails, the upper pulleys and the lower pulleys are arranged in grooves, the upper pulleys and the lower positions of the pulleys are limited by the grooves, the transmission gear is arranged on one connecting shaft of each group of pulleys, the transmission gear is connected with the transmission chain in a matched mode, the sliding table motor is connected and fixed on the main connecting plate.

The rotating bearing comprises a base, a worm and gear rotating device, a servo motor and a connecting plate, wherein the connecting plate is fixedly connected with a main connecting plate, the base is fixed on the connecting plate, a rotating shaft is fixed at the lower end of the hydraulic device, two ends of the rotating shaft are respectively connected with a bearing (a tapered roller bearing), an outer ring of the bearing is fixed on the base, a worm wheel in the worm and gear rotating device is connected and fixed with an inner ring of the bearing or one end of the rotating shaft, the servo motor is fixed on the connecting plate, the output end of the servo motor is connected with a worm in the worm and gear rotating device, the worm drives the worm wheel to rotate, and the hydraulic device is driven to rotate.

Hydraulic means includes the oil storage storehouse, the cylinder, the piston telescopic link, the oil pump motor, the oil storage storehouse lower extreme is connected with rolling bearing, the oil pump motor is connected at the oil storage storehouse, the tail end connection of piston telescopic link is to the sealed front end housing of cylinder, the front end setting of oil storage storehouse and the cylinder socket of cylinder tail end looks adaptation, the tail end of cylinder sets up the oilhole, so that cylinder and oil storage storehouse communicate with each other behind the cylinder socket that makes the cylinder tail end insert the oil storage storehouse, the oil pump motor makes the piston telescopic link reciprocate through inhaling oil pipe control oil mass change.

The arm includes mechanical joint arm, the rotation axis, hydraulic support adjusting device, and the rotation axis is fixed at hydraulic means piston rod top, and mechanical joint arm lower extreme is connected with the rotation axis, and hydraulic support adjusting device both ends articulate respectively on piston telescopic link and mechanical joint arm, and the rotation axis rotates the connecting axle as piston telescopic link and mechanical joint arm activity, and hydraulic support adjusting device is as angle adjustment mechanism, and it makes mechanical joint arm be rotary motion to support adjusting device through hydraulic pressure flexible.

The cloud platform is installed on mechanical knuckle arm, and the cloud platform adopts elasticity clamp fixed camera.

The sliding table motor is controlled by the controller, the controller controls the sliding table motor to operate, the camera moves along with the sliding table motor, the camera performs interval photographing, and the camera is provided with a wireless data transmission module.

The sliding table motor and the servo motor are controlled through wireless signals.

The oil pump motor and the hydraulic support adjusting device are controlled by wireless signals.

A real scene modeling method for three-dimensional image acquisition of medium and small scenes adopts the device, and comprises the following steps:

step one, installing and placing an annular guide rail: placing the guide rail bracket around an object to be shot, fixing firmly, and fixing by adopting foundation bolts or a steel structure base and a balance weight in a connection mode; then, installing the guide rail on a guide rail bracket, and adjusting the guide rail to be horizontal, wherein the connection mode adopts bolt fixation;

step two, installing a guide rail sliding table: installing the guide rail sliding table and the driving device on the track, and performing sliding test to ensure that the guide rail sliding table slides smoothly;

step three, installing a rotating bearing, a hydraulic device and a mechanical arm: fixing a rotating bearing on a guide rail sliding table through a bolt, inserting the lower end of a hydraulic device onto the rotating bearing, connecting a mechanical arm with the hydraulic device through a connecting piece, and fixing a holder on the mechanical arm;

step four, image acquisition: installing a camera, adjusting the pitching angle of a holder, setting parameters of the camera including aperture, speed and light sensitivity according to the field situation of a shot object, then adjusting a hydraulic device and a mechanical arm to a proper height, starting a guide rail sliding table to drive the camera to take pictures at intervals, enabling the overlapping rate of adjacent pictures to reach 50% -65%, transmitting the pictures back to a computer end through WiFi (wireless fidelity), checking and correcting shooting parameters, visual angles and the like in time; after a circle of image pictures are collected, adjusting the hydraulic device and the mechanical arm to lift the camera to another proper height, and adjusting the angle of the holder and the camera to collect the images of the next round;

step five, model reconstruction: importing the image picture into software with aerial triangulation calculation, performing complementary shooting on the object when an inappropriate position exists, and performing model reconstruction to obtain a real scene model;

step six, model application: and converting the model into a required format according to application requirements, and analyzing and viewing.

The invention has the beneficial effects that: 1. the arrangement of the annular guide rail, the guide rail sliding table, the rotating bearing, the hydraulic device, the mechanical arm and the holder enables the camera to be stable, and the shooting angle can be adjusted to be optimal conveniently.

2. The camera takes pictures at intervals, the pictures are transmitted to the computer end through WiFi and can be checked at any time, shooting parameters and visual angles are corrected in time, invalid acquisition of images is avoided, and the quality of the shot images is optimal.

3. The shooting positions of the cameras can be determined by programming aiming at objects with different shapes and sizes, and the transmission mechanism of the image acquisition device is controlled by a radio signal, so that the highest acquisition efficiency is achieved.

4. The image collected by the image device is processed by the established live-action modeling method to generate a live-action model, and the method can be widely applied to the fields of architectural engineering design and construction, industrial product modeling and measurement, engineering digitization, medical cosmetology, cultural relic protection, public security, military and the like.

5. Through radio signal control slip table motor, worm gear device, oil pump motor, hydraulic pressure support adjusting device, make this device's guide rail slip table sliding position, rolling bearing turned angle, hydraulic means elevating height and arm rotation range drive according to the program instruction to guarantee that the camera on the cloud platform can adjust to best shooting position.

Drawings

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is a schematic view of the structure of the slide table of the guide rail of the present invention;

FIG. 3 is a schematic view of the construction of the slew bearing and hydraulic apparatus of the present invention;

FIG. 4 is a schematic view of the structure of the robot arm, the pan/tilt head and the camera of the present invention;

FIG. 5 is a schematic diagram of a camera acquisition path for the live-action modeling method of the present invention;

FIG. 6 is a schematic diagram of image overlap ratio of the live-action modeling method of the present invention;

in the figure: 10. the automatic control device comprises an annular guide rail, 20 parts of a guide rail sliding table, 30 parts of a rotating bearing, 40 parts of a hydraulic device, 50 parts of a mechanical arm, 60 parts of a tripod head, 70 parts of a camera, 11 parts of a guide rail, 12 parts of a track, 13 parts of a guide rail bracket, 21 parts of a main connecting plate, 22 parts of a pulley connecting plate, 23 parts of a pulley, 24 parts of an auxiliary connecting plate, 25 parts of a transmission gear, 26 parts of a transmission chain, 27 parts of a sliding table motor, 28 parts of a connecting bolt, 31 parts of a base, 32 parts of a worm and gear rotating device, 33 parts of a servo motor, 34 parts of a connecting plate, 41 parts of an oil storage bin, 42 parts of a cylinder barrel, 43 parts of a piston telescopic rod, 44 parts of an oil pump motor, 51 parts of a mechanical joint arm, 52 parts of a rotating shaft and 53 parts of a hydraulic support adjusting device.

Detailed Description

In order to clearly understand the technical features, objects and effects of the present invention, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1, the present invention provides an annular three-dimensional image capturing device for small and medium sized scenes, comprising:

the circular guide rail 10, circular guide rail 10 includes guide rail 11, track 12 and rail bracket 13. The four rail brackets 13 are equally mounted to the rail 11. The guide rail bracket 13 is installed on the outer edge of the guide rail 11 (enough width is reserved for the rail setting, the rotation of the guide rail sliding table is not hindered), and the rail 12 is arranged on the inner edge of the guide rail 11 and arranged up and down.

The rail slide 20, as shown in fig. 2, includes a main connecting plate 21, a pulley connecting plate 22, a pulley 23, an auxiliary connecting plate 24, a transmission gear 25, a transmission chain 26, a slide motor 27, and a connecting bolt 28. The main connecting plate 21, the auxiliary connecting plate 24 and the pulley connecting plate 22 are connected by connecting bolts 28 to form a sliding table main body, and the auxiliary connecting plate 24 is arranged between the main connecting plate 21 and the pulley connecting plate 22 to separate the main connecting plate 21 from the pulley connecting plate 22. Two sets of shafts are connected and arranged on the pulley connecting plate 22 through bearings, the pulleys 23 are installed on the shafts, the upper and lower positions of each set of pulleys 23 are arranged, the track 12 is of a groove structure, the tracks 12 are arranged on the upper surface and the bottom surface of the guide rail 11, the upper and lower pulleys 23 are arranged in the grooves and are limited in the axial direction and the upper and lower positions by the grooves, a transmission gear 25 is arranged on one connecting shaft of each set of pulleys 23, the transmission gear 25 is connected with a transmission chain 26 in a matched mode, the pulley 23 connecting shaft connected with the transmission gear 25 is connected with a sliding table motor 27, and the sliding table motor 27 is connected and fixed to the main connecting plate 21. The sliding table motor 27 drives the pulley 23 on one side, and drives the pulley 23 on the other side through the transmission gear 25 and the transmission chain 26 to realize the sliding of the pulleys on two sides, so that the sliding table main body moves along the annular guide rail 10 under the rotation of the pulley 23.

The rotating bearing 30, as shown in fig. 3, includes a base 31, a worm and gear rotating device 32, a servo motor 33, a connecting plate 34, the connecting plate 34 is fixedly connected with the main connecting plate 21, the base 31 is fixed on the connecting plate 34, a rotating shaft is fixed at the lower end of the hydraulic device 40, two ends of the rotating shaft are respectively connected with bearings (for having sufficient radial load, tapered roller bearings are used), an outer ring of the bearing is fixed on the base 31, a worm wheel in the worm and gear rotating device 32 is fixedly connected with an inner ring of the bearing or one end of the rotating shaft (one end of the rotating shaft extends out of a section from the inner ring of the bearing to conveniently connect and fix the worm wheel), the servo motor 33 is fixed on the connecting plate 34, and an output end of the servo motor 33 is connected with a worm in the worm and gear rotating device 32. The servo motor 33 is started, the worm rotates, the worm drives the worm wheel to rotate, the bearing inner ring fixedly connected with the worm wheel or one end of the rotating shaft also rotates simultaneously, the lower end of the hydraulic device 40 is fixedly connected with the rotating shaft, the rotating shaft rotates, the hydraulic device 40 is driven to rotate along with the rotating shaft, and therefore the hydraulic device 40 can rotate within the range of 180 degrees.

As shown in fig. 3, the hydraulic device 40 includes an oil storage tank 41, a cylinder 42, a piston expansion rod 43, and an oil pump motor 44. The rear end of the piston extension rod 43 is connected to the sealed front end cap of the cylinder 42. The front end of the oil storage bin 41 is provided with a cylinder barrel insertion opening matched with the tail end of the cylinder barrel 42 (the cylinder barrel is inserted into the insertion opening and sealed tightly, and a sealing cushion cover is arranged if necessary). The tail end of the cylinder 42 is provided with an oil passing hole, so that the cylinder is communicated with the oil storage bin after the tail end of the cylinder is inserted into the cylinder socket of the oil storage bin. The oil pump motor 44 controls the oil quantity change through the oil suction pipe to enable the piston telescopic rod 43 to move up and down.

The mechanical arm 50, as shown in fig. 4, includes a mechanical joint arm 51, a rotating shaft 52, and a hydraulic support adjusting device 53, wherein the rotating shaft 52 is fixed on the top of a piston rod of the hydraulic device 40, the lower end of the mechanical joint arm 51 is connected to the rotating shaft 52, two ends of the hydraulic support adjusting device 53 are respectively hinged to the piston telescopic rod 43 and the mechanical joint arm 51, the rotating shaft 52 serves as a movable rotation connecting shaft between the piston telescopic rod 43 and the mechanical joint arm 51, and the hydraulic support adjusting device 53 serves as an angle adjusting mechanism, and the mechanical joint arm 51 is rotated by extending and contracting the hydraulic support adjusting device 53. The mechanical arm 51 rotates about the rotation shaft 52, and the tilt angle is adjusted.

The pan/tilt 60 is provided with an elastic hoop (the hoop wraps the camera, plugs are arranged at one end or two ends of the hoop, the plugs are embedded into jacks of the pan/tilt and are similar to the buckles of backpack strips) or a camera placing box (the box is manufactured according to the general peripheral outline of the camera, a lens hole and a shooting button hole are reserved on the wall of the box, the camera is placed in the box, sponge or plastic foaming foam is filled in a gap to stabilize the camera, then a box cover is covered) and used for installing and fixing the camera, and as shown in fig. 4, the camera is directly installed on a mechanical knuckle arm 51 to adjust the pitch angle of the pan/tilt.

The camera 70, as shown in fig. 4, is mounted on the pan/tilt head 60, and sets the parameters of the camera to take pictures at intervals (setting interval time to take pictures continuously, which is realized in the prior art).

Further preferably, in this embodiment, the sliding table motor 27, the servo motor 33, the oil pump motor 44, and the hydraulic support adjusting device 53 are connected to the oil pump to form a wireless signal transceiver for remote control.

The real-scene modeling method for three-dimensional image acquisition of small and medium scenes by using the device is also provided, the device is used for acquiring images, then software with aerial triangulation calculation is used for analyzing static objects of a plurality of images shot from different viewpoints, and pixels corresponding to the same physical point are automatically detected. And obtaining an accurate 3D shape of a shot object from a plurality of corresponding relations, further outputting a vivid three-dimensional model or a grid surface model with a photo map, wherein the model has various formats including OBJ, OSGB, 3DS and the like, and different model formats can be selected according to the requirements of model application software. The method specifically comprises the following steps:

step one, installing and placing the annular guide rail 10: placing the guide rail bracket 13 around an object to be shot, fixing firmly, and fixing by adopting foundation bolts or a steel structure base and a balance weight in a connection mode; and then the guide rail 11 is arranged on the guide rail bracket 13 and is adjusted to be horizontal, and the connection mode adopts bolt fixing.

Step two, installing a guide rail sliding table 20: the rail sliding table 20 and the driving device are installed on the rail 12, and a sliding test is performed to ensure that the rail sliding table 20 slides smoothly.

Step three, mounting the rotating bearing 30, the hydraulic device 40 and the mechanical arm 50: the pivot bearing 30 is fixed to the rail slide 20 by bolts, the lower part of the oil sump of the hydraulic device 40 is inserted into the pivot bearing 30, and then the mechanical arm 51, the rotary shaft 52, the piston telescopic rod 43, and the hydraulic support adjusting device 53 are connected by a connecting member such as a pin shaft, and the pan/tilt head 60 is fixed to the mechanical arm 50.

Step four, image acquisition: installing the camera 70, adjusting the pitching angle of the holder 60, setting parameters of the camera, such as aperture, speed and light sensitivity, according to the field situation of the object to be shot, then adjusting the hydraulic device 40 and the mechanical arm 50 to a proper height, starting the guide rail sliding table 20 to drive the camera 70 to take pictures at intervals, wherein the overlapping rate of adjacent pictures reaches 50% -65%, and the pictures are transmitted back to a computer end through WiFi (wireless fidelity) to be checked and the shooting parameters, the visual angle and the like are corrected in time; after one circle of image pictures are acquired, the hydraulic device 40 and the mechanical arm 50 are adjusted to lift the camera to another proper height, and the tripod head 60 and the camera angle are adjusted to acquire the next round of images, as shown in fig. 5 and 6.

Step five, model reconstruction: the image picture is led into software (BentleyContext Capture) with air triangulation calculation, air triangulation calculation is firstly carried out, if necessary, the object is subjected to photo compensation, model reconstruction is carried out, and a real scene model is obtained.

Step six, model application: and (4) converting the model into a required format (OBJ, OSGB, 3MX and the like) according to application requirements, and analyzing and checking.