CN106303240A - Unmanned aerial vehicle optical axis variation compensation device, method and panoramic shooting system - Google Patents
Unmanned aerial vehicle optical axis variation compensation device, method and panoramic shooting system Download PDFInfo
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- CN106303240A CN106303240A CN201610674886.7A CN201610674886A CN106303240A CN 106303240 A CN106303240 A CN 106303240A CN 201610674886 A CN201610674886 A CN 201610674886A CN 106303240 A CN106303240 A CN 106303240A
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- camera lens
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Stereoscopic And Panoramic Photography (AREA)
Abstract
The invention discloses unmanned aerial vehicle optical axis variation compensation device, method and panoramic shooting system, this device includes: the first drive division, posture system drive device and balance detecting device.The method comprising the steps of: obtains the migration included angle between optical axis direction and the horizontal plane of camera lens module；According to this angle, camera lens module is made to change corresponding angle relative to the fuselage of unmanned aerial vehicle.This panoramic shooting system includes: the second photographic attachment and the second drive division.Solving optical axis and be perpendicular to the unmanned aerial vehicle of the horizontal plane compensation problem when optical axis changes, improve the stability of shooting picture, it is thus achieved that high-quality picture, the present invention is applicable to unmanned aerial vehicle field.
Description
Technical field
The present invention relates to unmanned aerial vehicle field, particularly relate to unmanned aerial vehicle optical axis variation compensation device, method and panorama
Camera system.
Background technology
Utilize unmanned aerial vehicle lift-launch photographic attachment to take photo by plane from the air and be increasingly becoming a kind of fashion.Have employed the nothing of rotor structure
When people's aircraft moves in the horizontal direction, fuselage can run-off the straight.How to offset because fuselage tilts the photographic attachment brought
Optical axis variation becomes one problem to be solved.
Different according to optical axis direction, common it be mounted in photographic attachment on unmanned aerial vehicle and can be divided into two types: Yi Zhongshi
Optical axis direction is almost parallel with horizontal plane, and another kind is that optical axis direction is substantially vertical with horizontal plane.Owing to optical axis direction is with unmanned
The angle of the aircraft direction of motion in the horizontal plane is different, and how the photographic attachment of above two type compensates fuselage fortune face
Move and bring optical axis variation problem also to have larger difference.Specifically, the angle of optical axis is changed more sensitive by the latter, but can be near
Seemingly ignore the unmanned aerial vehicle brought because of zoom and the change of photographic attachment entirety center of gravity.
It addition, in order to be obtained with more information in single shot, often carry on unmanned aerial vehicle and have
Wide-angle lens, bugeye lens or even visual angle are approximately equal to 180 degree or are more than the fish-eye photographic attachment of 180 degree.Ultimate attainment
Wide-angle lens i.e. fish eye lens can take in the image of periphery at one stroke.Unmanned aerial vehicle carries and is provided with fish-eye photography
During device, in order to avoid being blocked by fuselage, it is generally selected the configuration side that the optical axis direction of photographic attachment is substantially vertical with horizontal plane
Formula.How to solve, when optical axis keeps vertical with horizontal plane, to compensate quickly and accurately because fuselage tilts the photographic attachment brought
Optical axis variation is a difficult point.
On the other hand, when shooting VR (Virtual Reality, i.e. virtual reality are called for short VR) distant view photograph or video,
Relatively conventional method includes the visual angle using two the opposite direction configurations flake photographic attachment more than or equal to 180 degree.If should
Device is mounted on unmanned aerial vehicle, such as, configure optical axis above and below unmanned aerial vehicle fuselage simultaneously and be perpendicular to level side
To, a pair fish eye lens in opposite direction.The most do not need only compensate for the above-mentioned optical axis variation because bringing when fuselage moves, simultaneously
The problem also solving to make a pair fish-eye optical axis moment keeping parallelism (even if when two optical axises are not perpendicular to horizontal plane).
Summary of the invention
For solving the problems referred to above, according to an aspect of the invention, it is provided the light of the camera lens module of a kind of unmanned aerial vehicle
Axle variation compensation device, including unmanned aerial vehicle fuselage and be positioned at the first photographic attachment below fuselage, described first photographic attachment
Including the first camera lens module, the optical axis direction of described first camera lens module and horizontal plane, described optical axis variation compensation device
It is characterised by including:
First drive division, it is arranged on described unmanned aerial vehicle fuselage or the first photographic attachment, takes the photograph for variation first
Image device is relative to the angle of described unmanned aerial vehicle body；
Posture system drives device, and it is arranged on described unmanned aerial vehicle fuselage or the first photographic attachment, is used for controlling described
First drive division；And
Balance detecting device, it is arranged on described first photographic attachment, for detecting the light of described first camera lens module
Migration included angle between direction of principal axis and horizontal plane.
Preferably, this compensation device also includes: memorizer, its storage have represents the speed of described unmanned aerial vehicle and direction and
The mapping table of the first camera lens module offset angle；Control unit, it is for controlling and monitor the operation of described unmanned aerial vehicle
State；Described posture system is driven device and is connected described memorizer and described unmanned aerial vehicle control module respectively.
Preferably, this compensation device also includes: image processing apparatus, and it is arranged on described unmanned aerial vehicle fuselage or first
On photographic attachment, for obtaining the image from described first camera lens module, from this image, extract more than one characteristic point out；
Described posture system is driven device and is connected image processing apparatus.
Preferably, described balance detecting device is electrolevel or free gyroscope；Described first camera lens module is that visual angle is big
In the bugeye lens equal to 180 degree.
Preferably, described unmanned aerial vehicle fuselage includes connecting described photographic attachment support arm, and described support arm is movably
It is arranged on immediately below fuselage.
Preferably, described first drive division is provided with drive mechanism, and difference on the output shaft that at least two is not coaxial
Being provided with circular gear, described first photographic attachment is provided with the sector gear engaged with each circular gear.
According to a further aspect of the invention, it is provided that the compensation side of the optical axis variation of the camera lens module of a kind of unmanned aerial vehicle
Method, changes compensation device including above-mentioned optical axis, further comprises the steps of: optical axis direction and the horizontal plane obtaining described first camera lens module
Between migration included angle；According to this angle, make described first camera lens module relative to described unmanned aerial vehicle fuselage variation correspondence
Angle.
Preferably, this compensation method further comprise the steps of: acquisition described unmanned aerial vehicle flight speed in the horizontal direction and
Heading；According to described speed and direction, inquire about described speed and corresponding described first camera lens mould that training in advance obtains
The corresponding relation of group optical axis compensation angle, obtains angle corresponding with described speed；Make described first camera lens module relative to described
Unmanned aerial vehicle fuselage changes this angle.
Preferably, described unmanned aerial vehicle change of flight speed in the horizontal direction and the order of heading are obtained；Root
According to described order, the correspondence of the described speed that inquiry training in advance obtains and corresponding described first camera lens module optical axis compensation angle
Relation, obtains the angle corresponding with described speed；Fly according to described order, change in the horizontal direction at described unmanned aerial vehicle
Before or while line speed and heading, described first camera lens module is made to change this folder relative to described unmanned aerial vehicle fuselage
Angle.
Preferably, this compensation method further comprises the steps of: and obtains image from described first camera lens module；Extract out from this image
More than one characteristic point；According to the variation of this feature point, it is calculated optical axis direction and the level of described first camera lens module
Angle between face；According to this angle, make the folder that described first camera lens module is corresponding relative to the variation of described unmanned aerial vehicle fuselage
Angle.
Preferably, characteristic point is the image outline curvature region more than or equal to the threshold value preset.
According to a further aspect of the invention, it is provided that the panoramic shooting system of a kind of unmanned aerial vehicle, including above-mentioned unmanned
The optical axis variation compensation device of the camera lens module of aircraft, also includes the second photographic attachment, and it is arranged on described unmanned aerial vehicle fuselage
Top, including the second camera lens module, described second camera lens module is contrary with the direction of described first camera lens module；Second
On drive division, its fuselage being arranged on described unmanned aerial vehicle or the second photographic attachment, it is used for changing described second photographic attachment
Relative to the angle of fuselage, so that the optical axis direction of the optical axis direction of described second camera lens module and the first camera lens module keeps
Parallel；Described second drive division connects described posture system and drives device and/or control unit.
Preferably, described first camera lens module and described second camera lens module are the ultra-wide angle that visual angle is more than or equal to 180 degree
Camera lens.
According to an aspect of the invention, it is provided a kind of unmanned aerial vehicle, including the camera lens module of above-mentioned unmanned aerial vehicle
Optical axis variation compensation device.
Beneficial effects of the present invention: when unmanned aerial vehicle moves in the horizontal plane, balance detecting device detection photographic attachment
Optical axis and shooting object relation out of square, on photographic attachment, posture system is driven the control unit of device or fuselage and is passed through drive division
Change the variation with compensating glass head mould group optical axis of photographic attachment and unmanned aerial vehicle angle；By the corresponding table in inquiry storage part
Mode, it is not necessary to calculate and can quickly obtain drive division rotational angle；Obtained by camera lens module by image processing apparatus extraction
The characteristic point of image, the compensation dosage utilizing the change calculations optical axis of characteristic point to change, the precision of compensation is greatly improved；Improve
The stability of shooting picture, it is thus achieved that high-quality picture.
Accompanying drawing explanation
The invention will be further described below in conjunction with the accompanying drawings:
Fig. 1 is the overall structure schematic diagram of user operation first embodiment of the invention；
Fig. 2 is the front section view of first embodiment of the invention；
Fig. 3 be first embodiment of the invention before not carrying out optical axis compensation, what unmanned aerial vehicle moved in the direction of the arrow shows
It is intended to；
Fig. 4 is first embodiment of the invention after carrying out optical axis compensation, the schematic diagram that unmanned aerial vehicle moves in the direction of the arrow；
Fig. 5 is the circuit structure block diagram of first embodiment of the invention；
Fig. 6 is the overall knot of the unmanned aerial vehicle panoramic shooting system being provided with two photographic attachment of third embodiment of the invention
Structure schematic diagram.
Detailed description of the invention
Below with reference to embodiment and accompanying drawing, the technique effect of design, concrete structure and the generation of the present invention is carried out clearly
Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this
Bright a part of embodiment rather than all embodiment, based on embodiments of the invention, those skilled in the art is not paying
Other embodiments obtained on the premise of creative work, belong to the scope of protection of the invention.The purpose of the following example
It is to illustrate claim, and is understood not to the restriction to right.
Institute in device shown in following claims, description and drawing, system, program and method
Action, operating instruction, step and the stage etc. mentioned each process enforcement order, unless with " ... front ", " elder generation
In ... " etc. qualifier indicate especially, otherwise can realize by arbitrary order.About following claims, explanation
Device shown in book and drawing, flow process etc., for even if for convenience, employing the vocabulary such as " first ", " then "
Bright, also it is not meant as to go to implement by this order.
Fig. 1 is the overall schematic of the unmanned aerial vehicle 100 manipulated by user 10 according to a first embodiment of the present invention.Nothing
People's aircraft 100 can be the baby plane aloft flown manipulated by outside.Unmanned aerial vehicle 100 possesses fuselage 200 and quilt
The first photographic attachment 300 that fuselage 200 is loaded.But, unmanned aerial vehicle 100 can also be built-in GPS, is incorporated in advance and navigates
The half of the controls program that line etc. are relevant is from type of law aircraft, or complete flying from the type of law of can being that all need not that user 10 operates
Machine.Unmanned aerial vehicle 100 is mounted with battery.
User 10 can utilize operation device 50 to send instruction by radio communication to unmanned aerial vehicle 100, thus manipulates nothing
The taking off of people's aircraft 100, airflight and landing.In addition it is also possible to the first photography that operation is loaded on unmanned aerial vehicle 100
Device 300.
First photographic attachment 300 refers to that having ultra-wide angle fish eye lens can shoot the camera of image.First photographic attachment
300 can move along the optical axis of the camera lens that fuselage 200 is loaded.Launch toward operation device 50 from the first photographic attachment 300
Image signal, both can launch before the power supply of unmanned aerial vehicle 100 is to off continuously, it is also possible to give behaviour 10 times according to user
The instruction making device 50 is launched.
Fuselage 200, containing X word shape, in 4 ends of X word, loads the 1st water that can rotate around each rotary shaft
Flat rotor the 212, the 2nd rotor the 222, the 3rd rotor the 232 and the 4th rotor 242.Fuselage 200 possesses to have can be made respectively
Rotor respectively around rotary shaft rotate the 1st wing drive division the 214, the 2nd wing drive division the 224, the 3rd wing drive division 234 with
And the 4th wing drive division 244.The built-in DC motors such as the 1st wing drive division 214, rotate the 1st wing by the spinning force of DC motor and drive
Portion 214 etc..Fuselage 200 includes the control unit controlling to monitor the duty of 1-4 wing drive division respectively, and this control unit is led to
Cross the rotary speed regulating each wing drive division respectively to control the direction of motion of unmanned aerial vehicle 100.
Fuselage 200 possesses control unit 250 and the first drive division 260.Control unit 250 controls the dynamic of unmanned aerial vehicle 100
Making, the first drive division 260 can make the first photographic attachment 300 be moved relative to fuselage 200 by the direction specified and/or be rotated.Control
Unit 250 processed is incorporated in the micro-multi-purpose computer in fuselage 200 main part being built in X word central authorities.First drives
Portion 260 is arranged on the front end of support arm 270, to reduce burden when rotating the first photographic attachment 300.Support arm 270 from
The underface of this main part of fuselage 200 is risen and is hung down, and can rotate in a plurality of directions relative to fuselage 200, so that machine
Body 200 keeps resting state relatively relative to the first photographic attachment 300, thus prevents unmanned aerial vehicle 100 operationally fuselage from shaking
Shake, it is to avoid the frame stabilization of impact photography.Additionally, the first drive division 260 may also be arranged on the first photographic attachment 300 inside.
Fig. 2 is that the front of the unmanned aerial vehicle 100 being in geo-stationary in the horizontal direction of first embodiment of the invention is cutd open
View.It is more than or equal to 180 degree equipped with containing visual angle on the bottom surface of the first photographic attachment 300 loaded by fuselage 200
Flake the first camera lens module 320.The bottom surface of the first photographic attachment 300 is down frustro-pyramidal, to prevent from blocking flake the first camera lens
The angle of visibility of module 320.Also having balance detecting device in first photographic attachment 300, balance detecting device can use electronic horizon
Instrument, optics free gyroscope, gyroscope etc., the angle between posture and the horizontal plane of detection the first photographic attachment 300.Posture
The imperial device of system is located on fuselage 200 or the first photographic attachment 300, and it connects balance detecting device and the first drive division 260 respectively
Appearance.Gesture system drives device can use microcontroller.Fuselage 200 can utilize posture system to drive device, is obtained by balance detecting device
Angle between first photographic attachment 300 and horizontal plane, controls drive division according to this angle, controls the first drive division 260 and makes the
One photographic attachment 300 rotates relative to fuselage 200 incline direction, to compensate the angle of inclination of fuselage 200, makes the first photographic attachment
The optical axis of the first camera lens module 320 on 300 is with the horizontal same right-angle relationship.First photographic attachment 300 shoots from fish
The image of eye the first camera lens module 320.First photographic attachment 300 also includes photography portion 330, this photography portion 330 be configured in into
It is mapped on the light incident side of light and the optical axis of offside of the first camera lens module 320, to shoot the figure from the first camera lens module 320
Picture.Photography portion 330 refers to, such as imageing sensors such as CCD or CMOS.
First drive division 260, while loading the first photographic attachment 300 with loader mechanism, changes fuselage by drive mechanism
200 relative to the angle of the first photographic attachment 300.Loader mechanism refer to can with loading part and can with 360 ° rotate machines
Structure, such as, forms the light with the first camera lens module 320 on the outside of first photographic attachment 300 on the first drive division 260 opposite
The bearing that central shaft on direction of principal axis orthogonal direction extends, the first drive division 260 can possess with bearing in the same direction
The rotary shaft extended and be entrenched on bearing.In this case, the first drive division 260 by making rotary shaft be entrenched on bearing,
Thus support the first photographic attachment 300, by rotary shaft and bearing, so that the first photographic attachment 300 rotates.On the other hand,
As drive mechanism, such as, the outside of first photographic attachment 300 on the first drive division 260 opposite has been formed with above-mentioned rotation
Rotating shaft is the not coaxial sector wheels that center of rotation and periphery have multiple tooth, and the first drive division 260 can possess and have energy
Control motor and the circular gear of the number of revolutions of stepper motor or servomotor etc.This gear is the rotary shaft institute of motor
Supporting, its periphery having with sector teeth is the tooth of shape of complementing each other.In this case, the first drive division 260 makes
Tooth and the sector teeth of circular gear are mutually twisted, by making the revolving force of motor be transformed to the revolving force of sector gear,
Thus change the fuselage 200 angle relative to the first photographic attachment 300.Sector gear at least two groups, its gear shaft is the most just
Hand over, to realize the rotation on pair of orthogonal direction.
As it is shown in figure 5, the control unit 250 of fuselage 200 possesses control portion 252, bin 254, communication unit 256 and image
Processing means 258.Bin 254 storage has the flight speed representing unmanned aerial vehicle 100 and corresponding first camera lens module 320 optical axis
Compensate the form information of the corresponding relation of angle.Communication unit 256 is according to radio communication and PERCOM peripheral communication.Image processing apparatus 258
Process the view data from photography portion 330.Specifically, image processing apparatus 258 can receive continuously from shooting the first mirror
The image data information in the photography portion 330 of the image of head mould group 320, and extract multiple features contained in each view data out
Point.Image processing apparatus 258 can compare each view data before and after certain time, and resolves the characteristic point therefrom extracted out
Variation.According to the analysis result of these characteristic points, it is judged to exceed predetermined marginal value toward gravity direction in multiple characteristic points
During variation, image processing apparatus 258 can also send this information to control portion 252.
Control portion 252, by communication unit 256, receives the instruction from operation device 50, will shoot from the first camera lens mould
The image signal in the photography portion 330 of the image of group 320 issues operation device 50.Control portion 252 according to operation device 50 instruction,
Control the 1st rotor drive division 214 etc., to control taking off, fly and landing of unmanned aerial vehicle 100.
Control portion 252 controls lens driving portion 310 according to the instruction of operation device 50.This instruction is except being and first
Outside the optical axis variation relevant instruction of operation of camera lens module 320, it is also possible to be to manually change light containing the first camera lens module 320
The heeling condition of axle operates relevant instruction.Further, the optical axis of the first camera lens module 320 can also be according to the ground being photographed object
Reason data automatically adjust.
Control portion 252 controls the first drive division 260, makes the angle of the first photographic attachment 300 relative to fuselage 200 occur
Change to compensate because of the photographic objects direction of motion or the variation in geographical position.Control portion 252 both can be according to set control
Programme-control the first drive division 260 processed, it is also possible to according to the signal from balance detecting device, controls the first drive division 260, also
The first drive division 260 can be controlled, it is also possible to reference to being stored in memorizer 254 according to the signal from image processing apparatus 258
In list data control the first drive division 260.Additionally, control portion 252 can also drive device by posture system controls control the
One drive division 260.It is also provided with laser range finder, for measuring the first camera lens module 320 to quilt on first photographic attachment 300
Take the photograph the distance between thing.This laser range finder can coordinate with software, calculates the according to the image of the first photographic attachment 300 picked-up
The optical axis of one camera lens module 320 changes with the angle of object plane.
Geo-stationary it is in the horizontal direction due to unmanned aerial vehicle 100 under current state, the first photographic attachment 300
Flake the first camera lens module 320 is 90 degree with the angle of horizontal direction, and now flake the first camera lens module 320 has reached maximum
Viewfinder range, therefore needs not compensate for.
Fig. 3 is before not carrying out optical axis compensation, the schematic diagram that unmanned aerial vehicle 100 moves in the direction of the arrow.Shown in arrow
Direction is direct of travel.When the unmanned aerial vehicle 100 of four axles moves in the horizontal direction, two rotors of direction of motion side
Reducing rotating speed, fuselage 200 run-off the straight in the movement direction, the first photographic attachment 300 being connected on fuselage 200 inclines the most therewith
Tiltedly.Now, if the first photographic attachment 300 not being carried out optical axis compensation, will be sent out by the image of the first photographic attachment 300 picked-up
Raw deflection, the image of fuselage 200 incline direction side can lack.
Fig. 4 is after carrying out optical axis compensation, the schematic diagram that unmanned aerial vehicle 100 moves in the direction of the arrow, direction shown in arrow
For direct of travel.When balance detecting device, to measure the optical axis direction of flake the first camera lens module 320 not vertical with horizontal direction
Time, posture system is driven device and is adjusted the according to the optical axis direction of flake the first camera lens module 320 and the change of horizontal direction angle
One photographic attachment 300, relative to the angle of fuselage 200, makes the optical axis direction of flake the first camera lens module 320 hang down with horizontal direction
Directly.
The method of operation and aftermentioned second embodiment of first embodiment of the invention are essentially identical, therefore no longer superfluous words at this.
According to the second embodiment of the present invention, it is provided that the optical axis of the first camera lens module 320 of a kind of unmanned aerial vehicle 100 becomes
Dynamic compensation method.The equipment realizing this compensation method can refer to first embodiment of the invention.
The optical axis of the first camera lens module 320 and horizontal plane, therefore the fuselage 200 of unmanned aerial vehicle 100 is in the horizontal plane
Inclination angle change very sensitive.When fuselage 200 is spent relative to cant angle theta, the optical axis of the first camera lens module 320 and level
The angle of the vertical line in face is also θ degree.When the first camera lens module 320 is when ground object is higher, and slight variable angle is just
The great variety in the visual field can be enlarged into.Such as, without compensation, being 30 meters with unmanned aerial vehicle 100 flying height
(ignoring fuselage 200 and the thickness of the first photographic attachment 300), the first camera lens module 320, with the inclination of fuselage 300, offset by 15
Degree, the most now the position of the object of optical axis center alignment moves about tan15 ° * 30 meters=8 meters relative to original position.Cause
This has the highest requirement to speed and the precision of optical axis compensation.
The compensation method of the present embodiment comprises the following steps:
Compensate for the first time: by control unit 250 obtain described unmanned aerial vehicle 100 speed in the horizontal direction and direction or
Predetermined heading to be changed and the order of flight speed；According to described speed and direction, the instruction in advance in inquiry storage part
The described speed got and the corresponding relation of corresponding first camera lens module 320 optical axis compensation angle, obtain and described speed pair
Answer angle；Control unit drives the first drive division to rotate the first photographic attachment relative to fuselage, so that the first camera lens module 320
This angle is changed relative to fuselage 200.Compensate for the first time can control unit 250 control fuselage 200 change the direction of motion it
Before or compensate simultaneously, it is also possible to change after the direction of motion at fuselage and compensate again.
Second time compensates: it is inclined that balance detecting device obtains between optical axis direction and the horizontal plane of the first camera lens module 320
Move angle；According to this migration included angle, posture system is driven device and is driven the first drive division to rotate the first photographic attachment relative to fuselage, makes
First camera lens module 320 changes the angle of correspondence relative to the fuselage 200 of unmanned aerial vehicle 100, and the most aforementioned migration included angle deducts 90
Degree.
Third time compensates: obtain image from the first camera lens module 320；Extract at least 2 characteristic points on described image out (excellent
Elect more than 4 points as), image processing apparatus 258 can receive the photography from the image shooting the first camera lens module 320 continuously
The image data information in portion 330, and extract multiple characteristic points contained in each view data out.Image processing apparatus 258 is permissible
The comparison each view data before and after certain time, and resolve the variation of the characteristic point therefrom extracted out.According to these characteristic points
Analysis result, multiple characteristic points be judged to exceed predetermined marginal value change toward gravity direction time, image processing apparatus 258
This information can also be sent to control portion 252.This compensation make use of image recognition technology, and image recognition can be with image
Main characteristic point is main, and this feature can not be the feature in physical significance, just may be used as long as meeting certain mathematical description
With.Characteristic point is the station location marker of a point, is the pattern feature of its local neighborhood simultaneously.It is true that characteristic point is one
There is the station location marker of the regional area of certain feature, be called a little, be by its abstract be a position concept, in order to determine
The corresponding relation of same location point in two width images and carry out image registration.It is to be during characteristic matching with this feature point
Center, mates the local feature of neighborhood.In the present embodiment, the principal character point of image can use image outline curvature
The place that maximum (or the threshold value preset higher than) or contour direction change suddenly.Image processing apparatus 258 is provided with automatically
Detection and the software of calculating angle, this software changes, according to image outline, the position (history that maximum place is original with this profile
Image) between angle, calculate the optical axis of photographic attachment and the angle of plane.Exemplarily, above-mentioned software uses multiple dimensioned
Wavelet transformation method and SUAN corner extraction extract image characteristic point, and use based on monocular vision and the position of laser range finder
Appearance Measurement Algorithm calculates the optical axis of photographic attachment and the angle of plane.
The advantage compensated for the first time is by the way of tabling look-up, and can directly obtain the angle compensating deflection, the most instead
Should be fastest, can start to start compensating for the most in advance while fuselage 200 receives the Shear command, thus benefit is greatly reduced
The hysteresis quality repaid；Shortcoming is to rely on compensation precision to train the mapping table obtained the most accurate, it is impossible to after detection deflection
Compensation effect, and when receiving the ectocines such as wind compensate precision cannot ensure.The advantage that second time compensates is profit
The angle directly recording optical axis and horizontal plane by measurement apparatus such as electrolevels compensates, by deflect-detect-deflecting again
The mode that adjusts of repeated detection, it can be ensured that the precision of compensation, the not image of the extraneous factor such as wind-engaging；Disadvantage is that and lean on
Deflection can be only achieved and precisely compensates for value the most repeatedly, and the precision of compensation depends on the precision of the measurement apparatus such as electrolevel.
The advantage that third time compensates is the most desired shooting results of the result arrived compensated, and the precision therefore compensated is the highest；Shortcoming is
Needing also exist for repeated detection and adjust the precision that just can ensure that compensation, the speed of compensation is the slowest, requires higher to hardware design conditions.
Comprehensive above pluses and minuses, compensate according to compensation for the first time, second time and third time compensation order compensates, and can reach benefit
Repay the balance of speed and compensation precision, reach good compensation effect.
Additionally, the order compensated for above-mentioned three times can also arbitrarily be exchanged, or appoint and take one or both of which and be combined.
With reference to shown in Fig. 6, the third embodiment of the present invention provides the panoramic shooting system of a kind of unmanned aerial vehicle 100, bag
Include four axle unmanned aerial vehicles 100, this unmanned aerial vehicle 100 is configured with up and down relative to two the first photographic attachment 300, the i.e. first photography
Device 300 and the second photographic attachment.First photographic attachment 300 is identical with the first embodiment of the present invention with unmanned aerial vehicle 100.The
Two photographic attachment are provided with visual angle flake the first camera lens module 320 more than 180 degree, are additionally provided with and connect the appearance being positioned at fuselage 200
Gesture system drives the second drive division of device and second system drives device.
For the present embodiment, not only need optical axis is compensated, it must also be ensured that first during compensating
Photographic attachment 300 and the optical axis keeping parallelism of the second photographic attachment.When unmanned aerial vehicle 100 flies to the direction of arrow along the horizontal plane
Time, unmanned aerial vehicle 100 fuselage 200 tilts to heading, and the first photographic attachment 300 utilizes posture system to drive device and/or control
Unit 250, carries out rotating θ degree to the optical axis 1 of its first camera lens module 320 by the first drive division, so that optical axis 1 and level
Face is vertical.This posture system drives device and/or control unit 250 controls to be positioned at the second of the second photographic attachment the most simultaneously and drives simultaneously
Portion rotates θ degree in the opposite direction, to keep the first photographic attachment 300 parallel with the optical axis of the second photographic attachment, so that two
The image of person's shooting just can cover the panorama of 360 degree.
Fourth embodiment of the invention provides a kind of unmanned aerial vehicle, and it is equipped with first embodiment of the invention or the 3rd enforcement
The optical axis variation compensation device device of the camera lens module in example, concrete structure and running with reference to first embodiment of the invention or
3rd embodiment, the no longer superfluous words at this.
Certainly, the invention is not limited to above-mentioned embodiment, and those of ordinary skill in the art are without prejudice to this
It may also be made that equivalent variations or replacement on the premise of spirit, deformation or the replacement of these equivalents are all contained in the application right
In requirement limited range.
Symbol description, 10 users, 50 operation devices, 100 unmanned aerial vehicles, 200 fuselages, 212 the 1st rotors, 214 the 1st
Wing drive division, 222 the 2nd rotors, 224 the 2nd wing drive divisions, 232 the 3rd rotors, 234 the 3rd wing drive divisions, 242 the 4th water
Flat rotor, 244 the 4th wing drive divisions, 250 control units, 252 control portions, 254 bins, 256 communication units, 258 image procossing dresses
Put, 260 drive divisions, 270 support arms, 300 first photographic attachment, 320 first camera lens modules, 330 photography portions.
Claims (14)
1. an optical axis variation compensation device for the camera lens module of unmanned aerial vehicle, including unmanned aerial vehicle fuselage and being positioned at below fuselage
The first photographic attachment, described first photographic attachment includes the first camera lens module, the optical axis direction of described first camera lens module with
Horizontal plane, described optical axis variation compensation device is characterised by including:
First drive division, it is arranged on described unmanned aerial vehicle fuselage or the first photographic attachment, is used for changing described first and takes the photograph
Image device is relative to the angle of described unmanned aerial vehicle body；
Posture system drives device, is used for controlling described first drive division；And
Balance detecting device, it is arranged on described first photographic attachment, for detecting the optical axis side of described first camera lens module
Migration included angle between horizontal plane.
The optical axis variation compensation device of the camera lens module of unmanned aerial vehicle the most according to claim 1, it is characterised in that also wrap
Include:
Memorizer, its storage has speed and the direction pass corresponding with the first camera lens module offset angle representing described unmanned aerial vehicle
It it is table；
Control unit, it is for controlling and monitor the running status of described unmanned aerial vehicle；
Described posture system is driven device and is connected described memorizer and described unmanned aerial vehicle control module respectively.
The optical axis variation compensation device of the camera lens module of unmanned aerial vehicle the most according to claim 1, it is characterised in that also wrap
Include:
Image processing apparatus, it is arranged on described unmanned aerial vehicle fuselage or the first photographic attachment, for obtaining from described
The image of the first camera lens module, extracts more than one characteristic point from this image out；
Described posture system is driven device and is connected image processing apparatus.
The optical axis variation compensation device of the camera lens module of unmanned aerial vehicle the most according to claim 1, it is characterised in that: described
Balance detecting device is electrolevel or free gyroscope；Described first camera lens module is the ultra-wide angle that visual angle is more than or equal to 180 degree
Camera lens.
The optical axis variation compensation device of the camera lens module of unmanned aerial vehicle the most according to claim 1, it is characterised in that: described
Unmanned aerial vehicle fuselage includes the support arm connecting described photographic attachment, and described support arm is movably disposed in described unmanned aerial vehicle
Immediately below fuselage.
The optical axis variation compensation device of the camera lens module of unmanned aerial vehicle the most according to claim 1, it is characterised in that: described
First drive division is provided with drive mechanism, and is respectively equipped with circular gear on the output shaft that at least two is not coaxial, and described
One photographic attachment is provided with the sector gear engaged with each circular gear.
7. a compensation method for the optical axis variation of the camera lens module of unmanned aerial vehicle, including the institute any one of claim 1-6
State optical axis variation compensation device, it is characterised in that include step:
Obtain the migration included angle between optical axis direction and the horizontal plane of described first camera lens module；
According to this angle, make the angle that described first camera lens module is corresponding relative to the variation of described unmanned aerial vehicle fuselage.
The compensation method of the optical axis variation of the camera lens module of unmanned aerial vehicle the most according to claim 7, it is characterised in that also
Including step:
Obtain described unmanned aerial vehicle flight speed in the horizontal direction and heading；
According to described speed and direction, inquire about described speed and corresponding described first camera lens module optical axis that training in advance obtains
Compensate the corresponding relation of angle, obtain angle corresponding with described speed；
Described first camera lens module is made to change this angle relative to described unmanned aerial vehicle fuselage.
The compensation method of the optical axis variation of the camera lens module of unmanned aerial vehicle the most according to claim 7, it is characterised in that:
Obtain described unmanned aerial vehicle change of flight speed in the horizontal direction and the order of heading；
According to described order, inquire about described speed and corresponding described first camera lens module optical axis compensation angle that training in advance obtains
Corresponding relation, obtain angle corresponding with described speed；
At described unmanned aerial vehicle according to described order, before change of flight speed in the horizontal direction and heading or with
Time, make described first camera lens module change this angle relative to described unmanned aerial vehicle fuselage.
10. according to the compensation method of the optical axis variation of the camera lens module of the described unmanned aerial vehicle of any one in claim 7-9,
Characterized by further comprising step:
Image is obtained from described first camera lens module；
More than one characteristic point is extracted out from this image；
According to the variation of this feature point, it is calculated the angle between optical axis direction and the horizontal plane of described first camera lens module；
According to this angle, make the angle that described first camera lens module is corresponding relative to the variation of described unmanned aerial vehicle fuselage.
11. compensation methodes changed according to the optical axis of the camera lens module of the unmanned aerial vehicle described in claim 10, its feature exists
In: described characteristic point is the image outline curvature region more than or equal to the threshold value preset.
The panoramic shooting system of 12. 1 kinds of unmanned aerial vehicles, including requiring in power that the optical axis variation according to any one of 1-6 compensates dress
Put, it is characterised in that also include:
Second photographic attachment, it is arranged on the top of described unmanned aerial vehicle fuselage, including the second camera lens module, described second camera lens
Module is contrary with the direction of described first camera lens module；
On second drive division, its fuselage being arranged on described unmanned aerial vehicle or the second photographic attachment, it is used for changing described second
Photographic attachment is relative to the angle of fuselage, so that the optical axis direction of described second camera lens module and the optical axis of the first camera lens module
Direction keeping parallelism；Described second drive division connects described posture system and drives device and/or control unit.
The panoramic shooting system of 13. a kind of unmanned aerial vehicles according to claim 12, it is characterised in that: described first camera lens
Module and described second camera lens module are the bugeye lens that visual angle is more than or equal to 180 degree.
14. 1 kinds of unmanned aerial vehicles, it is characterised in that include the described optical axis variation any one of claim 1-6 and compensate dress
Put.
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