CN107257427A - Nine camera lens unmanned plane panoramic cameras and its image processing method - Google Patents

Nine camera lens unmanned plane panoramic cameras and its image processing method Download PDF

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Publication number
CN107257427A
CN107257427A CN201710506559.5A CN201710506559A CN107257427A CN 107257427 A CN107257427 A CN 107257427A CN 201710506559 A CN201710506559 A CN 201710506559A CN 107257427 A CN107257427 A CN 107257427A
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China
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fixed plate
side panel
skewback
plane
longitudinal
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CN107257427B (en
Inventor
莫思特
张鸣之
马娟
黄喆
石爱军
薛跃明
苏永超
刘滨
李碧雄
杨飞
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CHINA INSTITUTE FOR GEO-ENVIRONMENTAL MONITORING
Sichuan University
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CHINA INSTITUTE FOR GEO-ENVIRONMENTAL MONITORING
Sichuan University
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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
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)
  • Stereoscopic And Panoramic Photography (AREA)

Abstract

The invention discloses a kind of nine camera lenses unmanned plane panoramic camera and its image processing method.Panoramic camera is made up of mounting bracket and image processing system two parts.Tight shot of the image processing system comprising 9 identical imaging sensors and 9 same sizes.Mounting bracket is formed by connecting by 2 longitudinal direction side panels, 4 skewbacks, 2 cross side panels, bottom plate and its corresponding fixed plate.Image sensing module is arranged on each skewback, longitudinal direction side panel, cross side panel and bottom plate, and fixed plate is used for mounting bracket.Image processing system is containing image sensing module, programmable gate array and peripheral circuit, wireless transport module, Video compression chip and its peripheral circuit.The present invention can shoot a wide range of picture signal simultaneously, from multiple viewing angles view data, improve the efficiency and abundant view data of unmanned plane captured image data.Nine imaging sensors are uniformly controlled, and eliminate different shutter moment and different control model hypograph splicing noises.

Description

Nine camera lens unmanned plane panoramic cameras and its image processing method
Technical field
The invention belongs to the video camera of field of cameras, more particularly to unmanned plane carrying.Specifically nine camera lens unmanned planes are complete Scape video camera and its image processing method.
Background technology
The panorama camera system that unmanned plane shooting is carried has been widely used for national economy every field and national defense construction In, the important role in terms of nation-building and safeguard protection.With the continuous progress of science and technology, unmanned plane panoramic camera is just Constantly lifted.But prior art also Shortcomings, in addition it is also necessary to quality technology is further improved.Chinese patent CN201610912717.2《The panorama camera system and its operating method of a kind of UAV flight》By the use of polyhedron as carrier, Integrate picture pick-up device, GPS and BDS positioning and OSD image procossings convenient panorama alignment system, it is simple in construction, volume compared with It is small, roundabout process link is saved, is shot more comprehensively, more accurately, feedback of the information is more timely.Deficiency is there is dead angle for splicing, Do not adapt to different camera lenses with imaging sensor to coordinate, stitching algorithm is complicated.Chinese patent CN201610552295.2《Unmanned plane Pan the method and device of figure》Unmanned plane can be controlled to rotate automatically and shooting image, so as to not use panorama camera On the premise of substantially increase the simple operation of the figure that pans.Deficiency is only with single-lens, stitching image existence time Difference, stitching algorithm is complicated.Chinese patent CN201320554125.X《Full-view image unmanned plane acquisition system》Panorama camera is taken It is loaded on unmanned plane and carries out aerial image collection, has the advantages that acquisition range is wide, collecting efficiency is high.The camera lens court of panorama camera To different directions, the image of an object can be gathered from different perspectives, has the advantages that acquisition precision is high.Deficiency be for There is dead angle in splicing, it is impossible to adapt to different camera lenses and coordinate with imaging sensor, stitching algorithm is complicated.
The content of the invention
The present invention in view of the shortcomings of the prior art, provides a kind of many camera lens panoramic structure system constituting methods, and for institute It is related to structure and provides image processing method.
What the purpose of the present invention was achieved in that：A kind of nine camera lens unmanned plane panoramic cameras, it is characterised in that：Panorama is taken the photograph Camera is made up of two parts, mounting bracket and image processing system；Image processing system is arranged in mounting bracket；Mounting bracket It is fixed on unmanned motor spindle.
Tight shot of the image processing system comprising 9 identical imaging sensors and 9 same sizes, if image sensing The pixel of device sensing is longitudinally x pixels, is laterally y pixels (x>Y), the length of sensing pixels and width are all w；Set Jiao of zoom lens Away from for z, then the length in image sensor senses face is xw, and width is yw；
That is α is equal to twice of 0.5xw/z arctan function, and β is equal to twice of 0.5yw/z arctan function, α and β Unit for degree；
Mounting bracket is formed by connecting by multiple flat boards, ABCDEFGH containing bottom plate (30), side panel, skewback and fixed plate； Side panel includes longitudinal direction side panel and cross side panel
Fixed plate include longitudinal side fixed plate, inclined-plane fixed plate and transverse side fixed plate, longitudinal side fixed plate, tiltedly Face fixed plate and transverse side fixed plate collectively form fixed plate
Side panel and skewback constitute supporting plate
Image sensing module is arranged in supporting plate and bottom plate, supporting plate connecting bottom board and fixed plate
Fixed plate mounting bracket is fixed on unmanned motor spindle mounting plane；All fixed plates in one plane, and with The parallel of bottom plate ABCDEFGH
If the distance between plane and bottom plate where fixed plate are u, u is more than 2yw；During installation, bottom plate is parallel to nobody Motor spindle mounting plane.
The side panel includes longitudinal direction side panel and cross side panel refers to：Longitudinal direction side panel ABJI, longitudinal direction side panel EFQR, cross side panel GHVd, cross side panel CDNM.
The skewback refers to skewback HAfe, skewback BCLK, skewback DEPO, skewback FGTS.
The fixed plate refers to including longitudinal side fixed plate, inclined-plane fixed plate and transverse side fixed plate：Longitudinal side Fixed plate I Jji, longitudinal side fixed plate QRrq, inclined-plane fixed plate efhg, inclined-plane fixed plate KLlk, inclined-plane fixed plate OPpo, tiltedly Face fixed plate STts, cross side panel GHVd, cross side panel CDNM, transverse side fixed plate dVvc, transverse side fixed plate MNnm.
Supporting plate HAfe containing skewback, skewback BCLK, skewback DEPO, skewback FGTS, it is longitudinal direction side panel ABJI, vertical To side panel EFQR and cross side panel GHVd, cross side panel CDNM, image sensing module is arranged on supporting plate and bottom plate On ABCDEFGH, supporting plate connecting bottom board and fixed plate
All fixed plates in one plane, and parallel with bottom plate ABCDEFGH refer to：Longitudinal side fixed plate I Jji, Longitudinal side fixed plate QRrq, transverse side fixed plate dVvc, transverse side fixed plate MNnm and inclined-plane fixed plate efhg, inclined-plane Fixed plate KLlk, inclined-plane fixed plate OPpo, inclined-plane fixed plate STts are in one plane, and parallel with bottom plate ABCDEFGH.
The bottom plate size is determined according to unmanned plane size；AB is parallel to each other with EF, and ABEF is rectangle, if AB length is A times of the length xw in image sensor senses face, i.e. AB=EF=axw, and require that a is more than 3；CD=HG=ayw；CD sides and HG Side is parallel, and vertical with AB and EF sides；BEDC, AHGF are isosceles trapezoid, AH=GF=BC=ED=aw (x+y)/2；
AF=BE
Longitudinal direction side panel ABJI, EFQR size is identical, illustrates by taking longitudinal direction side panel ABJI as an example, longitudinal direction side panel ABJI For rectangle, wherein, AB=IJ=axw
Cross side panel GHVd, CDNM size is identical, illustrates by taking cross side panel CDNM 35-2 as an example,
CD=MN=ayw；
Skewback HAfe, BCLK, DEPO, FGTS size are identical, are all rectangles, are illustrated with skewback BCLK,
BC=KL=aw (x+y)/2；
Longitudinal side fixed plate I Jji, QRrq size is identical, is all rectangle；For by taking longitudinal side fixed plate I Jji as an example It is bright；
IJ=ji=axw；Ii=Ji, and Ii, Jj length are more than 3 millimeters；
Transverse side fixed plate dVvc, MNnm size is identical, is all rectangle；For by taking transverse side fixed plate MNnm as an example It is bright；
MN=nm=ayw；Mm=Nn, and Mm, Nn length are more than 3 millimeters；
Inclined-plane fixed plate efhg, KLlk, OPpo, STts size is identical, is all rectangle；Come by taking inclined-plane fixed plate KLlk as an example Illustrate,
KL=lk=aw (x+y)/2；
Kk=Ll, and Kk, Ll length are more than 3 millimeters.
Described image processing system by image sensing module, programmable gate array and peripheral circuit, wireless transport module, Video compression chip and its peripheral circuit are constituted；
Nine image sensing modules are separately mounted to bottom plate ABCDEFGH, cross side panel GHVd, CDNM, longitudinal direction side panel On ABJI, EFQR, skewback HAfe, BCLK, DEPO, FGTS, by control signal wire and pixel intensity signal connecting line with can Program gate array and peripheral circuit connection.
Programmable gate array and peripheral circuit pass through control signal wire and pixel intensity signal connecting line and nine images Sensing module is connected, and is connected by communication link wiring with wireless transport module, is passed through video output signals connecting line and video pressure Contracting signal connecting line is connected with Video compression chip and its peripheral circuit.
Wireless transport module is connected by communication link wiring with programmable gate array and peripheral circuit, by programmable gate array Data after row and peripheral circuit processing are by wireless transmission at a distance.
Video compression chip and its peripheral circuit are connected by video output signals connecting line and video compress signal Wiring is connected with programmable gate array and peripheral circuit.
Image sensing module is made up of camera lens, mounting box, sensing circuit.
Mounting box, to seal lighttight box, is cube or cylinder, mounting box has two parallel planes, one Plane is used to install camera lens, and another plane is used to be fixed on bottom plate, side panel or skewback.The plane center of camera lens is installed Centre is provided with the circular internal sealing plug for installing camera lens, and the diameter of silk mouthful is identical with the external sealing plug diameter of camera lens.
Camera lens is tight shot, as needed selection different focal camera lens；The specification of nine camera lenses is identical.
Sensing circuit is used for the image for sensing camera lens, has imaging sensor on sensing circuit, it is ensured that on sensing circuit The induction planes of imaging sensor are parallel with camera lens, and camera lens center on the image sensor be projected in image sensing On the center of device；Mounting box be arranged in bottom plate, side panel or skewback, it is ensured that the induction planes of imaging sensor with Bottom plate, side panel or plane where skewback are parallel；
Image sensing module on bottom plate ABCDEFGH, the longitudinal edge of imaging sensor is parallel with AB sides；Image The center of sensor is directed at the center of bottom plate.
2 image sensing modules on 2 longitudinal direction side panels ABJI, EFQR, the longitudinal edge point of imaging sensor It is not parallel with AB, EF side；The center of imaging sensor is directed at the center of side panel.
2 image sensing modules on 2 cross side panels GHVd, CDNM, the widthwise edge point of imaging sensor It is not parallel with CD, GH side；The center of imaging sensor is directed at the center of side panel.
4 image sensing modules on 4 skewbacks HAfe, BCLK, DEPO, FGTS, imaging sensor it is vertical To BC in the skewback installed with it while, DE in, FG, the angle on HA sides be arctan (y/x) degree；Imaging sensor is just The center of center alignment skewback.
Programmable gate array and peripheral circuit are uniformly controlled the mode of operation of image sensing module, receive image sensing mould Block signal, is handled image sensing module signal, and Video compression chip is given by the image sensing data after processing And its peripheral circuit, the view data after Video compression chip and the compression of its peripheral circuit is received, after compression View data is given wireless transport module and is wirelessly transferred.
Programmable gate array program flow：
The first step：Identical control signal is sent to nine imaging sensors, the imaging sensor control signal sent Have：Field sync signal, line synchronising signal, clock signal, driver' s timing signal, exposure control signal goes to second step；
Second step：The pixel intensity signal of nine imaging sensors is received, the 3rd step is gone to；
3rd step：Bayer image processing and white balance processing are carried out to the pixel intensity signal of nine imaging sensors, obtained The rgb signal of each pixel after to white balance processing, goes to the 4th step；
4th step：Image mosaic subprogram is called, the 5th step is gone to；
5th step：Video compression chip is given by spliced rgb format picture signal, the 6th step is gone to；
6th step：The view data after compression is received from Video compression chip, the 7th step is gone to；
7th step：Wireless transport module is given by the view data after the compression received to be wirelessly transferred, and goes to One step.Image mosaic subprogram is carried out in accordance with the following steps：Set the longitudinal pixel of spliced image a total of PX, horizontal picture Element a total of PY, longitudinal pixel sorts by natural number successively from left to right, sequence serial number 1,2,3,4 ..., PX-1, PX； Horizontal pixel sorts by natural number successively from top to bottom, be ordered as 1,2,3,4 ..., PY-1, PY；Image mosaic of pixel Program：
The first step：PX=x+3x, PY=3y；Into second step；
Second step：Stitching image as follows：
The RGB data that the imaging sensor that bottom plate is installed is obtained is spliced in longitudinal pixel sequence number from x+1 to 2x, horizontal pixel In sequence number is interval from y+1 to 2y；
Longitudinal direction side panel ABJI install imaging sensor obtain RGB data splicing longitudinal pixel sequence number from x+1 to 2x, horizontal pixel sequence number is interval interior from 1 to y；
Longitudinal direction side panel EFQR install imaging sensor obtain RGB data splicing longitudinal pixel sequence number from x+1 to 2x, horizontal pixel sequence number is interval interior from 2y+1 to 3y；
The RGB data that the imaging sensor that skewback HAfe is installed is obtained, splices in longitudinal pixel sequence number from 1 to x, laterally In pixel sequence number is interval from 1 to y；
The RGB data that the imaging sensor that skewback BCLK is installed is obtained, splices in longitudinal pixel sequence number from 2x+1 to 3x, In horizontal pixel sequence number is interval from 1 to y；
The RGB data that the imaging sensor that skewback DEPO is installed is obtained, splices in longitudinal pixel sequence number from 2x+1 to 3x, In horizontal pixel sequence number is interval from 2y+1 to 3y；
The RGB data that the imaging sensor that skewback FGTS is installed is obtained, splices in longitudinal pixel sequence number from 1 to x, laterally In pixel sequence number is interval from 2y+1 to 3y；
The RGB data that the imaging sensor that cross side panel GHVd is installed is obtained is spliced in longitudinal pixel sequence number from 1 to x, In horizontal pixel sequence number is interval from y+1 to 2y；
Cross side panel CDNM install imaging sensor obtain RGB data splicing longitudinal pixel sequence number from 2x+1 to 3x, horizontal pixel sequence number is interval interior from y+1 to 2y；
3rd step：Main program is returned after image mosaic.
The positive effect of the present invention is：
1st, while shooting a wide range of picture signal, the efficiency of unmanned plane captured image data is improved.
2nd, nine imaging sensors are uniformly controlled, and can eliminate the figure caused under different shutter moment and different control models As splicing noise.
3rd, it can be provided more for view data post processing from multiple viewing angles view data during unmanned plane during flying Many shooting visual angles and more rich view data.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention.
Fig. 2 is mounting support structure schematic diagram.
Fig. 3 is mounting bracket dimensional structure diagram.
Fig. 4 is the base arrangement schematic diagram of mounting bracket.
Fig. 5 is the longitudinal side plate structure schematic diagram of mounting bracket.
Fig. 6 is the transverse side plate structure schematic diagram of mounting bracket.
Fig. 7 is the inclined-plane fixed plate structure schematic diagram of mounting bracket.
Fig. 8 is the longitudinal side fixed plate structure schematic diagram of mounting bracket.
Fig. 9 is the transverse side fixed plate structure schematic diagram of mounting bracket.
The inclined-plane fixed plate structure schematic diagram of Figure 10 mounting brackets.
Figure 11 is image processing system block diagram.
Figure 12 is image sensing module structured flowchart.
Figure 13 is programmable gate array program flow chart.
Figure 14 image mosaic subroutine flow charts.
Figure 15 programmable gate array circuit diagram Part I.
Figure 16 is programmable gate array circuit diagram Part II.
Figure 17 is programmable gate array circuit diagram Part III.
Figure 18 is programmable gate array circuit diagram Part IV.
Video compression circuit Part I in Figure 19 compression of images and its peripheral circuit.
Video compression circuit Part II in Figure 20 compression of images and its peripheral circuit.
Figure 21 is the imaging sensor control circuit in imaging sensor and its peripheral circuit.
Figure 22 is image sensor circuit Part I.
Figure 23 is image sensor circuit Part II.
Figure 24 is wireless communication module circuit.
In figure, 1 unmanned plane, 2 mounting brackets, 3 image processing systems, 4 unmanned motor spindle mounting planes, 5 bottom plates, 6-1,6- 2 fixed plates, 7-1,7-2 supporting plate, 8-1~8-9 image sensing modules, 9 programmable gate arrays and peripheral circuit, 10 wireless biographies Defeated module, 11 Video compression chips and its peripheral circuit, 12 camera lenses, 13 mounting boxs, 14 sensing circuits, 30 bottom plates ABCDEFGH, 31-1 longitudinal direction side panel ABJI, 31-2 longitudinal direction side panel EFQR, 32-1 skewback HAfe, 32-2 skewback BCLK, 32-3 skewbacks DEPO, 32-4 skewback FGTS, 33-1 longitudinal side fixed plate I Jji, 33-2 longitudinal side fixed plate QRrq, 34-1 inclined-planes fixed plate efhg, 34-2 inclined-planes fixed plate KLlk, 34-3 inclined-planes fixed plate OPpo, 34-4 inclined-planes fixed plate STts, 35-1 cross side panel GHVd, 35-2 cross side panel CDNM, 36-1 transverse side fixed plate dVvc, 36-2 transverse sides are fixed Plate MNnm；
Supporting plate 7-1,7-2 includes skewback HAfe 32-1, BCLK 32-2, DEPO 32-3, FGTS 32-4, longitudinal direction side Panel ABJI 31-1, EFQR 31-2 and cross side panel GHVd 35-1, CDNM 35-2；
Fixed plate 6-1,6-2 fixed plate I containing longitudinal side Jji 33-1, QRrq 33-2, transverse side fixed plate dVvc 36-1, MNnm 36-2 and inclined-plane fixed plate efhg 34-1, KLlk 34-2, OPpo 34-3, STts 34-4.
Side panel includes longitudinal direction side panel ABJI, EFQR and cross side panel GHVd, CDNM.
Embodiment
Panoramic camera is made up of two parts, mounting bracket and image processing system.Image processing system, which is arranged on, to be installed On support.Mounting bracket is fixed on unmanned motor spindle.As shown in Figure 1.
Referring to Fig. 2.Mounting bracket is formed by connecting by multiple flat boards, and flat board is made up of light material, is connected between each flat board Mode is as shown in Figure 2.
Support includes bottom plate ABCDEFGH 30, longitudinal direction side panel ABJI 31-1, longitudinal direction side panel EFQR 31-2, inclined-plane Plate HAfe32-1, skewback BCLK32-2, skewback DEPO 32-3, skewback FGTS 32-4, longitudinal side fixed plate IJji33-1, longitudinal side fixed plate QRrq33-2, inclined-plane fixed plate efhg34-1, inclined-plane fixed plate KLlk34-2, inclined-plane are solid Fixed board OPpo34-3, inclined-plane fixed plate STts 34-4, cross side panel GHVd35-1, cross side panel CDNM 35-2, laterally Side fixed plate dVvc36-1, transverse side fixed plate MNnm36-2.
Longitudinal direction side panel ABJI 31-1 are connected by AB sides with bottom plate ABCDEFGH, and longitudinal direction side panel EFQR31-2 passes through EF sides are connected with bottom plate ABCDEFGH.
Skewback BCLK32-2 is connected by BC sides with bottom plate ABCDEFGH, and skewback DEPO32-3 passes through DE sides and bottom plate ABCDEFGH connections, skewback FGTS 32-4 are connected by FG sides with bottom plate ABCDEFGH, and skewback HAfe 32-1 pass through AH Side is connected with bottom plate ABCDEFGH 30.
Longitudinal side fixed plate I Jji 33-1 are connected by IJ sides with longitudinal direction side panel ABJI31-1, and longitudinal side is fixed Plate QRrq33-2 is connected by QR sides with longitudinal direction side panel EFQR31-2.
Inclined-plane fixed plate KLlk 34-2 are connected by KL sides with skewback BCLK 32-2, inclined-plane fixed plate OPpo 34-3 It is connected by OP sides with skewback DEPO32-3, inclined-plane fixed plate STts34-4 is connected by TS sides with skewback FGTS 32-4, Inclined-plane fixed plate efhg34-1 is connected by ef sides with skewback HAfe 32-1.
Cross side panel CDNM 35-2 are connected by CD sides with bottom plate ABCDEFGH 30, and cross side panel GHVd35-1 leads to GH sides are crossed to be connected with bottom plate ABCDEFGH 30.
Transverse side fixed plate MNnm 36-2 are connected by MN sides with cross side panel CDNM 35-2, and transverse side is fixed Plate dVvc36-1 is connected by dV sides with cross side panel GHVd35-1.
Referring to Fig. 3.Unmanned motor spindle mounting plane 4 refers to that installation of the unmanned motor spindle for installing panoramic camera is put down Face, when unmanned plane horizontal positioned, unmanned motor spindle mounting plane is on horizontal plane.
Parallel to unmanned motor spindle mounting plane during the installations of bottom plate ABCDEFGH 30.
Supporting plate 7-1,7-2 HAfe32-1 containing skewback, BCLK32-2, DEPO32-3, FGTS32-4, longitudinal direction side panel ABJI31-1, EFQR31-2 and cross side panel GHVd35-1, CDNM35-2, image sensing module are arranged on supporting plate 7-1,7- On 2, supporting plate 7-1,7-2 connecting bottom board 30 and fixed plate 6-1,6-2.
Fixed plate 6-1,6-2 fixed plate I containing longitudinal side Jji 33-1, QRrq33-2, transverse side fixed plate dVvc36- 1st, MNnm36-2 and inclined-plane fixed plate efhg34-1, KLlk34-2, OPpo34-3, STts34-4, fixed plate 6-1,6-2 will be installed Support is fixed on unmanned motor spindle mounting plane；Longitudinal side fixed plate I Jji33-1, QRrq33-2, transverse side fixed plate DVvc36-1, MNnm36-2 and inclined-plane fixed plate efhg34-1, KLlk34-2, OPpo34-3, STts34-4 in one plane, And it is parallel with bottom plate ABCDEFGH 30.
If the distance between plane and bottom plate 30 where fixed plate 6-1,6-2 are u, u is more than 2yw.
Referring to Fig. 4~Figure 10.
Bottom plate ABCDEFGH30 sizes are determined according to unmanned plane size；AB is parallel to each other with EF, if AB length is image A times of the length xw in sensor sensing face, i.e. AB=EF=axw, and require that a is more than 3；CD=HG=ayw；CD while and put down during HG OK, it is and vertical with AB and EF sides；BEDC, AHGF are isosceles trapezoid, AH=GF=BC=ED=aw (x+y)/2；
AF=BE
Longitudinal direction side panel ABJI31-1, EFQR31-2 size is identical, illustrates by taking cross side panel ABJI 31-1 as an example： Longitudinal direction side panel ABJI31-1 is rectangle, wherein, AB=IJ=axw
Cross side panel GHVd35-1, CDNM35-2 size is identical, illustrates by taking cross side panel CDNM 35-2 as an example
CD=MN=ayw；
Skewback HAfe32-1, skewback BCLK32-2, skewback DEPO32-3, skewback FGTS32-4 size phase Together, all it is rectangle, is illustrated with skewback BCLK32-2,
BC=KL=aw (x+y)/2；
Longitudinal side fixed plate I Jji 33-1, longitudinal side fixed plate QRrq33-2 sizes are identical, are all rectangles；
Illustrate by taking longitudinal side fixed plate I Jji 33-1 as an example；
IJ=ji=axw；Ii=Ji, and Ii, Jj length are more than 3 millimeters；
Transverse side fixed plate dVvc36-1, transverse side fixed plate MNnm36-2 sizes are identical, are all rectangles；
Illustrate by taking the fixed plate MNnm36-2 of side as an example；
MN=nm=ayw；Mm=Nn, and Mm, Nn length are more than 3 millimeters；Inclined-plane fixed plate efhg34-1, inclined-plane fixed plate KLlk34-2, inclined-plane fixed plate OPpo34-3, inclined-plane fixed plate STts 34-4 sizes are identical, are all rectangles；With inclined-plane fixed plate Illustrate exemplified by KLlk34-2,
KL=lk=aw (x+y)/2；
Kk=Ll, and Kk, Ll length are more than 3 millimeters.
Referring to Figure 11.Image processing system is by image sensing module 8-1~8-9, programmable gate array and peripheral circuit 9th, wireless transport module 10, Video compression chip and its peripheral circuit 11 are constituted.
Nine image sensing module 8-1~8-9 are separately mounted to bottom plate ABCDEFGH 30, cross side panel GHVd35-1, CDNM 35-2, longitudinal direction side panel ABJI 31-1, EFQR31-2, skewback HAfe32-1, BCLK32-2, DEPO32-3, On FGTS32-4, it is connected by control signal wire and pixel intensity signal connecting line with programmable gate array and peripheral circuit.
Programmable gate array and peripheral circuit 9 pass through control signal wire and pixel intensity signal connecting line and nine images Sensing module 8-1~8-9 connections, is connected with wireless transport module 10 by communication link wiring, is connected by video output signals Line is connected with video compress signal connecting line with Video compression chip and its peripheral circuit 11.
Wireless transport module 10 is connected by communication link wiring with programmable gate array and peripheral circuit 9, will be programmable Data after gate array and peripheral circuit 9 are handled pass through wireless transmission to distant place.
Video compression chip and its peripheral circuit 11 pass through video output signals connecting line and video compress signal Connecting line is connected with programmable gate array and peripheral circuit 9.
Referring to Figure 12.Image sensing module is made up of camera lens 12, mounting box 13, sensing circuit 14.
Mounting box, to seal lighttight box, is cube or cylinder, mounting box has two parallel planes, one Plane is used to install camera lens, and another plane is used to be fixed on bottom plate, side panel or skewback.The plane center of camera lens is installed Centre is provided with the circular internal sealing plug for installing camera lens, and the diameter of silk mouthful is identical with the external sealing plug diameter of camera lens.
Camera lens is tight shot, as needed selection different focal camera lens；The specification of nine camera lenses is identical.
Sensing circuit is used for the image for sensing camera lens, has imaging sensor on sensing circuit, it is ensured that on sensing circuit The induction planes of imaging sensor are parallel with camera lens, and camera lens center on the image sensor be projected in image sensing On the center of device；Mounting box be arranged in bottom plate, side panel or skewback, it is ensured that the induction planes of imaging sensor with Bottom plate, side panel or plane where skewback are parallel.
Image sensing module on bottom plate ABCDEFGH 30, the longitudinal edge of imaging sensor is parallel with AB sides.Figure As the center of sensor is directed at the center of bottom plate.
2 image sensing modules on 2 longitudinal direction side panel ABJI 31-1, EFQR 31-2, imaging sensor Longitudinal edge it is parallel with AB, EF side respectively；The center of imaging sensor is directed at the center of side panel.
2 image sensing modules on 2 cross side panel GHVd 35-1, CDNM 35-2, imaging sensor Widthwise edge it is parallel with CD, GH side respectively；The center of imaging sensor is directed at the center of side panel.
4 image sensings on 4 skewback HAfe 32-1, BCLK 32-2, DEPO 32-3, FGTS 32-4 Module, the BC of the skewback that the longitudinal edge of imaging sensor is installed with it is in, DE, angles of the FG in, HA is arctan (y/ X) spend；The center of the center alignment skewback of imaging sensor.
In the present embodiment, imaging sensor uses the ICX205 of Sony Corporation；X=1360, y=1024, w=4.65um, If u=4yw=19.0mm.
Camera lens rises imperial industrial lens using Amada Co., Ltd..Model：TAMRON 17HF；Focal length：16mm；I.e.：Z= 16mm；
Mounting bracket in the present embodiment is made by light aluminum alloy, and the length of side of each panel is as follows：
Mounting bracket is made by light aluminum alloy, and the length of side of each panel is calculated as follows：
A=10；
AB=IJ=EF=QR=axw=10*1024*4.65um=63.2mm
CD=MN=HG=Vd=BD=ayw=10*1360*4.65um=47.6mm
AH=GF=BC=ED=aw (x+y)/2=55.4mm；
Programmable gate array circuit diagram Part I~4th in the programmable gate array and peripheral circuit of the present embodiment Part is referring to accompanying drawing 15~18.Programmable gate array:U1, using Xilnx companies, X3S1200.
The Video compression circuit of compression of images and its peripheral circuit is referring to Figure 19, Figure 20.Video compress chip:U12, Produced for TOKYO companies, model TE3310.
Figure 21 is the imaging sensor control circuit in imaging sensor and its peripheral circuit.
U6：TI companies produce, model：SN74LVC16245.
Image sensor circuit is referring to Figure 22, Figure 23.Wherein, UCI produces for Sony Corporation, model ICX205.
Figure 24 is wireless communication module circuit.Wherein, U7 is CC2520:Wirelessly transferred chip/U.S. TEXAS INSTRUMENTS companies produce.U14:CC2591:It is wirelessly transferred front-end chip/TEXAS INSTRUMENTS companies of U.S. life Production.
The image processing method of this nine camera lens unmanned plane panoramic camera：
Programmable gate array and peripheral circuit 9 are uniformly controlled image sensing module 8-1~8-9 mode of operation, receive Image sensing module signal, is handled image sensing module signal, and video pressure is given by the image sensing data after processing Contracting process chip and its peripheral circuit 11, receive the picture number after Video compression chip and the compression of its peripheral circuit According to giving wireless transport module 10 by the view data after compression and be wirelessly transferred.
Referring to Figure 13.
The program circuit of programmable gate array：
The first step：Identical control signal is sent to nine imaging sensors, the imaging sensor control signal sent Have：Field sync signal, line synchronising signal, clock signal, driver' s timing signal, exposure control signal goes to second step；
Second step：The pixel intensity signal of nine imaging sensors is received, the 3rd step is gone to；
3rd step：Bayer image processing and white balance processing are carried out to the pixel intensity signal of nine imaging sensors, obtained The rgb signal of each pixel after to white balance processing, goes to the 4th step；
4th step：Image mosaic subprogram is called, the 5th step is gone to；
5th step：Video compression chip is given by spliced rgb format picture signal, the 6th step is gone to；
6th step：The view data after compression is received from Video compression chip, the 7th step is gone to；
7th step：Wireless transport module is given by the view data after the compression received to be wirelessly transferred, and goes to One step.
Referring to Figure 14.
Image mosaic subprogram is carried out in accordance with the following steps：The longitudinal pixel of spliced image a total of PX is set, it is horizontal To pixel a total of PY, longitudinal pixel sorts by natural number successively from left to right, sequence serial number 1,2,3,4 ..., PX- 1、PX；Horizontal pixel sorts by natural number successively from top to bottom, be ordered as 1,2,3,4 ..., PY-1, PY；The image of pixel is spelled Connect subprogram：
The first step：PX=x+3x, PY=3y；Into second step；
Second step：Stitching image as follows：
The RGB data that the imaging sensor that bottom plate is installed is obtained is spliced in longitudinal pixel sequence number from x+1 to 2x, horizontal pixel In sequence number is interval from y+1 to 2y；
The RGB data splicing that the imaging sensor that longitudinal direction side panel ABJI31-1 is installed is obtained is in longitudinal pixel sequence number from x+ 1 arrives 2x, and horizontal pixel sequence number is interval interior from 1 to y；
The RGB data splicing that the imaging sensor that longitudinal direction side panel EFQR 31-2 are installed is obtained is in longitudinal pixel sequence number from x + 1 arrives 2x, and horizontal pixel sequence number is interval interior from 2y+1 to 3y；
The RGB data that the imaging sensor that skewback HAfe32-1 is installed is obtained, splices in longitudinal pixel sequence number from 1 to x, In horizontal pixel sequence number is interval from 1 to y；
The obtained RGB data of imaging sensor that skewback BCLK32-2 is installed, splicing is in longitudinal pixel sequence number from 2x+1 To 3x, horizontal pixel sequence number is from 1 to y in interval；
The obtained RGB data of imaging sensor that skewback DEPO32-3 is installed, splicing is in longitudinal pixel sequence number from 2x+1 To 3x, horizontal pixel sequence number is from 2y+1 to 3y in interval；
The obtained RGB data of imaging sensor that skewback FGTS 32-4 are installed, splicing longitudinal pixel sequence number from 1 to X, horizontal pixel sequence number is interval interior from 2y+1 to 3y；
The RGB data that the imaging sensor that cross side panel GHVd is installed is obtained is spliced in longitudinal pixel sequence number from 1 to x, In horizontal pixel sequence number is interval from y+1 to 2y；
Cross side panel CDNM install imaging sensor obtain RGB data splicing longitudinal pixel sequence number from 2x+1 to 3x, horizontal pixel sequence number is interval interior from y+1 to 2y；
3rd step：Main program is returned after image mosaic.

Claims (8)

1. a kind of nine camera lenses unmanned plane panoramic camera, it is characterised in that：Panoramic camera is made up of two parts, mounting bracket and Image processing system；Image processing system is arranged in mounting bracket；Mounting bracket is fixed on unmanned motor spindle；
Tight shot of the image processing system comprising 9 identical imaging sensors and 9 same sizes, if imaging sensor sense The pixel answered is longitudinally x pixels, is laterally y pixels (x>Y), the length of sensing pixels and width are all w；Set the focal lengths of zoom lens as Z, then the length in image sensor senses face is xw, and width is yw；
Order
That is α is equal to twice of 0.5xw/z arctan function, and β is equal to twice of 0.5yw/z arctan function,
α and β unit is degree；
Mounting bracket is formed by connecting by multiple flat boards, ABCDEFGH containing bottom plate (30), side panel, skewback and fixed plate；Sideways Plate includes longitudinal direction side panel and cross side panel；
Fixed plate includes longitudinal side fixed plate, inclined-plane fixed plate and transverse side fixed plate, and longitudinal side fixed plate, inclined-plane are solid Fixed board and transverse side fixed plate collectively form fixed plate (6-1,6-2)；
Side panel and skewback constitute supporting plate (7-1,7-2)；
Image sensing module is arranged in supporting plate (7-1,7-2) and bottom plate (30), supporting plate (7-1,7-2) connecting bottom board (30) With fixed plate (6-1,6-2)；
Fixed plate (6-1,6-2) mounting bracket is fixed on unmanned motor spindle mounting plane；All fixed plates in one plane, and And it is parallel with bottom plate ABCDEFGH (30)；
If the distance between plane and bottom plate (30) where fixed plate (6-1,6-2) are u, u is more than 2yw；During installation, bottom plate is put down Row is in unmanned motor spindle mounting plane.
2. nine camera lenses unmanned plane panoramic camera as claimed in claim 1, it is characterised in that：
The side panel includes longitudinal direction side panel and cross side panel refers to：Longitudinal direction side panel ABJI (31-1), longitudinal direction side panel EFQR (31-2), cross side panel GHVd (35-1), cross side panel CDNM (35-2)；
The skewback refers to skewback HAfe (32-1), skewback BCLK (32-2), skewback DEPO (32-3), skewback FGTS(32-4)；
The fixed plate refers to including longitudinal side fixed plate, inclined-plane fixed plate and transverse side fixed plate：Longitudinal side is fixed Plate IJji (33-1), longitudinal side fixed plate QRrq (33-2), inclined-plane fixed plate efhg (34-1), inclined-plane fixed plate KLlk (34- 2), inclined-plane fixed plate OPpo (34-3), inclined-plane fixed plate STts (34-4), cross side panel GHVd (35-1), cross side panel CDNM (35-2), transverse side fixed plate dVvc (36-1), transverse side fixed plate MNnm (36-2)；
Supporting plate (7-1,7-2) HAfe containing skewback (32-1), skewback BCLK (32-2), skewback DEPO (32-3), inclined-plane Plate FGTS (32-4), longitudinal direction side panel ABJI (31-1), longitudinal direction side panel EFQR (31-2) and cross side panel GHVd (35-1), Cross side panel CDNM (35-2), image sensing module is arranged in supporting plate (7-1,7-2) and bottom plate ABCDEFGH (30), branch Fagging (7-1,7-2) connecting bottom board (30) and fixed plate (6-1,6-2)；
All fixed plates in one plane, and parallel with bottom plate ABCDEFGH (30) refer to：Longitudinal side fixed plate I Jji (33-1), longitudinal side fixed plate QRrq (33-2), transverse side fixed plate dVvc (36-1), transverse side fixed plate MNnm (36-2) and inclined-plane fixed plate efhg (34-1), inclined-plane fixed plate KLlk (34-2), inclined-plane fixed plate OPpo (34-3), inclined-plane are solid Fixed board STts (34-4) is in one plane, and parallel with bottom plate ABCDEFGH (30).
3. nine camera lenses unmanned plane panoramic camera as claimed in claim 1, it is characterised in that：
Bottom plate (30) size is determined according to unmanned plane size；AB is parallel to each other with EF, and ABEF is rectangle, if AB length is A times of the length xw in image sensor senses face, i.e. AB=EF=axw, and require that a is more than 3；CD=HG=ayw；CD sides and HG Side is parallel, and vertical with AB and EF sides；BEDC, AHGF are isosceles trapezoid, AH=GF=BC=ED=aw (x+y)/2；
AF=BE
<mrow> <mi>A</mi> <mi>F</mi> <mo>=</mo> <mi>B</mi> <mi>E</mi> <mo>=</mo> <mfrac> <mrow> <mi>a</mi> <mi>y</mi> <mi>w</mi> <mrow> <mo>(</mo> <mi>x</mi> <mo>+</mo> <mi>y</mi> <mo>+</mo> <msqrt> <mrow> <msup> <mi>x</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>y</mi> <mn>2</mn> </msup> </mrow> </msqrt> <mo>)</mo> </mrow> </mrow> <msqrt> <mrow> <msup> <mi>x</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>y</mi> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
Longitudinal direction side panel ABJI (31-1), longitudinal direction side panel EFQR (31-2) size are identical, with longitudinal direction side panel ABJI (31-1) Exemplified by illustrate, longitudinal direction side panel ABJI (31-1) is rectangle, wherein, AB=IJ=axw
<mrow> <mi>A</mi> <mi>I</mi> <mo>=</mo> <mi>B</mi> <mi>J</mi> <mo>=</mo> <mfrac> <mi>u</mi> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;beta;</mi> </mrow> </mfrac> </mrow>
Cross side panel GHVd (35-1), cross side panel CDNM (35-2) size are identical, with cross side panel CDNM (35-2) Exemplified by illustrate
CD=MN=ayw；
<mrow> <mi>C</mi> <mi>M</mi> <mo>=</mo> <mi>D</mi> <mi>N</mi> <mo>=</mo> <mfrac> <mi>u</mi> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;alpha;</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Skewback HAfe (32-1), skewback BCLK (32-2), skewback DEPO (32-3), skewback FGTS (32-4) size It is identical, all it is rectangle, illustrates by taking skewback BCLK (32-2) as an example,
BC=KL=aw (x+y)/2；
<mrow> <mi>B</mi> <mi>K</mi> <mo>=</mo> <mi>C</mi> <mi>L</mi> <mo>=</mo> <mi>u</mi> <msqrt> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <msup> <mi>cot</mi> <mn>2</mn> </msup> <mi>&amp;alpha;</mi> <mo>+</mo> <msup> <mi>cot</mi> <mn>2</mn> </msup> <mi>&amp;beta;</mi> <mo>)</mo> </mrow> </msqrt> </mrow>
Longitudinal side fixed plate I Jji (33-1), longitudinal side fixed plate QRrq (33-2) size are identical, are all rectangles；With longitudinal direction Illustrate exemplified by side fixed plate I Jji (33-1)；
IJ=ji=axw；Ii=Ji, and Ii, Jj length are more than 3 millimeters；
Transverse side fixed plate dVvc (36-1), transverse side fixed plate MNnm (36-2) size are identical, are all rectangles；With side Illustrate exemplified by fixed plate MNnm (36-2)；
MN=nm=ayw；Mm=Nn, and Mm, Nn length are more than 3 millimeters；
Inclined-plane fixed plate efhg (34-1), inclined-plane fixed plate KLlk (34-2), inclined-plane fixed plate OPpo (34-3), inclined-plane fixed plate STts (34-4) size is identical, is all rectangle；Illustrate by taking inclined-plane fixed plate KLlk (34-2) as an example,
KL=lk=aw (x+y)/2；
Kk=Ll, and Kk, Ll length are more than 3 millimeters.
4. nine camera lenses unmanned plane panoramic camera as claimed in claim 1, it is characterised in that：
Described image processing system is by image sensing module (8-1~8-9), programmable gate array and peripheral circuit (9), wireless Transport module (10), Video compression chip and its peripheral circuit (11) are constituted；
Nine image sensing modules (8-1~8-9) are separately mounted to bottom plate ABCDEFGH (30), cross side panel GHVd (35- 1), cross side panel CDNM (35-2), longitudinal direction side panel ABJI (31-1), longitudinal direction side panel EFQR (31-2), skewback HAfe (32-1), skewback BCLK (32-2), skewback DEPO (32-3), on skewback FGTS (32-4), by control signal wire and Pixel intensity signal connecting line is connected with programmable gate array and peripheral circuit；
Programmable gate array and peripheral circuit (9) are passed by control signal wire and pixel intensity signal connecting line and nine images Feel module (8-1~8-9) connection, be connected, connected by video output signals with wireless transport module (10) by communication link wiring Wiring is connected with video compress signal connecting line with Video compression chip and its peripheral circuit (11)；
Wireless transport module (10) is connected by communication link wiring with programmable gate array and peripheral circuit (9), will be programmable Data after gate array and peripheral circuit (9) processing are by wireless transmission at a distance；
Video compression chip and its peripheral circuit (11) are connected by video output signals connecting line and video compress signal Wiring is connected with programmable gate array and peripheral circuit (9).
5. nine camera lenses unmanned plane panoramic camera as claimed in claim 4, it is characterised in that：
Image sensing module is made up of camera lens (12), mounting box (13), sensing circuit (14)；
Mounting box, to seal lighttight box, is cube or cylinder, mounting box has two parallel planes, a plane For installing camera lens, another plane is used to be fixed on bottom plate, side panel or skewback；The plane centre for installing camera lens is opened There is the circular internal sealing plug for installing camera lens, the diameter of silk mouthful is identical with the external sealing plug diameter of camera lens；
Camera lens is tight shot, as needed selection different focal camera lens；The specification of nine camera lenses is identical；
Sensing circuit is used for the image for sensing camera lens, has imaging sensor on sensing circuit, it is ensured that the image on sensing circuit The induction planes of sensor are parallel with camera lens, and camera lens center on the image sensor be projected in imaging sensor On center；Mounting box is arranged in bottom plate, side panel or skewback, it is ensured that the induction planes and bottom plate of imaging sensor, Plane where side panel or skewback is parallel；
Image sensing module on bottom plate ABCDEFGH (30), the longitudinal edge of imaging sensor is parallel with AB sides；Image The center of sensor is directed at the center of bottom plate；
2 image sensing modules on 2 longitudinal direction side panel ABJI (31-1), EFQR (31-2), imaging sensor Longitudinal edge is parallel with AB, EF side respectively；The center of imaging sensor is directed at the center of side panel；
2 image sensing modules on 2 cross side panel GHVd (35-1), CDNM (35-2), imaging sensor Widthwise edge is parallel with CD, GH side respectively；The center of imaging sensor is directed at the center of side panel
4 image sensings on 4 skewback HAfe (32-1), BCLK (32-2), DEPO (32-3), FGTS (32-4) Module, the BC of the skewback that the longitudinal edge of imaging sensor is installed with it is in, DE, angles of the FG in, HA is arctan (y/ X) spend；The center of the center alignment skewback of imaging sensor.
6. the image processing method of the nine camera lens unmanned plane panoramic cameras as constructed by claim 1, it is characterised in that：It can compile Journey gate array and peripheral circuit (9) are uniformly controlled image sensing module (8-1~8-9) mode of operation, receive image sensing Module by signal, is handled image sensing module signal, and Video compression core is given by the image sensing data after processing Piece and its peripheral circuit (11), receive the view data after Video compression chip and the compression of its peripheral circuit, will press View data after contracting is given wireless transport module (10) and is wirelessly transferred.
7. the image processing method of the nine camera lens unmanned plane panoramic cameras as constructed by claim 1, it is characterised in that：It can compile Journey gate array program flow：
The first step：Identical control signal is sent to nine imaging sensors, the imaging sensor control signal sent has： Synchronizing signal, line synchronising signal, clock signal, driver' s timing signal, exposure control signal goes to second step；
Second step：The pixel intensity signal of nine imaging sensors is received, the 3rd step is gone to；
3rd step：Bayer image processing and white balance processing are carried out to the pixel intensity signal of nine imaging sensors, obtain white The rgb signal of each pixel after Balance Treatment, goes to the 4th step；
4th step：Image mosaic subprogram is called, the 5th step is gone to；
5th step：Video compression chip is given by spliced rgb format picture signal, the 6th step is gone to；
6th step：The view data after compression is received from Video compression chip, the 7th step is gone to；
7th step：Wireless transport module is given by the view data after the compression received to be wirelessly transferred, and goes to the first step.
8. the image processing method of the nine camera lens unmanned plane panoramic camera systems as constructed by claim 1, it is characterised in that： Image mosaic subprogram is carried out in accordance with the following steps：The longitudinal pixel of spliced image a total of PX is set, horizontal pixel is total Shared PY, longitudinal pixel sorts by natural number successively from left to right, sequence serial number 1,2,3,4 ..., PX-1, PX；Laterally Pixel sorts by natural number successively from top to bottom, be ordered as 1,2,3,4 ..., PY-1, PY；The image mosaic subprogram of pixel：
The first step：PX=3x, PY=3y；Into second step；
Second step：Stitching image as follows：
The RGB data that the imaging sensor that bottom plate is installed is obtained is spliced in longitudinal pixel sequence number from x+1 to 2x, horizontal pixel sequence number It is interval interior from y+1 to 2y；
The RGB data that the imaging sensor that longitudinal direction side panel ABJI is installed is obtained is spliced in longitudinal pixel sequence number from x+1 to 2x, horizontal To pixel sequence number from 1 to y in interval；
The RGB data that the imaging sensor that longitudinal direction side panel EFQR is installed is obtained is spliced in longitudinal pixel sequence number from x+1 to 2x, horizontal To pixel sequence number from 2y+1 to 3y interval in；
The RGB data that the imaging sensor that skewback HAfe is installed is obtained, splices in longitudinal pixel sequence number from 1 to x, horizontal pixel In sequence number is interval from 1 to y；
The RGB data that the imaging sensor that skewback BCLK is installed is obtained, splices in longitudinal pixel sequence number from 2x+1 to 3x, laterally In pixel sequence number is interval from 1 to y；
The RGB data that the imaging sensor that skewback DEPO is installed is obtained, splices in longitudinal pixel sequence number from 2x+1 to 3x, laterally In pixel sequence number is interval from 2y+1 to 3y；
The RGB data that the imaging sensor that skewback FGTS is installed is obtained, splices in longitudinal pixel sequence number from 1 to x, horizontal pixel In sequence number is interval from 2y+1 to 3y；
The RGB data that the imaging sensor that cross side panel GHVd is installed is obtained is spliced in longitudinal pixel sequence number from 1 to x, laterally In pixel sequence number is interval from y+1 to 2y；
The RGB data that the imaging sensor that cross side panel CDNM is installed is obtained is spliced in longitudinal pixel sequence number from 2x+1 to 3x, In horizontal pixel sequence number is interval from y+1 to 2y；
3rd step：Main program is returned after image mosaic.
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