CN105759535B - The optical axis of the lens module of unmanned aerial vehicle changes compensation device and its compensation method - Google Patents
The optical axis of the lens module of unmanned aerial vehicle changes compensation device and its compensation method Download PDFInfo
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- CN105759535B CN105759535B CN201610256264.2A CN201610256264A CN105759535B CN 105759535 B CN105759535 B CN 105759535B CN 201610256264 A CN201610256264 A CN 201610256264A CN 105759535 B CN105759535 B CN 105759535B
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
- G03B5/04—Vertical adjustment of lens; Rising fronts
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Abstract
The invention discloses a kind of optical axises of the lens module of unmanned aerial vehicle to change compensation device and its compensation method, including being equipped with photographic device on the fuselage of unmanned aerial vehicle, what photographic device was equipped with is used to change driving portion of the photographic device relative to the angle of fuselage, and driving portion controls the rotational angle of photographic device.The optical axis of the lens module of this unmanned aerial vehicle changes compensation device and its compensation method, when the eyeglass in photographic device is mobile, when center of gravity can shift, the rotational angle for the driving portion control photographic device that photographic device is equipped with is used to compensate, offset data matches the corresponding adjusting of angle according to the moving distance of eyeglass, solves compensation problem of the unmanned aerial vehicle when optical axis changes, improves the stability of shooting picture, high-quality picture is obtained, the present invention is suitable for unmanned plane field.
Description
Technical field
The present invention relates to unmanned plane fields, change compensation dress more particularly to a kind of optical axis of the lens module of unmanned aerial vehicle
It sets and its compensation method.
Background technique
Currently, unmanned aerial vehicle for the purpose of improving operability and energy-saving, is sent out towards miniaturization, light-weighted direction
Exhibition, but when photographic device is loaded on unmanned aerial vehicle, the gravity center shift of mobile the brought photographic device of focus-variable lens can be led
Unmanned aerial vehicle swing is caused, is changed so as to cause the optical axis of photographic device, causes camera shooting difficult, user can usually shoot
Less than image required for oneself.
Summary of the invention
To solve the above problems, what the optical axis that the present invention provides a kind of lens module generated by the movement of eyeglass changed
The optical axis of the lens module of unmanned aerial vehicle changes compensation device and its compensation method.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of optical axis variation compensation device of the lens module of unmanned aerial vehicle, including what is be equipped on the fuselage of unmanned aerial vehicle
Photographic device, what photographic device was equipped with is used to change driving portion of the photographic device relative to the angle of fuselage, driving portion control
The rotational angle of photographic device.
It is further used as the improvement of technical solution of the present invention, and the appearance for detecting photographic device is additionally provided in photographic device
The attitude sensor that gesture changes, the signal of attitude sensor are sent to driving portion and control driving portion.
It is further used as the improvement of technical solution of the present invention, is equipped with lens module in photographic device, photographic device it is outer with
Central axis extending direction on the orthogonal direction of the optical axis direction of lens module is equipped with bearing, and driving portion is equipped with and bearing is same
One side upwardly extends and is entrenched in the rotary shaft on bearing.
It is further used as the improvement of technical solution of the present invention, and driving portion is equipped with driving mechanism and is equipped with circle on output shaft
Shape gear, photographic device are equipped with the sector gear engaged with circular gear.
It is further used as the improvement of technical solution of the present invention, and support arm is additionally provided between driving portion and fuselage.
It is further used as the improvement of technical solution of the present invention, and support arm is perpendicular to and at immediately below fuselage main body.
A kind of optical axis of the lens module by unmanned aerial vehicle changes the compensation method of compensation device, comprising the following steps:
A. the optical axis of the photographic device on fuselage generates variation；
B. the rotational angle compensation of driving portion control photographic device is because changing the centre-of gravity shift generated.
It is further used as the improvement of technical solution of the present invention, and in step A, fuselage is equipped with control unit, and control unit is set
There are control unit, reservoir and image processing part, reservoir is stored with the focal length of lens module and the camera shooting relative to fuselage
The corresponding relation data of the variation angle of device.
It is further used as the improvement of technical solution of the present invention, and image processing part is extracted out in each image data contained multiple
Characteristic point and the variation for parsing the characteristic point therefrom extracted out.
It is further used as the improvement of technical solution of the present invention, and control unit controls driving portion, and the angle of photographic device occurs
Change to compensate the variation of optical axis.
Beneficial effects of the present invention: the optical axis of the lens module of this unmanned aerial vehicle changes compensation device and its compensation method,
When the eyeglass in photographic device is mobile, when center of gravity can shift, the driving portion that photographic device is equipped with controls photographic device
Rotational angle is used to compensate, and offset data matches the corresponding adjusting of angle according to the moving distance of eyeglass, solves unmanned aerial vehicle and exists
Compensation problem when optical axis changes, improves the stability of shooting picture, obtains high-quality picture.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the overall structure diagram of the heretofore described unmanned aerial vehicle of user's operation；
Fig. 2 is the main view of unmanned aerial vehicle described in the embodiment of the present invention；
Fig. 3 is the side sectional view of unmanned aerial vehicle described in the embodiment of the present invention；
Fig. 4 is the side that unmanned aerial vehicle described in the embodiment of the present invention is in heeling condition because of the movement of eyeglass when zooming
Face cross-sectional view；
Fig. 5 is the side sectional view for the compensating coefficient that the optical axis of lens module described in the embodiment of the present invention changes；
Fig. 6 is the control figure of unmanned aerial vehicle described in the embodiment of the present invention；
Fig. 7 is the table of memory store data inside described in the embodiment of the present invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.
Referring to Figure 1 to Figure 7, the present invention is that a kind of optical axis of the lens module of unmanned aerial vehicle changes compensation device, is included in
The photographic device 300 that the fuselage 200 of unmanned aerial vehicle 100 is equipped with, what photographic device 300 was equipped with is used to change photographic device
300 driving portion 260 relative to the angle of fuselage 200, driving portion 260 control the rotational angle of photographic device 300.
The optical axis of the lens module of this unmanned aerial vehicle changes compensation device, when the eyeglass movement in photographic device 300, center of gravity
When can shift, the rotational angle that the driving portion 260 that photographic device 300 is equipped with controls photographic device 300 is used to compensate, and mends
It repays data and the corresponding adjusting of angle is matched according to the moving distance of eyeglass, solve compensation of the unmanned aerial vehicle when optical axis changes and ask
Topic, improves the stability of shooting picture, obtains high-quality picture.
As a preferred embodiment of the present invention, the appearance for detecting photographic device 300 is additionally provided in photographic device 300
The attitude sensor 340 that gesture changes, the signal of attitude sensor 340 are sent to driving portion 260 and control driving portion 260.
As a preferred embodiment of the present invention, be equipped with lens module 320 in photographic device 300, photographic device 300 it is outer
With the central axis extending direction on the orthogonal direction of the optical axis direction of lens module 320 be equipped with bearing, driving portion 260 be equipped with
Bearing extends in the same direction and is entrenched in the rotary shaft on bearing.
As a preferred embodiment of the present invention, driving portion 260 is equipped with driving mechanism and is equipped with circle on output shaft
Gear, photographic device 300 are equipped with the sector gear engaged with circular gear.
As a preferred embodiment of the present invention, support arm 270 is additionally provided between driving portion 260 and fuselage 200.
As a preferred embodiment of the present invention, support arm 270 is perpendicular to and at 200 main body of fuselage underface.
A kind of optical axis of the lens module by unmanned aerial vehicle changes the compensation method of compensation device, comprising the following steps:
A. the optical axis of the photographic device 300 on fuselage 200 generates variation；
B. driving portion 260 controls the rotational angle compensation of photographic device 300 because changing the centre-of gravity shift generated.
As a preferred embodiment of the present invention, in step A, fuselage 200 is equipped with control unit 250, control unit 250
Equipped with control unit 252, reservoir 254 and image processing part 258, reservoir 254 be stored with lens module 320 focal length and
The corresponding relation data of the variation angle of photographic device 300 relative to fuselage 200.
As a preferred embodiment of the present invention, image processing part 258 extracts multiple spies contained in each image data out
Sign point and the variation for parsing the characteristic point therefrom extracted out.
As a preferred embodiment of the present invention, control unit 252 controls driving portion 260, sends out the angle of photographic device 300
Changing is to compensate the variation of optical axis.
The present invention provides one kind and flies in the sky, has fuselage, lens module, photographic device and driving portion and control
The unmanned aerial vehicle of the control unit of driving portion.The fuselage has rotor.The lens module contains eyeglass, can be according to the shifting of eyeglass
It moves and zoom.The photographic device supported by fuselage contains the image pickup part of image of the shooting from lens module.The driving portion energy
Change angle of the photographic device relative to fuselage.The control unit makes angle of the photographic device relative to fuselage by control driving portion
Degree changes, and is changed with compensating the optical axis of the lens module generated by the movement of eyeglass.
The present invention also provides the compensation methodes that a kind of optical axis of the lens module of unmanned aerial vehicle changes.It is that one kind passes through variation
The method that photographic device compensates the optical axis variation of the lens module generated by the movement of eyeglass relative to the angle of fuselage.It should
Unmanned aerial vehicle contains rotor, lens module and photographic device.Eyeglass in its lens module becomes because of the movement of eyeglass
It is burnt.Its photographic device is supported by fuselage, possesses the image pickup part that can shoot the image from lens module.
Symbol description, 10 users, 50 operating devices, 100 unmanned aerial vehicles, 200 fuselages, 212 the 1st rotors, 214 the 1st
Wing driving portion, 222 the 2nd rotors, 224 the 2nd wing driving portions, 232 the 3rd rotors, 234 the 3rd wing driving portions, 242 the 4th water
Flat rotor, 244 the 4th wing driving portions, 250 control units, 252 control units, 254 reservoirs, 256 communication units, 258 image procossings
Portion, 260 driving portions, 270 support portions, 300 photographic devices, 310 lens driving portions, 320 lens modules, 321 the 1st eyeglass groups, 322
2nd eyeglass group, 323 the 3rd eyeglass groups, 324 the 4th eyeglass groups, 325 focusing lens groups, 330 image pickup parts, 340 attitude sensors.
Fig. 1 is the entirety for the unmanned aerial vehicle 100 manipulated by user 10 that the embodiment of the present invention one is seen from tilt angle
Schematic diagram.Unmanned aerial vehicle 100 can be the baby plane to fly in the sky manipulated for outside.Unmanned aerial vehicle 100 has machine
Body 200 and the photographic device 300 supported by fuselage 200.However, unmanned aerial vehicle 100 is also possible to built-in GPS, compiled in advance
Enter half self-discipline row aircraft of control program relevant to course line etc., or can be all do not need the operation of user 10 it is complete from
Type of law aircraft.Unmanned aerial vehicle 100 is mounted with battery.
User 10 can use operating device 50 and send instruction to unmanned aerial vehicle 100 by wireless communication, to manipulate nothing
It the taking off of people's aircraft 100, airflight and falls.In addition it is also possible to operate the photographic device being loaded on unmanned aerial vehicle 100
300。
Photographic device 300 refers to the camera that image can be shot with zoom function.Photographic device 300 is along for fuselage 200
The camera lens optical axis supported is mobile.Emit the image signal toward operating device 50 from photographic device 300, it both can be from unmanned aerial vehicle
100 power supply to off before continuously emit, can also emit according under user 10 to the instruction of operating device 50.
Fuselage 200 contains X word shape, 4 X word ends, has the horizontal rotation in can rotate around each rotary shaft the 1st
The wing 212, the 2nd rotor 222, the 3rd rotor 232 and the 4th rotor 242.Fuselage 200 has and can make each level
The 1st wing driving portion 214, the 2nd wing driving portion 224, the 3rd wing driving portion 234 and the 4th that rotor rotates around rotary shaft respectively
Wing driving portion 244.DC motor built in 1st wing driving portion 214 etc. rotates the 1st wing driving portion 214 by the spinning force of DC motor
Deng.
Fuselage 200 has control unit 250 and driving portion 260.Control unit 250 controls the movement of unmanned aerial vehicle 100, drives
Dynamic portion 260 can make photographic device 300 mobile by specified direction.Control unit 250 is incorporated into the main part for being built in X word center
In miniature multi-purpose computer in point.Driving 260 is arranged on the front end of support arm 270, and support arm 270 is from this main part
It rises and hangs down in the underface divided.
Fig. 2 is the main view for the unmanned aerial vehicle 100 seen from front.Fig. 3 is cuing open for the unmanned aerial vehicle 100 being seen from the side
View.Fig. 3 is the cross-sectional view for the unmanned aerial vehicle 100 being seen from the side.It is equipped on the photographic device 300 supported by fuselage 200
There are lens module 320, image pickup part 330, driving portion 310 and attitude sensor 340.Lens module 320 is according to the shiftings of more pieces of eyeglasses
It moves and zoom.Image pickup part 330 shoots the image from lens module 320.More than 310 pieces of eyeglasses of driving portion are along lens module 320
Optical axis it is mobile.Attitude sensor 340 can detecte the posture of photographic device 300.
On Fig. 2 and Fig. 3, the center of gravity of fuselage 200 is illustrated with G1 and G2 respectively and in the shifting according to more pieces of eyeglasses
The center of gravity of lens module 320 when dynamic and A-stage before zoom.The whole center of gravity of unmanned aerial vehicle 100 is between G1 and G2
Position is indicated with G.The gravity axis of the center of gravity of fuselage 200 and the lens module 320 under same state respectively with along center of gravity G1 with
And the vector that the gravity direction of G2 extends illustrates.In this A-stage, the gravity axis and lens module 320 of fuselage 200
Gravity axis be position on the same axis, unmanned aerial vehicle 100 like this is exactly symmetrical structure, therefore unmanned aerial vehicle 100
Stable it can take off, fly and land.
Lens module 320 can refer to the internal LENS lens barrel for containing more pieces of eyeglasses.Lens module 320 includes the 1st eyeglass
The 321, the 2nd eyeglass group 322 of group, the 3rd eyeglass group 323, focusing lens group 325 and the 4th eyeglass group 324, these eyeglasses group is in 320
It configures in order.The optical axis of these eyeglasses groups such as the 1st eyeglass group 321 is indicated on Fig. 3 with A.1st eyeglass group 321 etc.
For zoom, the 1st eyeglass group 321 and the 3rd eyeglass group 323 are fixed on optical axis A, on the other hand, the 2nd eyeglass group 322 with
And the 4th eyeglass group 324 be mutually indepedent, and can be moved along optical axis A.Focusing lens group 325 is for focusing, from for zoom
It is independent in the eyeglasses groups such as the 1st eyeglass group 321, and can be moved along optical axis A.
Image pickup part 330 is configured on the optical axis A of the incident side and opposite side of being incident on 320 light of lens module, and is shot and
From the image of lens module 320.Image pickup part 330 refers to, such as CCD either CMOS photographing element.
Eyeglass driving portion 310 can control the number of revolutions of stepper motor or servomotor etc., the built-in horse for zoom
Reach and for focusing motor.The spinning force of motor can be become moving linearly by eyeglass driving portion 310, can make the 2nd eyeglass group
322, the 4th eyeglass group 324 and focusing lens group 325 move along optical axis A.From the point of view of the front of unmanned aerial vehicle 100, filled in camera shooting
The configuration composition for setting multiple materials in 300 should symmetrically, eyeglass driving portion 310 can be configured and be located at injection camera shooting
On the incident side of the light in portion 330 and the optical axis A to toss about.
The posture that attitude sensor 340 can detect photographic device 300 changes, such as it can be optics free gyroscope.For
The posture of photographic device 300, attitude sensor 340 are detected under the premise of not keeping off the light for being incident on lens module 320
It can be only fitted to, such as can be only fitted in the corner inside photographic device 300.
Driving portion 260 supports photographic device 300 with supporting mechanism on one side, changes photographic device 300 with driving mechanism on one side
Angle relative to fuselage 200.Supporting mechanism refers to, for example, the shape on the outside of the photographic device 300 on 260 opposite of driving portion
At the bearing that the central axis on the optical axis direction orthogonal direction with lens module 320 extends, can have and bearing in driving 260
Extend in the same direction and is entrenched in the rotary shaft on bearing.In this case, driving 260 is by making rotary shaft be entrenched in axis
It holds, so that photographic device 300 is supported, by rotary shaft and bearing, so that photographic device 300 be made to rotate.On the one hand, as drive
Motivation structure, for example, having been formed on the outside of the photographic device 300 on 260 opposite of driving portion using above-mentioned rotary shaft as rotation center
And periphery possesses the sector gear of multiple teeth, driving portion 260, which can have, can control stepper motor or servomotor etc
Number of revolutions motor and circular gear.The gear is supported have on periphery and sector gear by the rotary shaft of motor
Tooth is the tooth of shape of complementing each other.In this case, driving portion 260 stings the tooth of circular gear and sector teeth mutually
It closes, by making the rotary force of motor be transformed to the rotary force of sector gear, to change photographic device 300 relative to fuselage 200
Angle.
What Fig. 4 illustrated is side sectional view when unmanned aerial vehicle is in forward-lean state due to the movement of eyeglass in ZOOM.Fig. 4
State be to make at least one party of the 2nd eyeglass group 322 and the 4th eyeglass group 324 of zoom along optical axis A toward image pickup part 330
Side is mobile, in a same direction after the center of gravity G2 of moving lens mould group 320, state when unmanned aerial vehicle 100 leans forward.
What Fig. 5 was indicated is the side sectional view for compensating for the optical axis of the lens module 320 in photographic device 300 and changing.
The state of Fig. 5 is that the angle of the photographic device 300 relative to fuselage 200 is rotated to be the positive direction in figure from the state of Fig. 4,
To compensate the state that the optical axis of lens module 320 changes.Compare the A-stage of Fig. 3 and the state of Fig. 5, although in these variations
Front and back, fuselage 200 can tilt, but photographic device 300 is same posture, and the optical axis of lens module 320 is directed toward same side
To.That is, when zooming, even if mobile 2nd eyeglass group 322 and the 4th eyeglass group 324, unmanned aerial vehicle 100 lean forward, photographic device
300 can also photograph required image.
The control unit 250 of Fig. 6 middle fuselage 200 has control unit 252, reservoir 254, communication unit 256 and image procossing
Portion 258.
Reservoir 254 is stored with the focal length for representing lens module 320 and the photographic device 300 relative to fuselage 200
Variation angle corresponding relationship form information.Communication unit 256 is according to wireless communication and PERCOM peripheral communication.
Image procossing 258 handles the image data from image pickup part 330.Specifically, image processing part 258 can continuously connect
The image data information of the image pickup part 330 of the image from taking lens mould group 320 is received, and is extracted out contained in each image data
Multiple characteristic points.Image processing part 258 can be compareed by each image data before and after certain time, and parsed and therefrom extracted out
Characteristic point variation.According to the parsing result of these characteristic points, it is judged to be more than that scheduled critical value is past in multiple characteristic points
When gravity direction changes, image processing part 258 can also send the information to control unit 252.
Control unit 252 receives the instruction from operating device 50 by communication unit 256, and shooting is come from lens module 320
The image signal of image pickup part 330 of image issue operating device 50.Instruction of the control unit 252 according to operating device 50, control
1st rotor driving portion 214 etc., to control taking off, fly and landing for unmanned aerial vehicle 100.
Control unit 252 controls lens driving portion 310 according to the instruction of operating device 50.The instruction is in addition to can be and camera lens
Except the related instruction of the zoom operation of mould group 320, have when can also be manual focusing containing lens module 320 with focusing operation
The instruction of pass.In addition, lens module 320 is that auto-focusing mode can also be with.
Control unit 252 controls driving portion 260, so that the angle of the photographic device 300 relative to fuselage 200 is changed to mend
The variation of the optical axis A of the lens module 320 generated due to repaying the movement because of the 2nd eyeglass group 322 and the 4th eyeglass group 324.Control unit
252 both can be according to set control process control driving portion 260, can also be according to the letter from attitude sensor 340
Number, driving portion 260 is controlled, driving portion 260 can also be controlled according to the signal from image processing part 258, can also refer to and deposit
The list data stored up in memory 254 controls driving portion 260.
Fig. 7 is stored in the table in memory 254.What the table indicated is the focal length [mm] of lens module 320
With the corresponding relationship of the variation angle [degree] of the photographic device 300 relative to fuselage 200.The positive and negative of the variation angle be, when with
The focal length of lens module 320 be 50 [mm] state be A-stage when, i.e., with change angle be 0 [degree] when, towards
It is positive when the paper of Fig. 5 is turned right (+), steering in contrast is multiple (-).
According to this table, it is 20 [mm] that the focal length of lens module 320 can be made, which to change from 50 [mm], even if zoom
At least one party of 2nd eyeglass group 322 and the 4th eyeglass group 324 move along optical axis toward 330 side of image pickup part, lens module
320 center of gravity G2 can be moved in the same direction.Therefore, photographic device 300 can be made only to rotate -6 relative to the angle of fuselage 200
[degree].So as to the lens module generated due to compensating the movement of at least one party because of the 2nd eyeglass group 322 and the 4th eyeglass group 324
320 optical axis changes.It is in other words exactly, even if at least one party of mobile 2nd eyeglass group 322 and the 4th eyeglass group 324, to take the photograph
As device can also photograph required image.In addition, changing relative to the angle opportunity of the photographic device 300 of fuselage 200 is in mirror
The focal length of head mould group 320 is either good at the same time after changing, and the variation with focal length starts good simultaneously.It takes the photograph
As device 300 can continuously photograph image required by user.That is, arriving irreducible minimum for the optical axis of eyeglass mould group 320 is changed control, use
Compare preference the latter in family.
Likewise, the focal length of lens module 320 can be made to vary to 85 [mm] from 20 [mm] according to this table, even if
2nd eyeglass group 322 of zoom and at least one party of the 4th eyeglass group 324 are moved to the incident side of light, mirror along optical axis A
The center of gravity G2 of head mould group 320 can be moved in the same direction.It therefore, can be by the angle relative to the photographic device 300 of fuselage 200
Only rotate+13 [degree].Accordingly, even if at least one party of mobile 2nd eyeglass group 322 and the 4th eyeglass group 324, photographic device 300
Also required image can be photographed.
On above multiple implementation forms, compensate with regard to how to change lens module relative to the angle of fuselage because zoom is used
More pieces of eyeglasses movement and generate lens module optical axis variation be illustrated.Change this, or add this, utilizes
Make at least one party in lens module and photographic device, or the eyeglass for the lens module not used is moved along optical axis, from
And the unmanned aerial vehicle center of gravity generated because the eyeglass of compensation focusing is mobile changes.When the movement of the eyeglass of focusing flies to nobody
The position of centre of gravity bring of machine influences small arrive can so can not also control without apparent time.
In above multiple implementation forms, lens module can be used as the mechanism containing more pieces of eyeglasses, and will be with camera lens mould
On the position that 2 guiding axis and optical axis that the optical axis of group extends in parallel are arranged in same level.Accordingly, due to can make because
More pieces of eyeglasses of zoom or focusing and movement respectively lean on itself gravity to maintain the state contacted with this 2 guiding axis, and along
Optical axis is mobile, and therefore, the picture that can inhibit zoom or generate when focusing shakes.Furthermore it is leaned on respectively in order to which more pieces of position eyeglass is in
The state that self gravity is contacted with this 2 guiding axis, the configuration of this 2 guiding axis are set as counting meeting within ± 60 ° from horizontal plane
It is relatively good.
Multiple implementation forms utilized above, to moving at least one party in lens module and photographic device along optical axis
To compensate because nobody equipped with photographic device (lens module containing the zoom due to movement of eyeglass in the photographic device) flies
The situation that the center of gravity that eyeglass on machine is mobile and generates changes is illustrated.But the invention is not limited to unmanned aerial vehicle,
Also it can be suitably used for having photographic device of lens system of similar functions itself or be have the lens system small
Type unmanned spaceship/spacecraft, land sniffing robot, perhaps in water/waterborne diversified on the way with sniffing robot etc..
Although being illustrated using the form for implementing of the invention above, technical scope of the invention is not limited to
In above-mentioned implementation form in recorded range.In above-mentioned embodiment, having known with dealer can be a variety of to this progress
The change or improvement of multiplicity.Such change or improvement form are also included in the technical scope of the present invention, in Patent request
It is also very specific from the point of view of the record of range.
It is previously mentioned in device, system, program and method shown in the range of Patent request, inventory and drawing
The implementation sequence of each processing such as movement, operating instruction, step and stage and do not have to " ... it is preceding ", the bytes such as " first " go spy
It does not indicate.As long as in addition, note that output before is handled in not postpose processing reality can be gone by arbitrary sequence
It is existing.About the actuation process in the range of patent application, inventory and drawing, even if for convenience, having used " first
First ", the vocabulary such as " then " illustrate, are also not meant as having to sequentially go to implement by this.
Signified unmanned aerial vehicle of the invention is the unmanned aerial vehicle to fly in the sky.The unmanned aerial vehicle has fuselage, contains
The control unit of the photographic device of lens module and image pickup part and driving portion and the above-mentioned driving portion of control.Fuselage contains level
Rotor.The photographic device is supported by fuselage, contains the image pickup part for shooting the image from above-mentioned lens module.Its lens module
Inside contain eyeglass, can according to the movement of above-mentioned eyeglass zoom.Its driving portion can make above-mentioned lens module relative to above-mentioned fuselage
Angle change.Control unit can control above-mentioned driving portion, occur that above-mentioned photographic device relative to the angle of above-mentioned fuselage
It changes, so that the optical axis for the above-mentioned lens module that correction is generated by the movement of above-mentioned eyeglass changes.
The unmanned aerial vehicle that the embodiment of the present invention is recorded is also equipped with the attitude sensor that can detect the posture of above-mentioned photographic device.
Above-mentioned control unit controls above-mentioned driving portion according to the signal from above-mentioned attitude sensor；Processing is also equipped with from above-mentioned image pickup part
Image data image processing part.Above-mentioned control unit controls above-mentioned driving portion according to the signal from above-mentioned image processing part；
It is also equipped with the angles shifts for being stored with the position of above-mentioned eyeglass and above-mentioned photographic device when indicating zoom relative to above-mentioned fuselage
The memory of mapping table.Above-mentioned control unit controls above-mentioned driving portion with reference to the above table being stored in above-mentioned memory.
A kind of compensation has the unmanned aerial vehicle that can be flown in the sky of fuselage, the photographic device supported by above-mentioned fuselage
Above-mentioned lens module the method that changes of optical axis, be containing the angle by the above-mentioned photographic device of variation relative to above-mentioned fuselage
Method to compensate the compensated stage that the optical axis of the above-mentioned lens module generated by the movement of above-mentioned eyeglass changes.It is above-mentioned nobody
The fuselage of aircraft contains rotor.Containing lens module and the image from lens module can be shot in above-mentioned photographic device
Image pickup part, contain eyeglass in lens module；Stage also containing the posture for detecting above-mentioned photographic device, above-mentioned compensated stage
The stage changed containing the above-mentioned optical axis that with good grounds above-mentioned testing result compensates above-mentioned lens module；Also containing from above-mentioned image pickup part
Image data processing stage, above-mentioned compensated stage contain with good grounds processed above-mentioned image data, compensate above-mentioned camera lens mould
The above-mentioned optical axis of group changes；The position for representing above-mentioned eyeglass when also containing storage zoom and above-mentioned photographic device are relative to above-mentioned machine
The memory phase of the mapping table of the variation angle of body.Above-mentioned compensated stage contains with reference in the compensation of stored above table
State the stage that the above-mentioned optical axis of lens module changes.
Certainly, the invention is not limited to above embodiment, and those skilled in the art are without prejudice to originally
Equivalent deformation or replacement can be also made under the premise of spirit, these equivalent deformations or replacement are all contained in the application right
It is required that in limited range.
Claims (8)
1. a kind of optical axis of lens module of unmanned aerial vehicle changes compensation device, it is characterised in that: including the machine in unmanned aerial vehicle
The photographic device being equipped with it, what the photographic device was equipped with is used to change driving of the photographic device relative to the angle of fuselage
Portion, the rotational angle of the driving portion control photographic device, the photographic device is interior to be equipped with lens module, the photographic device
Outside with the central axis extending direction on the orthogonal direction of the optical axis direction of lens module be equipped with bearing, the driving portion be equipped with
Bearing extends in the same direction and is entrenched in the rotary shaft on bearing, and the driving portion is equipped with driving mechanism and in output shaft
It is equipped with circular gear, the photographic device is equipped with the sector gear engaged with circular gear.
2. the optical axis of the lens module of unmanned aerial vehicle according to claim 1 changes compensation device, it is characterised in that: described
The attitude sensor that the posture for detecting photographic device changes, the signal of the attitude sensor are additionally provided in photographic device
It is sent to driving portion and controls driving portion.
3. the optical axis of the lens module of unmanned aerial vehicle according to claim 1 changes compensation device, it is characterised in that: described
Support arm is additionally provided between driving portion and fuselage.
4. the optical axis of the lens module of unmanned aerial vehicle according to claim 3 changes compensation device, it is characterised in that: described
Support arm is perpendicular to and at immediately below fuselage main body.
5. a kind of optical axis of lens module by unmanned aerial vehicle described in claim 1 changes the compensation method of compensation device,
Characterized by comprising the following steps:
A. the photographic device on fuselage is changed because focusing generates；
B. the rotational angle compensation of driving portion control photographic device is because changing the centre-of gravity shift generated.
6. compensation method according to claim 5, it is characterised in that: in the step A, it is single that the fuselage is equipped with control
Member, described control unit are equipped with control unit, reservoir and image processing part, the reservoir be stored with the focus of lens module away from
Corresponding relation data from the variation angle with the photographic device relative to fuselage.
7. compensation method according to claim 6, it is characterised in that: described image processing unit is extracted out in each image data
The variation for the characteristic point that contained multiple characteristic points and parsing are therefrom extracted out.
8. compensation method according to claim 6, it is characterised in that: the control unit controls driving portion, makes photographic device
Angle change to compensate the variation of optical axis.
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| CN106303240A (en) * | 2016-08-16 | 2017-01-04 | 捷西迪（广州）光学科技有限公司 | Unmanned aerial vehicle optical axis variation compensation device, method and panoramic shooting system |
| CN206265327U (en) * | 2016-11-18 | 2017-06-20 | 捷西迪（广州）光学科技有限公司 | A kind of unmanned aerial vehicle for underwater photograph technical |
| WO2018134796A1 (en) * | 2017-01-23 | 2018-07-26 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for omni-directional obstacle avoidance in aerial systems |
| CN107102494A (en) * | 2017-04-10 | 2017-08-29 | 佛山市瞳光学科技有限公司 | A kind of camera device |
| CN112887596B (en) * | 2021-01-21 | 2021-12-10 | 中国农业大学 | Unmanned aerial vehicle camera shooting angle adjusting device and method |
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