CN106412439A - Image acquisition equipment, image acquisition method and controller - Google Patents
Image acquisition equipment, image acquisition method and controller Download PDFInfo
- Publication number
- CN106412439A CN106412439A CN201610951430.0A CN201610951430A CN106412439A CN 106412439 A CN106412439 A CN 106412439A CN 201610951430 A CN201610951430 A CN 201610951430A CN 106412439 A CN106412439 A CN 106412439A
- Authority
- CN
- China
- Prior art keywords
- image
- assembly
- controller
- fixedly connected
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention relates to image acquisition equipment, an image acquisition method and a controller, which belong to the technical field of image acquisition. The image acquisition equipment comprises an image acquisition unit, a holder and a controller, wherein one end of the holder is fixedly connected with the image acquisition unit, and the other end is fixedly connected with a carrier of the image acquisition equipment; the controller is electrically connected with the image acquisition unit and the holder; the image acquisition unit comprises at least two cameras; and the controller is used for acquiring images respectively photographed by the at least two cameras, and synthesizing the images respectively photographed by the at least two cameras to obtain a panoramic image. Therefore, when the image acquisition equipment is carried on the carrier for acquiring the images, the panoramic image of the images in all directions can be obtained without controlling photographing directions of the image acquisition equipment by a user, and the effects of reducing user operation, decreasing user control difficulty and improving image acquisition quality are achieved.
Description
Technical field
The embodiment of the present disclosure is related to acquisition technology field, particularly to a kind of image capture device, image acquisition side
Method and controller.
Background technology
With the continuous development of remote control technology, increasing user tends to adopt by unmanned vehicle's carrying image
Collection equipment, from the special viewing angles image that is out of the reach of human power.
Such as, user can pass through remote control control unmanned plane during flying taking UAV flight's image capture device as a example, with
When, the image on different directions can also be obtained by controlling the shooting direction of the image capture device of UAV flight.?
In the moving process of unmanned vehicle, in order to obtain the image on different directions, user needs controlling the same of unmanned vehicle's movement
When adjustment image capture device shooting direction, control difficulty high, and the image aspects collecting have limitation.
Content of the invention
The embodiment of the present disclosure provides a kind of image capture device, image-pickup method and controller, and technical scheme is as follows：
A kind of first aspect according to the embodiment of the present disclosure, there is provided image capture device, this image capture device includes：
Image acquisition units, head and controller；
This head one end is fixedly connected this image acquisition units, and the other end is fixedly connected the carrier of this image capture device；
This controller is electrical connected with this image acquisition units and this head respectively；
This image acquisition units includes at least two photographic head；
This controller, for obtaining the image that this at least two photographic head shoots respectively, and by this at least two photographic head
The image shooting respectively is synthesized, and obtains panoramic picture.
Optionally, this image acquisition units includes two contrary photographic head of shooting direction, and in above-mentioned two photographic head
The shooting angle scope of each photographic head is not less than 180 °.
Optionally, this head includes：Three runner assemblies and two connecting rods；
Above three runner assembly is to horizontally rotate assembly, pitch rotation assembly and roll runner assembly respectively, and three turn
Dynamic assembly each includes fixed part and rotation section, and in three runner assemblies, the rotation section of each assembly is with the company of corresponding fixed part
The central shaft of junction rotates for axle；
Above-mentioned two connecting rod is level-pitching connecting rod and pitching-roll connecting rod respectively；
The rotation section that one end and this of this level-pitching connecting rod horizontally rotate in assembly is fixedly connected, this level-pitching
The other end of connecting rod is fixedly connected with the fixed part in this pitch rotation assembly；
One end of this pitching-roll connecting rod is fixedly connected with the rotation section in this pitch rotation assembly, this pitching-roll
The other end of connecting rod is fixedly connected with the fixed part in this roll runner assembly；
This fixed part horizontally rotating in assembly is fixedly connected with this carrier；
Rotation section in this roll runner assembly is fixedly connected with this image acquisition units.
Optionally, for each assembly in this three runner assemblies, this assembly also include to should assembly fixed part
With the motor of rotation section, this motor be used for drive the rotation section of this assembly to be rotated, this controller respectively with this
Motor in three runner assemblies is electrical connected；
This controller, is additionally operable to obtain the tilt angle of this carrier and direction of verting when this carrier verts, according to
In this tilt angle and this this three runner assembly of direction controlling that vert, motor rotates, so that this image acquisition units exists
Keep stable in horizontal direction.
Optionally, it is provided with by electrical interface in one end that this head is connected with this carrier, should be by electrical interface and this carrier
Power supply interface be electrical connected.
Optionally, this image capture device also includes：Communication unit；
This controller, for controlling this communication unit, this panoramic picture is sent to user terminal.
A kind of second aspect according to the embodiment of the present disclosure, there is provided image-pickup method, this image-pickup method, it is used for
The disclosure is implemented in the image capture device that first aspect is somebody's turn to do, and the method is executed by this controller, and the method includes：
Obtain the image that this at least two photographic head shoots respectively；
The image that this at least two photographic head is shot respectively is synthesized, and obtains panoramic picture.
Optionally, the method also includes：
When this carrier verts, obtain the tilt angle of this carrier and direction of verting；
Rotated according to motor in this tilt angle and this this three runner assembly of direction controlling that vert, so that this figure
As collecting unit keeps stable in the horizontal direction.
Optionally, this image capture device also includes：Communication unit；The method also includes：
Control this communication unit, this panoramic picture is sent to user terminal.
A kind of third aspect according to the embodiment of the present disclosure, there is provided controller, this controller is used for image capture device
In, this image capture device also includes image acquisition units and head, and this head one end is fixedly connected this image acquisition units, separately
One end is fixedly connected the carrier of this image capture device；This controller respectively with this image acquisition units and the electrical phase of this head
Even；This image acquisition units includes at least two photographic head, and this controller includes：
Image collection module, for obtaining the image that this at least two photographic head shoots respectively；
Image synthesis unit, the image for shooting this at least two photographic head respectively is synthesized, and obtains panorama sketch
Picture.
Optionally, this head includes：Three runner assemblies and two connecting rods；This three runner assemblies are level respectively
Runner assembly, pitch rotation assembly and roll runner assembly, this three runner assemblies each include fixed part and rotation section, and this three
In individual runner assembly, the rotation section of each assembly is rotated with the central shaft of the joint face of corresponding fixed part for axle；This two connections
Bar is level-pitching connecting rod and pitching-roll connecting rod respectively；One end and this of this level-pitching connecting rod horizontally rotate
Rotation section in assembly is fixedly connected, and the other end of this level-pitching connecting rod is solid with the fixed part in this pitch rotation assembly
Fixed connection；One end of this pitching-roll connecting rod is fixedly connected with the rotation section in this pitch rotation assembly, this pitching-roll
The other end of connecting rod is fixedly connected with the fixed part in this roll runner assembly；This horizontally rotates the fixed part in assembly and is somebody's turn to do
Carrier is fixedly connected；Rotation section in this roll runner assembly is fixedly connected with this image acquisition units；This three are rotated
Each assembly in assembly, this assembly also include to should the fixed part of assembly and the motor of rotation section, this motor
Rotation section for driving this assembly is rotated, this controller respectively with this three runner assemblies in the electrical phase of motor
Even, this controller also includes：
Data obtaining module, for when this carrier verts, obtaining the tilt angle of this carrier and direction of verting；
Motor control module, for electric according to driving in this tilt angle and this this three runner assembly of direction controlling that vert
Machine rotates, so that this image acquisition units keeps stable in the horizontal direction.
Optionally, this image capture device also includes：Communication unit；This controller also includes：
Communication control module, for controlling this communication unit, this panoramic picture is sent to user terminal.
The technical scheme that the embodiment of the present disclosure provides can include following beneficial effect：
In the image capture device comprising image acquisition units, head and controller, this head one end is fixedly connected this
Image acquisition units, the other end is fixedly connected the carrier of this image capture device, this controller respectively with this image acquisition units
It is electrical connected with this head, this image acquisition units includes at least two photographic head, obtain at least two by this controller and take the photograph
The image shooting respectively as head, the image that this at least two photographic head is shot respectively is synthesized, obtain panoramic picture so that
Image capture device is carried out during image acquisition by carrier carrying image collecting device it is not necessary to the bat of user's control collecting device
Take the photograph direction and can obtain panoramic picture including the image in all directions, reached minimizing user operation, reduce user's control
Difficulty processed, improves the effect of image acquisition quality simultaneously.
It should be appreciated that above general description and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Brief description
Accompanying drawing herein is merged in description and constitutes the part of this specification, shows the enforcement meeting the disclosure
Example, and be used for explaining the principle of the disclosure together with description.
Fig. 1 is a kind of signal of the implementation environment involved by image capture device according to an exemplary embodiment
Figure；
Fig. 2 is a kind of schematic diagram of the image capture device according to an exemplary embodiment；
Fig. 3 is a kind of schematic diagram of the image capture device according to an exemplary embodiment；
Fig. 4 is a kind of partial structural diagram of the image capture device being provided based on embodiment illustrated in fig. 3；
Fig. 5 be a kind of photographic head according to an exemplary embodiment be schematic diagram；
Fig. 6 is the partial structural diagram of another kind of image capture device being provided based on embodiment illustrated in fig. 3；
Fig. 7 is a kind of flow chart of the image-pickup method according to an exemplary embodiment；
Fig. 8 is a kind of block diagram of the controller according to an exemplary embodiment.
Specific embodiment
Here will in detail exemplary embodiment be illustrated, its example is illustrated in the accompanying drawings.Explained below is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with such as appended
The example of the consistent method and apparatus of some aspects being described in detail in claims, the disclosure.
Fig. 1 is a kind of signal of the implementation environment involved by image capture device according to an exemplary embodiment
Figure, this implementation environment includes：Image capture device 110, carrier 120 and user terminal 130.
Image capture device 110 is fixed on the annexation in carrier 120, between image capture device 110 and carrier 120
It can be the connected mode that collecting device 110 can be fixed in carrier 120 by riveting, grafting, bonding or welding etc..Optional
, in one end that image capture device 110 is connected with carrier 120, one can also be included and be subject to electrical interface, should be used by electrical interface
In with carrier in power supply interface be electrically connected with, and receive carrier offer electric energy.
Carrier 120 is used for carrying this image capture device 110 and carries out image acquisition, and one end of this carrier 120 and image are adopted
Collection equipment 110 is connected.Wherein, this carrier 120 is used for moving in physical space so that image capture device 110 can carry
Image is gathered in the moving process of tool 120.For example, carrier 120 can be the equipment such as unmanned vehicle, telecar or drone.
User terminal 130 is communicatively coupled with image capture device 110 by wireless network, and user equipment 130 is permissible
Control instruction is sent to image capture device 110 by wireless network, image capture device 110 passes through this wireless network to this use
The image of family terminal 130 its collection of transmission.Wherein, this user terminal can pass through this this image acquisition of wireless network real-time reception
The image of equipment 110 transmission.In the application, this user terminal can be individually by the mobile phone of user, panel computer, wearable device
Or at least one of remote control equipment forms.Wireless network signal between user terminal and image capture device can be
WiFi signal, or or other self-defined frequency range wireless signal.
Fig. 2 is a kind of schematic diagram of the image capture device according to an exemplary embodiment, this image capture device
Including：Image acquisition units 210, head 220 and controller 230.
In this image capture device, this head 220 one end is fixedly connected image acquisition units 210, and the other end is fixing even
Connect the carrier of image capture device.
In this image capture device, this controller 230 is electrical with this image acquisition units 210 and this head 220 respectively
It is connected.
In this image capture device, this image acquisition units 210 includes at least two photographic head.
In this image capture device, this controller 230, for obtaining the figure that this at least two photographic head shoots respectively
Picture, and the image that above-mentioned at least two photographic head are shot respectively synthesized, and obtains panoramic picture.
In sum, a kind of image capture device that the embodiment of the present disclosure provides, comprises image acquisition units, head and control
Device processed, in this image capture device, this head one end is fixedly connected this image acquisition units, and the other end is fixedly connected this image
The carrier of collecting device, this controller is electrical connected with this image acquisition units and this head respectively, this image acquisition units bag
Include at least two photographic head, the image that shoots respectively of at least two photographic head is obtained by this controller, this at least two is taken the photograph
As the image that head shoots respectively is synthesized, obtain panoramic picture so that image capture device is gathered by carrier carrying image
Equipment is carried out during image acquisition it is not necessary to the shooting direction of user's control collecting device can obtain including in all directions
The panoramic picture of image, has reached minimizing user operation, reduces user's control difficulty, improves the effect of image acquisition quality simultaneously
Really.
Fig. 3 is a kind of schematic diagram of the image capture device according to an exemplary embodiment, this image capture device
Collection image in carrier can be mounted in, this image capture device includes：Image acquisition units 310, head 320, controller 330
With communication unit 340.
In image capture device shown in Fig. 3, the carrier that this image capture device is fixedly connected can be empty in physics
Between middle movement so that image capture device can collect the image of different location, one end phase of this carrier and head 320 is fixed
Connect.The other end of head 320 is fixedly connected with image acquisition units 310.The embodiment of the present disclosure is suitable with the connection of each assembly
As a example sequence, introduce each ingredient of this image capture device, originally sentence the carrier that this image capture device is fixedly connected
For starting the object introduced.
Wherein, the part of the image capture device being fixedly linked with this carrier is head 320.Head 320 includes three and turns
Dynamic assembly and two connecting rods.Three runner assemblies are to horizontally rotate assembly 321, pitch rotation assembly 322 and roll to turn respectively
Dynamic assembly 323, this three runner assemblies each include fixed part and rotation section, horizontally rotate assembly 321 and include fixed part 321a
With rotation section 321b, pitch rotation assembly 322 includes fixed part 322a and rotation section 322b, and roll runner assembly 323 includes solid
Determine portion 323a and rotation section 323b (not shown).Two connecting rods are level-pitching connecting rod 324 and pitching-horizontal stroke respectively
Rolling connecting rod 325.Wherein, include motor respectively in three runner assemblies, this motor is used for driving runner assembly
In rotation section rotated.
That this head 320 and carrier are fixedly linked is the fixed part 321a horizontally rotating in assembly 321, and wherein, this is fixed
Portion 321a includes connecting module 321a1, damping module 321a2 and fixed body 321a3.Connect side and the carrier of module 321a1
It is fixedly connected, several thread sockets can be included, the opposite side of this connection module 321a1 connects damping module 321a2；Damping
Module 321a2 side is connected with being connected module 321a1, and damping module 321a2 is used for buffering the vibrations bringing when carrier moves, should
The opposite side of damping module 321a2 is connected with fixed body 321a3；This fixed body 321a3 side is connected with damping module 321a2,
Fixed body 321a3 opposite side is connected with rotation section 321b, and this rotation section 321b can be with the joint face of corresponding fixed part 321a
Central shaft be axle rotate.
In coupling part behind, one end of level-pitching connecting rod 324 is horizontally rotated in assembly 321 with above-mentioned
Rotation section 321b is fixedly connected, the fixed part in the other end of this level-pitching connecting rod 324 and pitch rotation assembly 322
322a is fixedly connected.
In pitch rotation assembly 322, fixed part 322a is connected with rotation section 322b, and corresponding rotation section 322b can be with
The central shaft of the joint face of corresponding fixed part 322a rotates for axle.
In coupling part behind, one end of pitching-roll connecting rod 325 is turned with above-mentioned pitch rotation assembly 322
Dynamic portion 322b is fixedly linked, the fixed part 323a in the other end of this pitching-roll connecting rod 325 and roll runner assembly 323
It is fixedly linked.
In roll runner assembly 323, fixed part 323a is connected with rotation section 323b, and corresponding rotation section 323b can be with
The central shaft of the joint face of corresponding fixed part 323a rotates for axle.
In coupling part behind, the rotation section of the roll runner assembly 323 in image acquisition units 310 and head
323b is fixedly linked.Optionally, in the mode being capable of in wherein, this rotation section 323b can be with this image acquisition list
Unit 310 is integrated into an entirety, and that is, this image acquisition units 310 is directly fixedly connected with fixed part 323a.
Annexation between the above-mentioned introduction various pieces of this image capture device, is explained below this image and adopts
The dependency structure of image acquisition units 310 in collection equipment and work process.
Refer to Fig. 4, it is a kind of partial structurtes signal of the image capture device providing based on embodiment illustrated in fig. 3
Figure.Inside the shaft-like pipe 410 for connecting camera module 420 and head 320, it is provided with controller 330 and communication unit
340.Wherein, this controller 330 is electrical connected with image acquisition units 310 and head 320 respectively, and this controller 330 is acceptable
It is electrical connected with communication unit 340, this controller 330 is used for controlling this communication unit 340 to obtain image acquisition units 310
Panoramic picture is sent to user terminal.
In the image acquisition units 310 in this image capture device, at least contain two photographic head, this two photographic head
It can be fish-eye camera.Refer to Fig. 5, its be a kind of photographic head according to an exemplary embodiment be schematic diagram.
Wherein, photographic head 501 and photographic head 502 are the ingredients of this image acquisition units 500, and photographic head 501 and photographic head 502 are
Two contrary photographic head of shooting direction, as shown in Figure 5, photographic head 501 shooting direction is space one to the left in Fig. 5
Side, the shooting direction of photographic head 502 is space side to the right in Fig. 5.And, the shooting of photographic head 501 and photographic head 502
Angular range is not less than 180 °, and wherein, the luffing angle with photographic head shooting direction as reference direction and level angle be not all little
In 180 °, the measurement plane that luffing angle is located is perpendicular with horizontal plane, measurement plane and horizontal plane phase that level angle is located
Parallel.Image acquisition units in the image capture device that the embodiment of the present disclosure provides at least are included as shooting direction phase in Fig. 4
Two anti-photographic head, this image acquisition units can also include other electronic devices, not be defined herein.
Carrier in movement carries this image capture device when carrying out image acquisition, and this image capture device obtains wherein
Then the image shooting respectively is synthesized by the image that at least two photographic head shoot respectively by controller 340 therein,
Obtain panoramic picture.Wherein, because the shooting angle scope of each of at least two photographic head photographic head is all not less than 180 °,
So the image after the image that at least two photographic head synchronizations shoot is synthesized can comprise with this image capture device
Centered on 360 ° of panoramic pictures.
In one end that this image capture device is connected with carrier, can also include by electrical interface.Refer to Fig. 6, it is
The partial structural diagram of another kind of image capture device being provided based on embodiment illustrated in fig. 3.It is located at image by electrical interface 601
In one end that head in collecting device is connected with carrier, for accepting the electric energy of the power supply interface from carrier.Optionally,
Should be additionally operable to be electrically connected with controller 340 by electrical interface.
During this image capture device obtains panoramic picture, because carrier is in constantly moving, it is possible that
The attitude such as jolt or vert occurs.When carrier verts, controller 340 can obtain the tilt angle of this carrier and incline
Turn direction, rotated according to motor in this tilt angle and this this three runner assembly of direction controlling that vert, so that this figure
As collecting unit 310 keeps stable in the horizontal direction.
For example, this carrier there occurs 15 degree vert, and direction of verting is the elevation direction producing upwards, this controller root
Control the motor in the pitch rotation assembly in head according to this vert direction and tilt angle, rotate rotation section therein to
Angle of depression direction rotate 15 degree so that the image acquisition units in this image capture device can keep in the horizontal direction steady
Fixed, continuous collecting image.
Wherein, when this carrier verts, carrier can be sensed by the gyroscope being arranged in carrier or inclination angle
Device, to obtain the tilt angle that current carrier occurs and direction of verting, after carrier gets tilt angle and direction of verting, leads to
Cross in head and transmitted the data to this controller 340 by electrical interface.Optionally, controller 340 obtain this tilt angle and
Vert behind direction, can first judge whether this tilt angle has exceeded preset value, after this tilt angle exceedes preset value, then control
Make corresponding motor to rotate so that this image acquisition units 310 keeps stable in the horizontal direction.
Such as, it is as a example unmanned plane by carrier, carry out work when user starts the image capture device that is mounted on unmanned plane
When making, in this image capture device, at least two contrary photographic head of shooting direction start to gather image, by the figure of respective collection
As collecting in controller, the image that synchronization shoots is synthesized by this controller, obtains panoramic picture, and by this panorama
Image is sent to user terminal by the communication unit in image capture device.When this unmanned plane runs into air-flow or receives use
The flight directive at family, produces certain orientation and when verting of angle, and the gyroscope in carrier or obliquity sensor will collect
Information of verting by being sent to controller by electrical interface in head, controller according to this information control corresponding head in
Motor in runner assembly rotates so that this image acquisition units kept steady before verting in the horizontal direction
Fixed.Wherein, motor rotates required electric energy by being accepted by electrical interface in head.
In sum, a kind of image capture device that the embodiment of the present disclosure provides, comprises image acquisition units, head and control
Device processed, in this image capture device, this head one end is fixedly connected this image acquisition units, and the other end is fixedly connected this image
The carrier of collecting device, this controller is electrical connected with this image acquisition units and this head respectively, this image acquisition units bag
Include at least two photographic head, the image that shoots respectively of at least two photographic head is obtained by this controller, this at least two is taken the photograph
As the image that head shoots respectively is synthesized, obtain panoramic picture so that image capture device is gathered by carrier carrying image
Equipment is carried out during image acquisition it is not necessary to the shooting direction of user's control collecting device can obtain including in all directions
The panoramic picture of image, has reached minimizing user operation, reduces user's control difficulty, improves the effect of image acquisition quality simultaneously
Really.
Fig. 7 is a kind of flow chart of the image-pickup method according to an exemplary embodiment, this image-pickup method
Apply in image capture device, this image capture device includes：Image acquisition units, head, controller and communication unit, figure
Method in 7 can be realized by image capture device shown in fig. 2, and image capture device can be mounted in carrier
Collection image.The method may include steps of：
In step 701, obtain the image that at least two photographic head shoot respectively.
Optionally, during step 701 execution, the controller in image capture device obtains at least two photographic head and shoots respectively
Image.The image that this at least two photographic head shoots respectively can be transmitted directly to controller.
In a step 702, the image this at least two photographic head being shot respectively is synthesized, and obtains panoramic picture.
Optionally, during step 702 execution, the controller in image capture device is by least two photographic head of synchronization
The image shooting is synthesized, and obtains panoramic picture.Wherein, the process to image can be included during merging, process bag
Include each image before image recognition merges, find the information required for related merging, the information pair drawing according to this image recognition
Image merges.
In a kind of implementation of the disclosure, when carrier verts, controller obtains the tilt angle of this carrier
With direction of verting.
Wherein, when carrier verts, controller obtains the tilt angle of this carrier and direction of verting.Wherein, obtain
Process can be gyroscope or obliquity sensor in carrier, the tilt angle recording and direction active of verting are sent to
This controller.
After the tilt angle obtaining carrier and direction of verting, controller is according to this tilt angle and this direction controlling that verts
In three runner assemblies, motor rotates, so that image acquisition units keep stable in the horizontal direction.
Wherein, controller, according to this tilt angle and this direction of verting, controls in the corresponding runner assembly in head
Compensating property of motor rotates so that this image acquisition units keeps stable in the horizontal direction.Wherein, compensatory rotation
Refer to and direction in opposite direction of verting, rotate the angle of tilt angle size, or, rotate close with this tilt angle size
Angle.
In a kind of implementation of the disclosure, controller controls communication unit, and this panoramic picture is sent to user eventually
End.
Wherein, controller controls this communication unit that the image after merging is sent to user terminal.Accordingly, user terminal
With image that this communication unit of real-time reception sends and can be shown.Show that the mode of this image includes but is not limited in VR
Form is play, projection is play and terminal shows the forms such as broadcasting.
In sum, the image-pickup method that the embodiment of the present disclosure provides, be applied to comprise image acquisition units, head and
In the image capture device of controller, in this image capture device, this head one end is fixedly connected this image acquisition units, separately
One end is fixedly connected the carrier of this image capture device, this controller respectively with this image acquisition units and the electrical phase of this head
Even, this image acquisition units includes at least two photographic head, obtains what at least two photographic head shot respectively by this controller
Image, the image that this at least two photographic head is shot respectively is synthesized, and obtains panoramic picture so that image capture device leads to
Cross carrier carrying image collecting device to carry out during image acquisition it is not necessary to the shooting direction of user's control collecting device can obtain
Take the panoramic picture including the image in all directions, reached minimizing user operation, reduce user's control difficulty, improve simultaneously
The effect of image acquisition quality.
Fig. 8 is a kind of block diagram of the controller according to an exemplary embodiment, and this controller is used for image acquisition
In equipment, this image capture device also includes：Image acquisition units, head and communication unit, image capture device can carry
Gather image in carrier, each several part composition of the image capture device shown in Fig. 8 and annexation can refer to the figure in Fig. 3
As collecting device, this controller includes：Image collection module 801 and image synthesis unit 802.
Image collection module 801, is configured to obtain the image that at least two photographic head shoot respectively.
Image synthesis unit 802, the image being configured to shoot this at least two photographic head respectively is synthesized, and obtains
Panoramic picture.
In a kind of implementation of the disclosure, this controller also includes：Data obtaining module 803 and motor control module
804.
Data obtaining module 803, when being configured as carrier and verting, obtains tilt angle and the side of verting of this carrier
To.
Motor control module 804, is configured to according to tilt angle and described verts in three runner assemblies of direction controlling
Motor rotates, so that this image acquisition units keeps stable in the horizontal direction.
In a kind of implementation of the disclosure, this controller also includes：Communication control module 805.
Communication control module 805, is configured to control communication unit, this panoramic picture is sent to user terminal.
In sum, the controller that the embodiment of the present disclosure provides, is applied to also comprise the figure of image acquisition units and head
As in collecting device, in this image capture device, this head one end is fixedly connected this image acquisition units, and the other end is fixing even
Connect the carrier of this image capture device, this controller is electrical connected with this image acquisition units and this head respectively, and this image is adopted
Collection unit includes at least two photographic head, and this controller obtains the image that shoots respectively of at least two photographic head, by this at least two
The image that individual photographic head shoots respectively is synthesized, and obtains panoramic picture so that image capture device passes through carrier carrying image
Collecting device is carried out during image acquisition it is not necessary to the shooting direction of user's control collecting device can obtain including all directions
On image panoramic picture, reached minimizing user operation, reduced user's control difficulty, improved image acquisition quality simultaneously
Effect.
It should be noted is that, above-described embodiment provide device when realizing its function, only with each function above-mentioned
The division of module is illustrated, and in practical application, can distribute above-mentioned functions by different work(according to actual needs
Module can complete, the content structure of equipment will be divided into different functional modules, with complete described above all or portion
Divide function.
With regard to the device in above-described embodiment, wherein the concrete mode of modules execution operation is in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
Those skilled in the art, after considering description and putting into practice invention disclosed herein, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations are followed the general principle of the disclosure and are included the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments be considered only as exemplary, the true scope of the disclosure and spirit by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to be described above and precision architecture illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure only to be limited by appended claim.
Claims (12)
1. a kind of image capture device is it is characterised in that described image collecting device includes：Image acquisition units, head and control
Device processed；
Described head one end is fixedly connected described image collecting unit, and the other end is fixedly connected the load of described image collecting device
Tool；
Described controller is electrical connected with described image collecting unit and described head respectively；
Described image collecting unit includes at least two photographic head；
Described controller, for obtaining the image that described at least two photographic head shoot respectively, and described at least two is imaged
The image that head shoots respectively is synthesized, and obtains panoramic picture.
2. image capture device according to claim 1 it is characterised in that
Described image collecting unit includes two contrary photographic head of shooting direction, and each photographic head in described two photographic head
Shooting angle scope be not less than 180 °.
3. image capture device according to claim 1 is it is characterised in that described head includes：Three runner assemblies with
And two connecting rods；
Described three runner assemblies are to horizontally rotate assembly, pitch rotation assembly and roll runner assembly respectively, and described three turn
Dynamic assembly each includes fixed part and rotation section, and in described three runner assemblies, the rotation section of each assembly is with corresponding fixed part
Joint face central shaft be axle rotate；
Described two connecting rods are level-pitching connecting rod and pitching-roll connecting rod respectively；
One end of described level-pitching connecting rod is fixedly connected with the described rotation section horizontally rotating in assembly, described level-bow
The other end facing upward connecting rod is fixedly connected with the fixed part in described pitch rotation assembly；
One end of described pitching-roll connecting rod is fixedly connected with the rotation section in described pitch rotation assembly, described pitching-horizontal stroke
The other end of rolling connecting rod is fixedly connected with the fixed part in described roll runner assembly；
The described fixed part horizontally rotating in assembly is fixedly connected with described carrier；
Rotation section in described roll runner assembly is fixedly connected with described image collecting unit.
4. image capture device according to claim 3 is it is characterised in that for each in described three runner assemblies
Assembly, described assembly also includes the corresponding fixed part of described assembly and the motor of rotation section, and described motor is used for driving
Move described assembly rotation section rotated, described controller respectively with described three runner assemblies in the electrical phase of motor
Even；
Described controller, is additionally operable to obtain the tilt angle of described carrier and direction of verting, root when described carrier verts
Rotate according to motor in described tilt angle and described three runner assemblies described in direction controlling that vert, so that described image
Collecting unit keeps stable in the horizontal direction.
5. image capture device according to claim 1 is it is characterised in that one end of being connected with described carrier of described head
In be provided with by electrical interface, described be electrical connected with the power supply interface in described carrier by electrical interface.
6. image capture device according to claim 1 is it is characterised in that described image collecting device also includes：Communication
Unit；
Described controller, for controlling described communication unit, described panoramic picture is sent to user terminal.
7. a kind of image-pickup method is it is characterised in that in described image capture device as arbitrary in claim 1 to 6,
Methods described is executed by described controller, and methods described includes：
Obtain the image that described at least two photographic head shoot respectively；
The image that described at least two photographic head are shot respectively is synthesized, and obtains panoramic picture.
8. method according to claim 7 is it is characterised in that methods described also includes：
When described carrier verts, obtain the tilt angle of described carrier and direction of verting；
Rotated according to motor in described tilt angle and described three runner assemblies described in direction controlling that vert, so that institute
State image acquisition units and keep stable in the horizontal direction.
9. method according to claim 7 is it is characterised in that described image collecting device also includes：Communication unit；Described
Method also includes：
Control described communication unit, described panoramic picture is sent to user terminal.
10., it is characterised in that described controller is used in image capture device, described image collecting device is also for a kind of controller
Including image acquisition units and head, described head one end is fixedly connected described image collecting unit, and the other end is fixedly connected institute
State the carrier of image capture device；Described controller is electrical connected with described image collecting unit and described head respectively；Described
Image acquisition units include at least two photographic head, and described controller includes：
Image collection module, for obtaining the image that described at least two photographic head shoot respectively；
Image synthesis unit, the image for shooting described at least two photographic head respectively is synthesized, and obtains panoramic picture.
11. controllers according to claim 10 are it is characterised in that described head includes：Three runner assemblies and two
Individual connecting rod；Described three runner assemblies are to horizontally rotate assembly, pitch rotation assembly and roll runner assembly respectively, described three
Individual runner assembly each includes fixed part and rotation section, and in described three runner assemblies, the rotation section of each assembly is with corresponding solid
The central shaft determining the joint face in portion rotates for axle；Described two connecting rods are level-pitching connecting rod respectively and pitching-roll connects
Extension bar；One end of described level-pitching connecting rod is fixedly connected with the described rotation section horizontally rotating in assembly, and described level-
The other end of pitching connecting rod is fixedly connected with the fixed part in described pitch rotation assembly；Described pitching-roll connecting rod
One end is fixedly connected with the rotation section in described pitch rotation assembly, the other end of described pitching-roll connecting rod and described horizontal stroke
Fixed part in rolling runner assembly is fixedly connected；The described fixed part horizontally rotating in assembly is fixedly connected with described carrier；Institute
The rotation section stated in roll runner assembly is fixedly connected with described image collecting unit；For every in described three runner assemblies
Individual assembly, described assembly also includes the corresponding fixed part of described assembly and the motor of rotation section, and described motor is used for
The rotation section driving described assembly is rotated, and described controller is electrical with the motor in described three runner assemblies respectively
It is connected, described controller also includes：
Data obtaining module, for when described carrier verts, obtaining the tilt angle of described carrier and direction of verting；
Motor control module, for according to driving in described tilt angle and described three runner assemblies described in direction controlling that vert
Motor rotates, so that described image collecting unit keeps stable in the horizontal direction.
12. controllers according to claim 10 are it is characterised in that described image collecting device also includes：Communication unit；
Described controller also includes：
Communication control module, for controlling described communication unit, described panoramic picture is sent to user terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610951430.0A CN106412439B (en) | 2016-10-27 | 2016-10-27 | Image acquisition equipment, image acquisition method and controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610951430.0A CN106412439B (en) | 2016-10-27 | 2016-10-27 | Image acquisition equipment, image acquisition method and controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106412439A true CN106412439A (en) | 2017-02-15 |
| CN106412439B CN106412439B (en) | 2020-01-07 |
Family
ID=58014231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610951430.0A Active CN106412439B (en) | 2016-10-27 | 2016-10-27 | Image acquisition equipment, image acquisition method and controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106412439B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107613249A (en) * | 2017-09-13 | 2018-01-19 | 成都谍翼科技有限公司 | Border supervising device, system and method |
| CN108062072A (en) * | 2017-11-23 | 2018-05-22 | 哈尔滨理工大学 | A kind of dual camera image collecting device and the flat-bottom milling cutter of image mosaic abrasion online test method |
| CN108401495A (en) * | 2017-10-31 | 2018-08-14 | 深圳市大疆创新科技有限公司 | A kind of holder camera, cradle head device and unmanned vehicle |
| WO2018201718A1 (en) * | 2017-05-02 | 2018-11-08 | 深圳市道通智能航空技术有限公司 | Photographic component and unmanned vehicle |
| CN108944953A (en) * | 2018-07-09 | 2018-12-07 | 重庆电子工程职业学院 | A kind of pilotless automobile path prior-warning device based on cloud computing |
| WO2019085154A1 (en) * | 2017-10-31 | 2019-05-09 | 深圳市大疆创新科技有限公司 | Pan-tilt camera, pan-tilt device and unmanned aerial vehicle |
| WO2019095382A1 (en) * | 2017-11-20 | 2019-05-23 | 深圳市大疆创新科技有限公司 | Image transmission method and apparatus for unmanned aerial vehicle |
| CN111510678A (en) * | 2020-04-21 | 2020-08-07 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle image transmission control method, device and system |
| CN111717406A (en) * | 2020-06-17 | 2020-09-29 | 中国人民解放军陆军工程大学 | Unmanned aerial vehicle image acquisition system |
| CN113163130A (en) * | 2021-03-25 | 2021-07-23 | 维沃移动通信有限公司 | Shooting auxiliary equipment, image pair acquisition calibration method and electronic equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202758245U (en) * | 2012-06-29 | 2013-02-27 | 深圳一电科技有限公司 | Pan-tilt camera controlling device and pan-tilt camera system |
| CN204737042U (en) * | 2015-06-05 | 2015-11-04 | 深圳市森讯达电子技术有限公司 | Unmanned aerial vehicle carries and dispels device |
| CN205366095U (en) * | 2016-01-26 | 2016-07-06 | 深圳市道通智能航空技术有限公司 | Cloud platform and unmanned aerial vehicle |
| CN105847682A (en) * | 2016-03-30 | 2016-08-10 | 乐视控股（北京）有限公司 | Panoramic image photographing method, device and system |
| CN205560201U (en) * | 2016-01-26 | 2016-09-07 | 深圳市大疆创新科技有限公司 | Cloud platform and use shooting equipment and unmanned vehicles of this cloud platform |
| CN106004700A (en) * | 2016-06-29 | 2016-10-12 | 广西师范大学 | Stable omnibearing shooting trolley |
| KR20160123885A (en) * | 2015-04-17 | 2016-10-26 | 삼성전자주식회사 | Method and apparatus for photographing using electronic device capable of flaying |
-
2016
- 2016-10-27 CN CN201610951430.0A patent/CN106412439B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202758245U (en) * | 2012-06-29 | 2013-02-27 | 深圳一电科技有限公司 | Pan-tilt camera controlling device and pan-tilt camera system |
| KR20160123885A (en) * | 2015-04-17 | 2016-10-26 | 삼성전자주식회사 | Method and apparatus for photographing using electronic device capable of flaying |
| CN204737042U (en) * | 2015-06-05 | 2015-11-04 | 深圳市森讯达电子技术有限公司 | Unmanned aerial vehicle carries and dispels device |
| CN205366095U (en) * | 2016-01-26 | 2016-07-06 | 深圳市道通智能航空技术有限公司 | Cloud platform and unmanned aerial vehicle |
| CN205560201U (en) * | 2016-01-26 | 2016-09-07 | 深圳市大疆创新科技有限公司 | Cloud platform and use shooting equipment and unmanned vehicles of this cloud platform |
| CN105847682A (en) * | 2016-03-30 | 2016-08-10 | 乐视控股（北京）有限公司 | Panoramic image photographing method, device and system |
| CN106004700A (en) * | 2016-06-29 | 2016-10-12 | 广西师范大学 | Stable omnibearing shooting trolley |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018201718A1 (en) * | 2017-05-02 | 2018-11-08 | 深圳市道通智能航空技术有限公司 | Photographic component and unmanned vehicle |
| US10551725B2 (en) | 2017-05-02 | 2020-02-04 | Autel Robotics Co., Ltd. | Photographic assembly and unmanned aerial vehicle |
| CN107613249A (en) * | 2017-09-13 | 2018-01-19 | 成都谍翼科技有限公司 | Border supervising device, system and method |
| CN108401495A (en) * | 2017-10-31 | 2018-08-14 | 深圳市大疆创新科技有限公司 | A kind of holder camera, cradle head device and unmanned vehicle |
| WO2019085154A1 (en) * | 2017-10-31 | 2019-05-09 | 深圳市大疆创新科技有限公司 | Pan-tilt camera, pan-tilt device and unmanned aerial vehicle |
| WO2019095382A1 (en) * | 2017-11-20 | 2019-05-23 | 深圳市大疆创新科技有限公司 | Image transmission method and apparatus for unmanned aerial vehicle |
| CN108062072A (en) * | 2017-11-23 | 2018-05-22 | 哈尔滨理工大学 | A kind of dual camera image collecting device and the flat-bottom milling cutter of image mosaic abrasion online test method |
| CN108944953A (en) * | 2018-07-09 | 2018-12-07 | 重庆电子工程职业学院 | A kind of pilotless automobile path prior-warning device based on cloud computing |
| CN111510678A (en) * | 2020-04-21 | 2020-08-07 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle image transmission control method, device and system |
| CN111717406A (en) * | 2020-06-17 | 2020-09-29 | 中国人民解放军陆军工程大学 | Unmanned aerial vehicle image acquisition system |
| CN111717406B (en) * | 2020-06-17 | 2021-10-01 | 中国人民解放军陆军工程大学 | Unmanned aerial vehicle image acquisition system |
| CN113163130A (en) * | 2021-03-25 | 2021-07-23 | 维沃移动通信有限公司 | Shooting auxiliary equipment, image pair acquisition calibration method and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106412439B (en) | 2020-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106412439A (en) | Image acquisition equipment, image acquisition method and controller | |
| US20210105403A1 (en) | Method for processing image, image processing apparatus, multi-camera photographing apparatus, and aerial vehicle | |
| CN108495048B (en) | Double-camera image acquisition equipment based on holder control | |
| CN110719392B (en) | Movable image pickup apparatus, image pickup control method, control apparatus, and storage medium | |
| CN103873758B (en) | The method, apparatus and equipment that panorama sketch generates in real time | |
| CN110022444B (en) | Panoramic photographing method for unmanned aerial vehicle and unmanned aerial vehicle using panoramic photographing method | |
| WO2022032538A1 (en) | Panorama photographing method, apparatus and system, and computer-readable storage medium | |
| CN105657257B (en) | Image pickup method, device, system, mobile terminal and the self-shooting bar of distant view photograph | |
| US20180316843A1 (en) | Positioning Apparatus for Photographic and Video Imaging and Recording and System Utilizing the Same | |
| CN110248079A (en) | A kind of full view image generating system and panorama image generation method | |
| CN107343177A (en) | A kind of filming control method of unmanned plane panoramic video | |
| CN206563985U (en) | 3-D imaging system | |
| DE202018106983U1 (en) | Combined mechanical and electronic image stabilization | |
| CN106210533B (en) | Dual-camera five-view angle oblique photography implementation method and oblique photography device | |
| CN106657792B (en) | Shared viewing device | |
| CN108650522A (en) | Based on the live broadcast system that can obtain high definition photo immediately automatically controlled | |
| CN108696724B (en) | Live broadcast system capable of instantly obtaining high-definition photos | |
| CN110291777B (en) | Image acquisition method, device and machine-readable storage medium | |
| CN110720209B (en) | Image processing method and device | |
| CN109525752A (en) | Capture apparatus and image pickup method | |
| CN110933297B (en) | Photographing control method and device of intelligent photographing system, storage medium and system | |
| WO2019127402A1 (en) | Synthesizing method of spherical panoramic image, uav system, uav, terminal and control method thereof | |
| CN111061123B (en) | Rotary panoramic imaging system for tourist landscape display and use method | |
| CN110291772A (en) | Filming image device and hand-held holder, moveable platform | |
| CN110086994A (en) | A kind of integrated system of the panorama light field based on camera array |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |