CN106506954A - Image pickup method and system based on multi-rotor aerocraft - Google Patents
Image pickup method and system based on multi-rotor aerocraft Download PDFInfo
- Publication number
- CN106506954A CN106506954A CN201610985218.6A CN201610985218A CN106506954A CN 106506954 A CN106506954 A CN 106506954A CN 201610985218 A CN201610985218 A CN 201610985218A CN 106506954 A CN106506954 A CN 106506954A
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- China
- Prior art keywords
- image
- attitude data
- rotor aerocraft
- pickup method
- attitude
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
Abstract
The invention provides a kind of image pickup method based on multi-rotor aerocraft, including：Shooting image and the attitude data of Real-time Collection multi-rotor aerocraft；The attitude data and image are sent to image stabilization module；The central point of image corresponding with the moment of the current attitude data is rotated by image stabilization module according to current attitude data.The invention further relates to a kind of system corresponding with the image pickup method based on multi-rotor aerocraft.By gathering the attitude data of multi-rotor aerocraft, so as to rotate to the image for shooting according to the attitude data, to eliminate the flating that multi-rotor aerocraft carries out pitching, rolling is caused, image flame detection is realized, reach the effect of stable output image and video in the case of without head.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of image pickup method based on multi-rotor aerocraft and it is
System.
Background technology
Current multi-rotor aerocraft to be taken photo by plane and carry two axles or three axle heads mostly, realizes two axles or three by physical method
Axle is steady as taking photo by plane.Chinese patent such as 104229131 A of Publication No. CN proposes a kind of eight rotor aerial photography aircraft of V-type, wraps
Body, two short support arms, two draw money on credit brace and two length identical mounting rods are included, two mounting rods are by described
Two short support arms and two braces of drawing money on credit are fixedly connected with the body, two mounting rods be generally aligned in the same plane and with regard to
The longitudinal axis of the aircraft is symmetrical in V-shape, is respectively arranged with four rotors on two mounting rods, and eight rotors are equal
The top of the body is located at, and the bottom of the body is fixed with head, video camera is provided with the head.
Or head is not carried, the steady as taking photo by plane of two axles in front of head is realized by the advanced algorithm of attitude data.On
State and the steady method as taking photo by plane is realized by carrying head, due to being equipped with head, increased fuselage weight, reduce continuation of the journey, increase
Cost is added；And the algorithm for passing through attitude data realizes that steady picture is taken photo by plane, the steady purpose as taking photo by plane of three axles is unable to reach.
Content of the invention
The technical problem to be solved is：There is provided a kind of without head and can realize three axles steady as take photo by plane based on
The image pickup method of multi-rotor aerocraft and system.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is：
A kind of image pickup method based on multi-rotor aerocraft, including：
Shooting image and the attitude data of Real-time Collection multi-rotor aerocraft；
The attitude data and image are sent to image stabilization module；
Image stabilization module is by the central point of image corresponding with the moment of the current attitude data according to current
Attitude data is rotated.
The present invention provide another technical scheme be：
A kind of camera system based on multi-rotor aerocraft, including：
Acquisition module, for the attitude data and shooting image of shooting image and Real-time Collection multi-rotor aerocraft；
Sending module, for sending the attitude data and image to image stabilization module；
Image stabilization module, for by the central point of image corresponding with the moment of the current attitude data according to work as
Front attitude data is rotated.
The beneficial effects of the present invention is：By gathering the attitude data of multi-rotor aerocraft, so as to according to the attitude number
Rotate according to the image to shooting, to eliminate the flating that multi-rotor aerocraft carries out pitching, rolling is caused, realize image
Correction, reaches the effect of stable output image and video in the case of without head.
Description of the drawings
Flow charts of the Fig. 1 for the image pickup method based on multi-rotor aerocraft of the embodiment of the present invention；
Structural representations of the Fig. 2 for the camera system based on multi-rotor aerocraft of the embodiment of the present invention；
Flow charts of the Fig. 3 for the image pickup method based on multi-rotor aerocraft of the embodiment of the present invention one.
Label declaration：
1st, acquisition module；11st, fish eye lens；12nd, attitude transducer；2nd, sending module；3rd, image stabilization module.
Specific embodiment
By describing the technology contents of the present invention in detail, realizing purpose and effect, below in conjunction with embodiment and coordinate attached
Figure is explained.
The design of most critical of the present invention is：The attitude data of Real-time Collection multi-rotor aerocraft, according to the attitude data
The central point of image is rotated.
Fig. 1 is refer to, the present invention is provided：
A kind of image pickup method based on multi-rotor aerocraft, including：
Shooting image and the attitude data of Real-time Collection multi-rotor aerocraft；
The attitude data and image are sent to image stabilization module；
Image stabilization module is by the central point of image corresponding with the moment of the current attitude data according to current
Attitude data is rotated.
Further, by the central point of image corresponding with the moment of the current attitude data according to current attitude
Data are rotated, and are further included afterwards：
The corresponding image is carried out cutting.
Knowable to foregoing description, for different equipment and output demand, need for image to carry out ability reality after cutting
Now export, specific cutting is arranged and can be adjusted according to different application scenarios.
Further, transmission frequency of the transmission frequency of the attitude data more than described image.
Knowable to foregoing description, the transmission frequency of attitude data is higher than the transmission frequency of image such that it is able to guarantee per width
Image has corresponding attitude data.
Further, cutting is carried out to the corresponding image by mobile view-finder.
Knowable to foregoing description, the image positioned at inframe of finding a view is cut out by mobile view-finder, then by the figure for cutting out
As output.Cutting can also be carried out to image using other modes.
Further, before the attitude data of shooting image and Real-time Collection multi-rotor aerocraft, further include：
It is provided for the fish eye lens of shooting image, and for gathering the attitude transducer of attitude data.
Knowable to foregoing description, bigger visual angle can be realized using fish eye lens, be that cutting is provided convenience.
Further, the fish eye lens and attitude transducer are arranged on the multi-rotor aerocraft.
Fig. 2 is refer to, another technical scheme of the present invention is：
A kind of camera system based on multi-rotor aerocraft, including：
Acquisition module 1, for the attitude data and shooting image of shooting image and Real-time Collection multi-rotor aerocraft；
Sending module 2, for sending the attitude data and image to image stabilization module；
Image stabilization module 3, for by the central point of image corresponding with the moment of the current attitude data according to
Current attitude data is rotated.
Further, transmission frequency of the transmission frequency of the attitude data more than described image.
Further, described image stable module is additionally operable to carry out cutting to postrotational image.
Further, the acquisition module 1 includes that fish eye lens 11 and attitude transducer 12, the fish eye lens 11 are used for
Described image is shot, the attitude transducer 12 is used for attitude data described in Real-time Collection；The fish eye lens 11 and attitude are passed
Sensor 12 is arranged on the multi-rotor aerocraft.
Fig. 3 is refer to, embodiments of the invention one are：
A kind of image pickup method based on multi-rotor aerocraft, including：
It is provided for the fish eye lens of shooting image on multi-rotor aerocraft, and for gathering the attitude of attitude data
Sensor；
Shooting image and the attitude data of Real-time Collection multi-rotor aerocraft；
The attitude data and image are sent to image stabilization module；The transmission frequency of the attitude data is more than described
The transmission frequency of image；Described image stable module can be computer, microprocessor etc., and the image stabilization module can be arranged
On multi-rotor aerocraft, it is also possible to be provided separately with multi-rotor aerocraft；
Image stabilization module is by the central point of image corresponding with the moment of the current attitude data according to current
Attitude data is rotated；
Cutting is carried out to the corresponding image by mobile view-finder；
Image after output cutting.
Fig. 2 is refer to, embodiments of the invention two are：
A kind of system corresponding with the method for the shooting based on multi-rotor aerocraft of above-described embodiment one, including：
Acquisition module 1, for the attitude data and shooting image of shooting image and Real-time Collection multi-rotor aerocraft；
The acquisition module 1 includes fish eye lens 11 and attitude transducer 12, and the fish eye lens 11 is used for shooting described image, described
Attitude transducer 12 is used for attitude data described in Real-time Collection；The fish eye lens 11 and attitude transducer 12 are arranged at described
On multi-rotor aerocraft；
Sending module 2, for sending the attitude data and image to image stabilization module 3；The attitude data
Transmission frequency of the transmission frequency more than described image；
Image stabilization module 3, for by the central point of image corresponding with the moment of the current attitude data according to
Current attitude data is rotated, and postrotational image is carried out to export after cutting.
In sum, the present invention is provided the image pickup method based on multi-rotor aerocraft and system, can realize steady as boat
Clap, reach in flight course steady shot image and export, and head need not be carried, alleviate the weight of multi-rotor aerocraft
Amount, reduces energy expenditure.
Embodiments of the invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, every using this
The equivalents made by bright description and accompanying drawing content, or the technical field of correlation is directly or indirectly used in, include in the same manner
In the scope of patent protection of the present invention.
Claims (10)
1. a kind of image pickup method based on multi-rotor aerocraft, it is characterised in that include：
Shooting image and the attitude data of Real-time Collection multi-rotor aerocraft；
The attitude data and image are sent to image stabilization module；
Image stabilization module is by the central point of image corresponding with the moment of the current attitude data according to current attitude
Data are rotated.
2. the image pickup method based on multi-rotor aerocraft according to claim 1, it is characterised in that will be current with described
Moment of attitude data central point of corresponding image is rotated according to current attitude data, is further included afterwards：
The corresponding image is carried out cutting.
3. the image pickup method based on multi-rotor aerocraft according to claim 1, it is characterised in that the attitude data
Transmission frequency of the transmission frequency more than described image.
4. the image pickup method based on multi-rotor aerocraft according to claim 1, it is characterised in that by mobile view-finder
Cutting is carried out to the corresponding image.
5. the image pickup method based on multi-rotor aerocraft according to claim 1, it is characterised in that shooting image and reality
When gather multi-rotor aerocraft attitude data before, further include：
It is provided for the fish eye lens of shooting image, and for gathering the attitude transducer of attitude data.
6. the image pickup method based on multi-rotor aerocraft according to claim 5, it is characterised in that the fish eye lens and
Attitude transducer is arranged on the multi-rotor aerocraft.
7. a kind of camera system based on multi-rotor aerocraft, it is characterised in that include：
Acquisition module, for the attitude data and shooting image of shooting image and Real-time Collection multi-rotor aerocraft；
Sending module, for sending the attitude data and image to image stabilization module；
Image stabilization module, for by the central point of image corresponding with the moment of the current attitude data according to current
Attitude data is rotated.
8. the camera system based on multi-rotor aerocraft according to claim 7, it is characterised in that the attitude data
Transmission frequency of the transmission frequency more than described image.
9. the camera system based on multi-rotor aerocraft according to claim 7, it is characterised in that described image stable mode
Block is additionally operable to carry out cutting to postrotational image.
10. the camera system based on multi-rotor aerocraft according to claim 7, it is characterised in that the acquisition module
Including fish eye lens and attitude transducer, the fish eye lens is used for shooting described image, and the attitude transducer is used in real time
Gather the attitude data；The fish eye lens and attitude transducer are arranged on the multi-rotor aerocraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610985218.6A CN106506954A (en) | 2016-10-25 | 2016-10-25 | Image pickup method and system based on multi-rotor aerocraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610985218.6A CN106506954A (en) | 2016-10-25 | 2016-10-25 | Image pickup method and system based on multi-rotor aerocraft |
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| Publication Number | Publication Date |
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| CN106506954A true CN106506954A (en) | 2017-03-15 |
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| CN201610985218.6A Pending CN106506954A (en) | 2016-10-25 | 2016-10-25 | Image pickup method and system based on multi-rotor aerocraft |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208946A (en) * | 2019-05-31 | 2019-09-06 | 京东方科技集团股份有限公司 | A kind of wearable device and the exchange method based on wearable device |
| CN116164754A (en) * | 2023-04-25 | 2023-05-26 | 中国电子科技集团公司第五十四研究所 | Cloud deck virtualization method based on unmanned aerial vehicle motion state |
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| CN104994273A (en) * | 2015-06-16 | 2015-10-21 | 成都西可科技有限公司 | System of maintaining real-time shooting image to be vertical and method thereof |
| CN105031935A (en) * | 2014-04-16 | 2015-11-11 | 鹦鹉股份有限公司 | Rotary-wing drone provided with a video camera supplying stabilised image sequences |
| CN105857582A (en) * | 2016-04-06 | 2016-08-17 | 北京博瑞爱飞科技发展有限公司 | Method and device for adjusting shooting angle, and unmanned air vehicle |
-
2016
- 2016-10-25 CN CN201610985218.6A patent/CN106506954A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105031935A (en) * | 2014-04-16 | 2015-11-11 | 鹦鹉股份有限公司 | Rotary-wing drone provided with a video camera supplying stabilised image sequences |
| CN104994273A (en) * | 2015-06-16 | 2015-10-21 | 成都西可科技有限公司 | System of maintaining real-time shooting image to be vertical and method thereof |
| CN105857582A (en) * | 2016-04-06 | 2016-08-17 | 北京博瑞爱飞科技发展有限公司 | Method and device for adjusting shooting angle, and unmanned air vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208946A (en) * | 2019-05-31 | 2019-09-06 | 京东方科技集团股份有限公司 | A kind of wearable device and the exchange method based on wearable device |
| CN116164754A (en) * | 2023-04-25 | 2023-05-26 | 中国电子科技集团公司第五十四研究所 | Cloud deck virtualization method based on unmanned aerial vehicle motion state |
| CN116164754B (en) * | 2023-04-25 | 2023-06-23 | 中国电子科技集团公司第五十四研究所 | Cloud deck virtualization method based on unmanned aerial vehicle motion state |
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Application publication date: 20170315 |