CN108270950B - Imaging system and aircraft - Google Patents
Imaging system and aircraft Download PDFInfo
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- CN108270950B CN108270950B CN201710005142.0A CN201710005142A CN108270950B CN 108270950 B CN108270950 B CN 108270950B CN 201710005142 A CN201710005142 A CN 201710005142A CN 108270950 B CN108270950 B CN 108270950B
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- 238000003384 imaging method Methods 0.000 title claims description 27
- 230000004438 eyesight Effects 0.000 claims abstract description 196
- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 230000003287 optical effect Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 10
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 14
- 230000002035 prolonged effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000002045 lasting effect Effects 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 2
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The present invention provides an image pickup system including: two visual sensors arranged at intervals; the projection of the main camera in the connecting line direction of the two vision sensors is positioned between the two vision sensors; based on the same horizontal projection plane, the projections of the main camera on the horizontal projection plane are positioned in the shooting blind areas of the two vision sensors, and the projections of the two vision sensors on the horizontal projection plane are positioned in the shooting blind areas of the main camera. The projection of main camera and vision sensor on same horizontal projection face can be in the shooting blind area of counterparty respectively, and effectual solution leads to the problem of whole size increase through the distance between perpendicular pull-open main camera and the vision sensor because of avoiding wearing group's camera lens, reduces camera system's whole size, and then reduces camera system's installation space, is favorable to the miniaturized development of aircraft. The invention also provides an aircraft.
Description
Technical Field
The invention relates to the technical field of aircraft equipment, in particular to a camera system and an aircraft using the camera system.
Background
For the current aircraft, the technology of adopting a vision sensor to avoid the obstacle is still immature, and the position layout between the main camera and the vision sensor is usually that the main camera and the vision sensor are in the shooting blind area of the other side through projection on a vertical plane, namely, the problem that the vision sensor and the main camera mutually penetrate the upper lens is avoided by increasing the vertical height of the main camera and the vision sensor. However, when the main camera and the vision sensor are installed, the vertical distance between the main camera and the vision sensor must be far, so that the overall size of the aircraft is increased, the occupied space is increased, and the device is not suitable for small or micro aircrafts and is not beneficial to the miniaturization development of the aircrafts.
Disclosure of Invention
Based on this, it is necessary to provide an imaging system capable of reducing the overall size while avoiding the presence of a lens for the main camera and the vision sensor, and an aircraft using the same.
The above purpose is achieved by the following technical scheme:
an image capturing system comprising:
two visual sensors arranged at intervals; and
The projection of the main camera in the connecting line direction of the two vision sensors is positioned between the two vision sensors;
based on the same horizontal projection plane, the projections of the main camera on the horizontal projection plane are positioned in the shooting blind areas of the two vision sensors, and the projections of the two vision sensors on the horizontal projection plane are positioned in the shooting blind areas of the main camera.
In one embodiment, the horizontal projection plane is a plane in which optical axes of the two vision sensors are located or a plane parallel to the plane.
In one embodiment, the projection of the main camera on the same horizontal projection plane is located in a shooting blind area of a quadrilateral area;
based on the same horizontal projection plane, the two vision sensors are provided with a first horizontal shooting view angle, and the main camera is provided with a second horizontal shooting view angle;
the quadrilateral region is formed by intersecting two viewing angle edges of a first horizontal shooting viewing angle of the two visual sensors and two viewing angle edges of a second shooting viewing angle of the main camera when the two visual sensors are at a critical value outside a second horizontal shooting viewing angle range of the main camera.
In one embodiment, the vertical plane of the optical axis of the main camera can horizontally rotate relative to the vertical plane of the optical axis of the vision sensor;
the second horizontal shooting visual angle of the main camera is the maximum shooting visual angle of the main camera in the horizontal rotation range.
In one embodiment, the angle range of the horizontal rotation of the main camera is-45 degrees to 45 degrees.
In one embodiment, the projection of the main camera on the horizontal projection plane is located on a midchord line of the connecting lines of the two vision sensors.
In one embodiment, the two vision sensors and the main camera are arranged on the same horizontal plane.
In one embodiment, the perpendicular distance between the main camera and the plane where the optical axes of the two vision sensors are located is-20 mm.
In one embodiment, the projection of the main camera on the horizontal projection plane is located on the connecting line of the two vision sensors.
In one embodiment, the distance between the projection of the main camera on the horizontal projection plane and the connecting line of the two vision sensors is-50 mm.
In one embodiment, the primary camera is rotated in a vertical plane relative to the vision sensor.
In one embodiment, the angle of rotation of the primary camera relative to the vision sensor on a vertical plane ranges from 30 ° horizontally up to 90 ° vertically down.
In one embodiment, the distance between the two vision sensors is 30 mm-80 mm.
The aircraft comprises a fuselage, a cradle head and the camera system according to any technical characteristic;
the camera system is installed on the cradle head, and the cradle head is installed on the machine body.
In one embodiment, the cradle head comprises a camera bracket, a main body bracket and two connecting brackets arranged on two sides of the main body bracket;
the camera shooting support and the two connecting supports are both arranged on the main body support, and the main body support is arranged on the body of the aircraft;
the two connecting brackets are respectively used for installing visual sensors of the camera system; the camera support is used for installing a main camera of the camera system.
The beneficial effects of the invention are as follows:
the camera system disclosed by the invention is simple and reasonable in structural design, and based on the same horizontal projection plane, the projection of the main camera on the horizontal projection plane is positioned in the shooting blind areas of the two vision sensors so as to prevent the two vision sensors from shooting the main camera, and the projection of the two vision sensors on the horizontal projection plane is positioned in the shooting blind areas of the main camera so as to prevent the main camera from shooting the two vision sensors. Therefore, the main camera and the visual sensor are all in shooting blind areas of the other side, so that the main camera and the visual sensor are prevented from shooting through the upper lens, and the shooting effect is ensured. Meanwhile, as the main camera and the vision sensor are both positioned in the shooting blind area of the other side on the same horizontal projection plane, the size of the shooting system in the vertical direction can be effectively reduced, and then the overall size of the shooting system is reduced, so that the occupied space of the shooting system during installation can be reduced, and the miniaturization development of an aircraft is facilitated. And moreover, the weight of the aircraft can be reduced while the size of the camera system is reduced, so that the aircraft can fly stably, the flight time of the aircraft is prolonged, and the flight safety of the aircraft is improved. The projection of the main camera and the visual sensor of the camera system on the same horizontal projection plane can be respectively positioned in the shooting blind areas of the other side, so that the problem that the overall size is increased due to the fact that the distance between the main camera and the visual sensor is vertically pulled away due to the fact that a lens is worn is effectively solved, the overall size of the camera system is reduced, the installation space of the camera system is further reduced, the camera system is conveniently installed on a small or miniature aircraft, and the small development of the aircraft is facilitated.
Because the camera system has the technical effects, the aircraft comprising the camera system also has corresponding technical effects.
Drawings
Fig. 1 is a schematic top view of a layout of a vision sensor and a main camera in a camera system of the present invention, wherein a is a limit position of a virtual main camera;
FIG. 2 is a perspective view of the image capture system shown in FIG. 1 with a primary camera mounted in a quadrilateral area;
FIG. 3 is a top view of the image capture system shown in FIG. 2 with a primary camera mounted in a quadrilateral area;
FIG. 4 is a perspective view of a layout of an imaging system according to an embodiment of the present invention;
FIG. 5 is a top view of the layout of the camera system shown in FIG. 4;
FIG. 6 is a rear view of the layout of the camera system shown in FIG. 4;
FIG. 7 is a perspective view of a layout of an imaging system according to another embodiment of the present invention;
FIG. 8 is a top view of the layout of the camera system shown in FIG. 7;
FIG. 9 is a rear view of the layout of the camera system shown in FIG. 7;
FIG. 10 is a perspective view of a layout of an imaging system according to yet another embodiment of the present invention;
FIG. 11 is a top view of the layout of the imaging system shown in FIG. 10;
FIG. 12 is a perspective view of a pan/tilt head implementing the camera system layout of the present invention;
wherein:
a 100-camera system;
110-visual sensor;
120-a main camera;
200-cradle head;
210-a camera support;
220-connecting a bracket;
230-body scaffold.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments are used to further describe the aircraft and its imaging system in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 3, the present invention provides an imaging system 100, where the imaging system 100 includes two vision sensors 110 and a main camera 120 that are disposed at intervals. The vision sensor 110 is mainly based on the parallax principle and utilizes the vision sensor 110 to acquire two images of an object at different positions, and acquires three-dimensional geometric information of the object by calculating position deviation between corresponding points of the images. Based on the above, the vision sensor 110 can acquire three-dimensional geometric information of the object, so that the aircraft can be positioned forwards and avoid the obstacle, the object is prevented from being impacted when the aircraft flies, and the flight safety of the aircraft is ensured. The main camera 120 plays a role of photographing. In addition, the main camera 120 may be a night vision lens, a thermal lens, a common photographing lens or other lenses with special functions, so as to meet the use requirements of different users.
Specifically, the two vision sensors 110 are arranged at intervals to ensure that three-dimensional geometric information of an object is acquired, and ensure forward positioning and obstacle avoidance effects when the aircraft flies, so that the flying safety of the aircraft is ensured. The projection of the main camera 120 in the direction of the line connecting the two vision sensors 110 is located between the two vision sensors 110. This reduces the volume of the camera system 100, and avoids a large assembly space requirement due to a large distance between the vision sensor 110 and the camera, thereby reducing the installation space of the camera system 100.
In the present invention, in order to facilitate the description of the positions of the two vision sensors 110 and the main camera 120, a rectangular coordinate system is introduced, the direction from one vision sensor 110 to the other vision sensor 110 is set as the X direction, the direction of the perpendicular bisector of the connection line of the two vision sensors 110 is set as the Y direction, and the directions perpendicular to the X direction and the Y direction are all Z directions. That is, the two vision sensors 110 are in the X direction in the connecting line direction, that is, the two vision sensors 110 have the same coordinates in the Y direction and the Z direction except for the coordinates in the X direction. The projection of the main camera 120 in the X direction is located between the two vision sensors 110 to reduce the size of the image capturing system 100. Based on the same horizontal projection plane, the projections of the main camera 120 on the horizontal projection plane are located in the shooting blind areas of the two vision sensors 110, and the projections of the two vision sensors 110 on the horizontal projection plane are located in the shooting blind areas of the main camera 120. In this way, the vertical distance between the main camera 120 and the vision sensor 110 can be reduced while the main camera 120 and the vision sensor 110 are respectively located in shooting blind areas of each other, so that the overall size of the camera system 100 is reduced, and the camera system 100 is convenient to install on a small or miniature aircraft. At the same time, the overall size of the camera system 100 is reduced, the load of the aircraft can be reduced, the aircraft can fly stably, the flight time of the aircraft is prolonged, and the flight safety of the aircraft is improved. The horizontal projection plane in the present invention refers to a plane in which the optical axes of the two vision sensors 110 are located or a plane parallel to a plane in which the optical axes of the two vision sensors 110 are located.
The projections of the main camera 120 and the two vision sensors 110 on the same horizontal projection plane provided by the camera system 100 are in the shooting blind areas of each other, so that the vertical distance between the main camera 120 and the vision sensors 110 is reduced, and the purpose of installing the vision sensors 110 and the main camera 120 in a small space is realized. Since the current vision sensor and the main camera are usually realized by pulling the vertical distance between the main camera 120 and the vision sensor 110 apart when the shooting is ensured not to be worn, the installation space of the camera system 100 is increased, which is not beneficial to the miniaturization development of the aircraft. Therefore, the imaging system 100 of the present invention can reduce the volume of the imaging system 100 by the projection of the vision sensor 110 and the main camera 120 on the same horizontal projection plane being respectively in the shooting blind area of each other and the main camera 120 being located between the two vision sensors 110, so that the vision sensor 110 and the main camera 120 can reduce the space occupied by the imaging system 100 while ensuring that shooting is not performed, thereby reducing the weight of the imaging system 100, enabling the imaging system 100 to be applied to a small or miniature aircraft, and facilitating the miniaturization development of the aircraft.
Based on the same horizontal projection plane, the projection of the main camera 120 of the camera system 100 of the present invention on the horizontal projection plane is located in the shooting blind areas of the two vision sensors 110 to avoid that the two vision sensors 110 shoot the main camera 120, and the projection of the two vision sensors 110 on the horizontal projection plane is located in the shooting blind areas of the main camera 120 to avoid that the main camera 120 shoots the two vision sensors 110. Thus, the main camera 120 and the visual sensor 110 are in the shooting blind areas of the other side, so that the main camera 120 and the visual sensor 110 are prevented from shooting through the upper lens, and the shooting effect is ensured. Meanwhile, since the main camera 120 and the vision sensor 110 are both located in the shooting blind area of each other on the same horizontal projection plane, the size of the vertical direction of the camera system 100 can be effectively reduced, and then the overall size of the camera system 100 is reduced, so that the occupied space of the camera system 100 during installation can be reduced, and the miniaturization development of an aircraft is facilitated. In addition, the size of the camera system 100 is reduced, and meanwhile, the load of the aircraft can be reduced, so that the aircraft can fly stably, the flight time of the aircraft is prolonged, and the flight safety of the aircraft is improved. The projections of the main camera 120 and the vision sensor 110 of the camera system 100 on the same horizontal projection plane can be respectively positioned in shooting blind areas of the other side, so that the problem that the overall size is increased due to the fact that the distance between the main camera and the vision sensor is vertically pulled away due to the fact that a lens is worn is effectively solved, the overall size of the camera system 100 is reduced, the installation space of the camera system 100 is further reduced, the camera system 100 is conveniently installed on a small or miniature aircraft, and the small development of the aircraft is facilitated.
As an embodiment, the projection of the main camera 120 on the horizontal projection plane is located in a shooting blind area of the quadrangular region. Based on the same horizontal projection plane, both vision sensors 110 have a first horizontal photographing angle of view, and the main camera 120 has a second horizontal photographing angle of view. The first horizontal photographing viewing angle is a projection of the photographing viewing angle range of the vision sensor 110 on a horizontal projection plane; the second horizontal shooting angle of view is a projection of the shooting angle of view range of the main camera 120 on the horizontal projection plane. The quadrangular region is formed by intersecting two viewing angle sides of the second horizontal photographing viewing angle and two viewing angle sides of the second horizontal photographing viewing angle of the main camera 120 when the two vision sensors 110 are at a critical value outside the second horizontal photographing viewing angle range of the main camera 120. The threshold value of the two vision sensors 110 outside the second horizontal shooting view angle range of the main camera 120 means that the two vision sensors 110 are located outside the second horizontal shooting view angle of the main camera 120, and two view angle edges of the second horizontal shooting view angle of the main camera 120 are tangential to the vision sensors 110.
Preferably, in the present embodiment, the vertical plane where the optical axes of the two vision sensors 110 are located is parallel to the vertical plane where the optical axes of the main cameras 120 are located. Two viewing angle sides at which the first horizontal photographing viewing angles of the two vision sensors 110 intersect are two sides of the quadrangular region, respectively. The other two sides of the quadrangle are two viewing angle sides of the second horizontal shooting viewing angle of the main camera 120 when the two vision sensors 110 are at a critical value outside the second horizontal shooting viewing angle range of the main camera 120. The projection of the main camera 120 can ensure that the vision sensor 110 and the main camera 120 are in the shooting blind area of each other when in the above quadrilateral area. Specifically, when the two vision sensors 110 are at the critical value outside the second horizontal shooting view angle range of the main camera 120, the position of the main camera 120 is at the limit position of the shooting blind area. When the main camera 120 is at the limit position, the main camera 120 is located on the middle vertical line of the connecting line of the two vision sensors 110, the two vision sensors 110 are located outside the second horizontal shooting view angle of the main camera 120, and two view angle edges of the second horizontal shooting view angle of the main camera 120 are tangent to the two vision sensors 110 respectively. The limit position of the main camera 120 is the a position shown in fig. 1, and a quadrangular region formed by two viewing angles sides of the main camera 120 and viewing angles sides of the two vision sensors 110 when the main camera 120 is in the a position is a shooting blind region of the main camera 120. The projection of the main camera 120 on the horizontal projection plane is located in the quadrangular region, so that the vision sensor 110 and the main camera 120 can be ensured to be in the shooting blind areas of each other.
To facilitate the description of the quadrilateral region, the primary camera 120 and the two vision sensors 110 are projected on the same horizontal projection plane. Two viewing angle sides of the first horizontal photographing viewing angle of one of the vision sensors 110 are a1 and a2, respectively, two viewing angle sides of the first horizontal photographing viewing angle of the other vision sensor 110 are a3 and a4, respectively, and two viewing angle sides of the first horizontal photographing viewing angle of the other vision sensor 110 intersecting with the first horizontal photographing viewing angle of the other vision sensor 110 are a2 and a3, respectively, so that the viewing angle sides a2 and a3 are two sides of the quadrangular region. When the main camera 120 is at the limit position, the viewing angle edges a5 and a6 are respectively tangential to the two vision sensors 110, at this time, the viewing angle edges a5 and a6 and the viewing angle edges a2 and a3 intersect, the viewing angle edges a5 and a6 and the viewing angle edges a2 and a3 jointly enclose into a quadrilateral, the quadrilateral area is the area where the projection of the main camera 120 in the horizontal projection plane is located, in the area, the main camera 120 cannot shoot the two vision sensors 110, meanwhile, the two vision sensors 110 cannot shoot the main camera 120, in principle, the vertical distance between the main camera 120 and the vision sensors 110 is not limited, and as long as the projection of the main camera 120 in the horizontal direction is in the blind area, the problem that the main camera 120 and the vision sensors 110 cannot penetrate the upper lens can be guaranteed.
When the projection of the main camera 120 on the horizontal projection surface is in the quadrilateral area, the main camera 120 and the vision sensor 110 are in the shooting blind areas, so that the main camera 120 can be prevented from shooting the vision sensor 110 and the vision sensor 110 to shoot the main camera 120, further, the occurrence of a wall penetrating lens is avoided, the shooting effect of the main camera 120 and the accuracy of the data acquisition of the vision sensor 110 are ensured, and further, the safety of an aircraft in flight is ensured. Meanwhile, the projection of the main camera 120 on the horizontal projection plane in the quadrilateral area can also reduce the overall size of the camera system 100, reduce the weight of the camera system 100, and further reduce the space occupied by the camera system 100 during installation. Further, the first horizontal photographing view angle is equal to the second horizontal photographing view angle, and when the main camera 120 is at the limit position, i.e. the main camera 120 is located on the middle vertical line of the connection line of the two vision sensors 110, the two vision sensors 110 are at the critical value outside the second horizontal photographing view angle range of the main camera 120, and the quadrilateral area is a diamond area. This can facilitate determination of the shooting dead zone and setting of the position of the main camera 120.
Of course, in other embodiments of the present invention, the vertical plane on which the optical axis of the main camera 120 is located can be horizontally rotated with respect to the vertical plane on which the optical axis of the vision sensor 110 is located. The second horizontal photographing angle of view of the main camera 120 is the maximum horizontal photographing angle of view of the main camera 120 within the horizontal rotation range. The maximum horizontal shooting view angle is the projection of the shooting view angle range of the main camera 120 on the horizontal projection plane plus the angle of the horizontal rotation of the main camera 120. Specifically, a new viewing angle is formed by adding the projection of the shooting viewing angle range of the main camera 120 on the horizontal projection plane and the angle of the horizontal rotation of the main camera 120, and the side of the viewing angle is the viewing angle boundary. The quadrangular region is formed by the intersection of two viewing angle sides, the viewing angle boundaries of which intersect the first horizontal photographing viewing angles of the two vision sensors 110. The main camera 120 can also place the main camera 120 and the vision sensor 110 in a blind area of each other in the quadrangular region. Further, the angle range of the horizontal rotation of the main camera 120 is-45 °, so as to avoid the presence of a lens penetrating between the main camera 120 and the vision sensor 110, avoid the photographing of the vision sensor 110 by the main camera 120, and avoid the photographing of the main camera 120 by the vision sensor 110.
As an embodiment, the two vision sensors 110 are disposed at the same level as the main camera 120. That is, the main camera 120 and the two vision sensors 110 are both located in the planes of the X-direction and the Y-direction. At this time, the coordinates of both the vision sensors 110 and the main camera 120 in the Z direction are the same. In this way, the two vision sensors 110 and the main camera 120 can be ensured to be in the shooting blind area of each other, and the size of the camera system 100 is reduced, so that the occupied space of the camera system 100 is reduced during installation, the camera system is convenient to install on a small or miniature aircraft, the load of the aircraft is reduced, and the flight time of the aircraft is prolonged.
Of course, in other embodiments of the present invention, the plane in which the two vision sensors 110 are located may also be located below the main camera 120 or the two vision sensors 110 may be located above the main camera 120. That is, the coordinates of the main camera 120 in the Z direction may be greater than or less than the coordinates of the two vision sensors 110 in the Z direction. Thus, the vision sensor 110 and the main camera 120 can be located in the shooting blind area of each other, and the diversity of the installation positions of the main camera 120 and the vision sensor 110 can be realized. In principle, without considering the limitation of the aircraft body, as long as the projection of the main camera 120 on the horizontal projection plane is located in the quadrilateral area formed by the main camera 120 and the vision sensor 110 when the main camera 120 is at the limit position, the shooting angles of the main camera 120 and the vision sensor 110 can be ensured to be staggered, so as to avoid shooting the lasting lens, and meet the working requirement of the camera system 100. Preferably, in order to reduce the overall size of the camera system 100, the distance between the plane on which the vision sensor 110 is located and the main camera 120 in the vertical direction is preferably-20 mm to 20mm.
As an embodiment, the projection of the main camera 120 on the horizontal projection plane is located on the middle vertical line of the two vision sensors 110. That is, the main camera 120 is located at the middle position of the two vision sensors 110, i.e., the distances from the main camera 120 to the two vision sensors 110 are the same, which can facilitate the determination of the position of the main camera 120. Of course, in other embodiments of the present invention, the main camera 120 may be fixedly disposed at a position deviated from the perpendicular bisector of the two vision sensors 110. In principle, as long as the projection of the main camera 120 on the horizontal projection plane is located in the quadrilateral area, the vision sensor 110 and the main camera 120 can be located at the position of each other shooting blind area, so as to ensure the shooting effect of the main camera 120 and the data acquisition accuracy of the vision sensor 110.
As an embodiment, the projection of the main camera 120 on the horizontal projection plane is located on the line connecting the two vision sensors 110. That is, the main camera 120 is disposed in line with the two vision sensors 110. Of course, in other embodiments of the present invention, the projection of the main camera 120 on the horizontal projection plane may also be disposed at a position deviated from the line connecting the two vision sensors 110. In principle, as long as the projection of the main camera 120 on the horizontal projection plane is located in the quadrilateral area, the vision sensor 110 and the main camera 120 can be located at the position of each other shooting blind area, so as to ensure the shooting effect of the main camera 120 and the data acquisition accuracy of the vision sensor 110. In order to reduce the overall size of the imaging system 100, the distance between the projection of the main camera 120 on the horizontal projection plane and the line connecting the two vision sensors 110 is preferably-50 mm to 50mm.
As an implementation manner, the main camera 120 rotates on the vertical plane relative to the vision sensor 110, so that the angle of the main camera 120 can be adjusted, the shooting effect of the main camera 120 is ensured, shooting at different angles is realized, and different use requirements of users are met. Meanwhile, after the aircraft flies for a period of time or flies according to a preset angle, the angle of the main camera 120 deviates from the angle at the initial position of the main camera 120, so that the angle of the main camera 120 needs to be repaired in order to ensure the shooting effect of the main camera 120, and the position of the main camera 120 can be adjusted by rotating the main camera 120 relative to the vision sensor 110. Further, the angle at which the main camera 120 rotates on the vertical plane with respect to the vision sensor 110 ranges from 30 ° horizontally up to 90 ° vertically down to meet different photographing demands of users. Meanwhile, the initial position of the main camera 120 may be manually adjusted by a user or may be adjusted by a controller. The camera system 100 of the invention can realize the adjustment of the angle of the main camera 120 while ensuring that the shooting angles of the main camera 120 and the vision sensor 110 are completely staggered, so that the main camera 120 can realize shooting at different angles, and the shooting effect of the main camera 120 is ensured.
It should be noted that, the distance between the two vision sensors 110 is related to the actual size of the aircraft, so as to ensure the coordination of the camera system 100 installed on the aircraft and ensure the smooth flight of the aircraft. Preferably, the distance between the two vision sensors 110 is preferably 30 mm-80 mm to reduce the overall size of the camera system 100. Meanwhile, the dimensions of the main camera 120 and the vision sensor 110 in the X direction, the Y direction and the Z direction can avoid the contact between the main camera 120 and each part of the vision sensor 110 and the aircraft, and avoid the interference between the main camera 120 and the vision sensor 110 and the aircraft, so as not to influence the operation of the aircraft. Meanwhile, the shooting of all parts of the aircraft by the main camera 120 and the vision sensor 110 can be avoided, the aircraft is ensured to be in a shooting blind area of the main camera 120 and the vision sensor 110, and the shooting effect is ensured.
Preferably, referring to fig. 4 to 6, in an embodiment of the present invention, the positional relationship between the main camera 120 and the vision sensor 110 is: the distance between the two vision sensors 110 is 50mm, the main camera 120 is located on the middle vertical line of the two vision sensors 110, and the distance between the main camera 120 and the vision sensors 110 in the Y direction is 16.6mm, and the distance between the main camera 120 and the vision sensors 110 in the Z direction is 5.5mm. As shown in fig. 4, the shooting angles of the main camera 120 and the vision sensor 110 are completely staggered, at this time, the photographing angles of the main camera 120 and the vision sensor 110 are not crossed, and meanwhile, the space occupied by the camera system 100 formed by the main camera 120 and the vision sensor 110 is small, so that the volume of the camera system 100 is reduced under the condition that the main camera 120 and the vision sensor 110 are not interfered, and the camera system 100 is conveniently installed on a small or miniature aircraft.
Referring to fig. 7 to 9, in another embodiment of the present invention, the positional relationship between the main camera 120 and the vision sensor 110 is: the distance between the two vision sensors 110 is 50mm, the main camera 120 is located on the middle vertical line of the two vision sensors 110, and the distance between the main camera 120 and the vision sensors 110 in the Y direction is 34.4mm, and the distance between the main camera 120 and the vision sensors 110 in the Z direction is 5.5mm. As shown in fig. 7, the photographing angles of the main camera 120 and the vision sensor 110 are completely staggered, and at this time, no lasting lens exists between the main camera 120 and the vision sensor 110.
Referring to fig. 10 and 11, in still another embodiment of the present invention, the positional relationship between the main camera 120 and the vision sensor 110 is: the distance between the two vision sensors 110 is 43mm, the main camera 120 is located on the middle vertical line of the two vision sensors 110, and the distance between the main camera 120 and the vision sensors 110 in the Y direction is 3.5mm, and the main camera 120 and the vision sensors 110 are on the same horizontal plane. As shown in fig. 10, the photographing angles of the main camera 120 and the vision sensor 110 are completely staggered, and at this time, no lens for wearing is present when the main camera 120 and the vision sensor 110 photograph. Meanwhile, the space occupied by the camera system 100 formed by the main camera 120 and the vision sensor 110 is small, so that the volume of the camera system 100 is reduced under the condition of ensuring that the main camera 120 and the vision sensor 110 do not interfere, and the camera system 100 is convenient to install on a small or miniature aircraft.
Referring to fig. 12, the present invention further provides an aircraft, including a fuselage, a cradle head 200, and the imaging system 100 in the above embodiment. The camera system 100 is mounted on a cradle head 200, and the cradle head 200 is mounted on the body. The aircraft realizes a shooting function through the camera system 100, and simultaneously, the shooting visual angles of the main camera 120 and the visual sensor 110 are completely staggered through the fact that the main camera 120 and the visual sensor 110 of the camera system 100 are in shooting blind areas of each other, so as to meet working requirements.
Further, the cradle 200 includes a camera support 210, a main support 230, and two connection supports 220 disposed on two sides of the main support 230. The camera support 210 and the two connecting supports 220 are both mounted on a main support 230, and the main support 230 is mounted on the fuselage of the aircraft. The two connection brackets 220 are respectively used for installing the vision sensor 110 of the camera system 100; the connection bracket 220 is used to mount the main camera 120 of the camera system 100. The two connecting brackets 220 are symmetrically arranged on two sides of the camera shooting bracket 210, the two connecting brackets 220 are symmetrically arranged to ensure that the vision sensor 110 is positioned at the same horizontal position, the shooting angles of the vision sensor 110 are consistent, and further the movement track of the vision sensor 110 is consistent, so that the vision sensor 110 can accurately acquire three-dimensional geometric information of an object, the functions of forward positioning and obstacle avoidance are effectively achieved, and the flying safety of an aircraft is further ensured. The vision sensor 110 is respectively mounted on the two connection brackets 220 to ensure the safety of the flying of the aircraft, thereby ensuring the photographing effect of the main camera 120 between the two connection brackets 220.
The camera system 100 is installed on the aircraft body through the cradle head 200, so that the positions of the vision sensor 110 and the main camera 120 are ensured, the shooting angles of the main camera 120 and the vision sensor 110 are completely staggered, the main camera 120 and the vision sensor 110 are prevented from shooting a lasting lens, the shooting effect of the main camera 120 and the accuracy of data acquisition of the vision sensor 110 are ensured, and the working requirements are met. Meanwhile, the camera system 100 is installed on the body of the aircraft through the cradle head 200, interference between the vision sensor 110 and the main camera 120 can be avoided, interference between the vision sensor 110 and the main camera 120 and each part on the body of the aircraft can be avoided, and the flight safety of the aircraft can be ensured.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (14)
1. An image capturing system comprising:
the two visual sensors are arranged at intervals and are used for acquiring three-dimensional geometric information of an object; and
The projection of the main camera in the connecting line direction of the two vision sensors is positioned between the two vision sensors, and the main camera is used for shooting; the method is characterized in that:
based on the same horizontal projection plane, the projections of the main camera on the horizontal projection plane are positioned in the shooting blind areas of the two vision sensors, and the projections of the two vision sensors on the horizontal projection plane are positioned in the shooting blind areas of the main camera;
the projection of the main camera on the same horizontal projection plane is positioned in a shooting blind area of a quadrilateral area;
based on the same horizontal projection plane, the two vision sensors are provided with a first horizontal shooting view angle, and the main camera is provided with a second horizontal shooting view angle;
the quadrilateral region is formed by intersecting two viewing angle edges of a first horizontal shooting viewing angle of the two visual sensors and two viewing angle edges of a second shooting viewing angle of the main camera when the two visual sensors are at a critical value outside a second horizontal shooting viewing angle range of the main camera.
2. The imaging system according to claim 1, wherein the horizontal projection plane is a plane in which optical axes of the two vision sensors lie or a plane parallel to the plane.
3. The imaging system of claim 1, wherein a vertical plane in which the main camera optical axis is located is horizontally rotatable with respect to a vertical plane in which the vision sensor optical axis is located;
the second horizontal shooting visual angle of the main camera is the maximum shooting visual angle of the main camera in the horizontal rotation range.
4. A camera system according to claim 3, wherein the primary camera is horizontally rotated through an angle in the range of-45 ° to 45 °.
5. The imaging system of any of claims 1 to 4, wherein the projection of the primary camera onto the horizontal projection plane is located on a midpoint of a line connecting the two vision sensors.
6. The imaging system according to any one of claims 1 to 4, wherein two of the vision sensors are disposed at the same level as the main camera.
7. The imaging system according to any one of claims 1 to 4, wherein a vertical distance between the main camera and a plane in which optical axes of the two vision sensors lie is-20 mm to 20mm.
8. The imaging system according to any one of claims 1 to 4, wherein the projection of the main camera onto the horizontal projection plane is located on a line connecting two of the vision sensors.
9. The imaging system according to any one of claims 1 to 4, wherein a distance between a projection of the main camera on the horizontal projection plane and a line connecting the two vision sensors is-50 mm to 50mm.
10. The imaging system of any of claims 1 to 4, wherein the primary camera rotates relative to the vision sensor on a vertical plane.
11. The imaging system of claim 10, wherein the angle of rotation of the primary camera relative to the vision sensor on a vertical plane ranges from 30 ° horizontally up to 90 ° vertically down.
12. The imaging system according to any one of claims 1 to 4, wherein a distance between two of the vision sensors is 30mm to 80mm.
13. An aircraft comprising a fuselage, a cradle head, and a camera system according to any one of claims 1 to 12;
the camera system is installed on the cradle head, and the cradle head is installed on the machine body.
14. The aircraft of claim 13, wherein the cradle head comprises a camera support, a main body support, and two connecting supports arranged on two sides of the main body support;
the camera shooting support and the two connecting supports are both arranged on the main body support, and the main body support is arranged on the body of the aircraft;
the two connecting brackets are respectively used for installing visual sensors of the camera system; the camera support is used for installing a main camera of the camera system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205490841U (en) * | 2016-02-24 | 2016-08-17 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and many meshes image module that uses thereof |
| CN106114881A (en) * | 2016-06-28 | 2016-11-16 | 深圳市元征科技股份有限公司 | Unmanned plane |
| CN206402317U (en) * | 2017-01-04 | 2017-08-11 | 重庆零度智控智能科技有限公司 | Camera system and aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2002023249A1 (en) * | 2000-09-15 | 2002-03-21 | Night Vision Corporation | Modular panoramic night vision goggles |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205490841U (en) * | 2016-02-24 | 2016-08-17 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and many meshes image module that uses thereof |
| CN106114881A (en) * | 2016-06-28 | 2016-11-16 | 深圳市元征科技股份有限公司 | Unmanned plane |
| CN206402317U (en) * | 2017-01-04 | 2017-08-11 | 重庆零度智控智能科技有限公司 | Camera system and aircraft |
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