CN109911153B - Unmanned equipment capable of fixedly switching camera shooting angle - Google Patents
Unmanned equipment capable of fixedly switching camera shooting angle Download PDFInfo
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Abstract
The invention provides an unmanned device capable of fixedly switching camera angles, which comprises: an unmanned device body; the camera system is fixedly connected with the unmanned equipment body and comprises a picture transmission module and at least one camera; a control system comprising at least one processor; the driving system is used for receiving a control signal of the control system and switching at least one camera of the camera system to a first position and/or a second position according to the control signal so that the at least one camera can shoot image information at the first position and/or the second position; the image transmission module is used for transmitting image information shot by the at least one camera to the processor, and the processor receives and processes the image information. The invention can realize the observation of the water and underwater environment through at least one camera, and is convenient to obtain images of different scenes.
Description
Technical Field
The invention relates to the field of underwater unmanned equipment, in particular to unmanned equipment capable of fixedly switching camera angles.
Background
An underwater robot, also called an unmanned remotely operated vehicle, is a robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The underwater robot can work underwater in a high-risk environment, a polluted environment and a zero-visibility water area instead of manpower. The underwater robot has wide detection application fields, for example, the underwater robot can be applied to safe search and rescue, for example, the underwater robot can be applied to inspection of dams, pier structures, salvage at sea, offshore search and the like. The method can also be applied to pipeline inspection, such as inspection of sewage discharge/drainage pipelines and sewers, inspection of ocean oil pipelines, inspection of pipelines across rivers and rivers. The device can be applied to ship, river and marine oil, such as ship body maintenance, underwater anchor, propeller, ship bottom exploration, channel obstacle removal, port operation, underwater structure maintenance and marine oil engineering. And the method can be applied to scientific research and teaching, such as observation, research and teaching of water environment and underwater organisms, marine investigation and under-ice observation. The method can be applied to underwater entertainment, such as underwater photography and diving site selection. And can be applied to fishery, such as deep water net cage fishery culture and artificial fishing bank investigation.
In recent years, the unmanned aerial vehicle has been widely applied to the aspects of remote sensing aerial photography, earthquake relief, agriculture and forestry, environmental monitoring, communication relay, express delivery service and the like due to the superior performance and the incomparable advantages of human and machine. Unmanned aerial vehicles are suitable for airborne environment, for example aerial photography, building inspection, atmospheric survey, agricultural plant protection etc. The main advantages of the unmanned aerial vehicle are small size, light weight and convenient and simple overhaul and maintenance; and the system has strong environmental adaptability, does not need a special lifting field, has low requirement on weather conditions, and has excellent low-altitude performance to ensure that the operation under the cloud becomes easy, thereby greatly improving the working efficiency.
However, in the prior art, observation devices such as cameras and cameras of underwater robots or unmanned aerial vehicles can only achieve observation in a single environment, and cannot simultaneously cover overwater and underwater image acquisition, and when the environment to be observed simultaneously has a water area, an airspace or a land area, the two cannot consider cross-domain operation and observation.
Disclosure of Invention
In order to solve the above technical problem, the present invention provides an unmanned device capable of fixedly switching a camera angle, including: an unmanned device body; the camera system is fixedly connected with the unmanned equipment body and comprises a picture transmission module and at least one camera; a control system comprising at least one processor; the driving system is used for receiving a control signal of the control system and switching at least one camera of the camera system to a first position and/or a second position according to the control signal so that the at least one camera can shoot image information at the first position and/or the second position; the image transmission module is used for transmitting image information shot by the at least one camera to the processor, and the processor receives and processes the image information.
Optionally, the number of the at least one camera is one, and the image capturing system obtains the image information corresponding to the first position and the second position by switching the position of the at least one camera between the first position and the second position.
Optionally, the at least one camera is two, and the image capturing system captures images at a first position and a second position by using a first camera and a second camera to obtain the image information corresponding to the first position and the second position at the same time.
Optionally, the number of the at least one camera is two, and the image capturing system obtains the image information corresponding to the first position or the second position by simultaneously switching the two cameras to the first position or the second position.
Optionally, the processor determines whether there is an obstacle according to the image information, and the control system controls the motion of the unmanned device to avoid the obstacle according to the determination result.
Optionally, the image transmission module has two transmission paths, and the image transmission module is respectively connected to the two cameras through the two transmission paths.
Optionally, the driving system includes at least one motor unit, and the motor unit is configured to drive the corresponding camera to switch to the first position or the second position.
Optionally, the control system receives a user input of a remote device and generates the control signal according to the user input, wherein the user input includes position switching information corresponding to the at least one camera.
Optionally, the image transmission module transmits the image information to the processor through a wireless link, where the wireless link may be one of Wi-Fi, Bluetooth, ZigBee, infra, and NFC.
Optionally, the first position corresponds to a first media environment in which the main body of the unmanned aerial vehicle is located, the second position corresponds to a second media environment in which the main body of the unmanned aerial vehicle is located, and the first media environment and the second media environment are respectively one of air and water.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a system architecture diagram of an unmanned device according to an embodiment of the present invention.
Fig. 2 is a schematic view of the operation of the unmanned ship according to the embodiment of the present invention.
Fig. 3 is a system architecture diagram of an unmanned device according to an embodiment of the invention.
Fig. 4 is a system architecture diagram of an unmanned device according to an embodiment of the invention.
Fig. 5 is a schematic diagram of the operation of a drone of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that although the terms one, another, first, second, third, etc. may be used to describe … … in the embodiments of the present application, these … … should not be limited to these terms. These terms are used only to distinguish … …. For example, one motor may also be referred to as another motor, and similarly, the second motor may also be referred to as the first motor, without departing from the scope of embodiments of the present application.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
Various embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the present embodiment provides an unmanned device 100 capable of fixedly switching a camera angle, including an unmanned device body 1, a control system 2, a driving system 3, a camera system 4 and a communication system 5, where the camera system 4 is fixedly connected with the unmanned device body 1, and is not a pluggable or easily detachable connection manner, and can fixedly switch two camera positions. The operation of the drone 100 may be controlled by the remote device 600 or may operate autonomously according to a set path or pattern. The control system 2 includes a processor 21, and the processor 21 may be used for processing instructions, signals or information received by the unmanned aerial vehicle 100, and controlling other units or modules of the unmanned aerial vehicle 100, for example. The drive system 3 includes a motor 31, and the motor 31 can receive the control signal from the processor 21 and generate an output signal according to the control signal. The camera system 4 includes a mapping module 41 and at least one camera 42, the motor 31 drives the corresponding camera 42 to switch to a corresponding position through an output signal to capture image information of the position, and the mapping module 41 is configured to transmit the image information captured by the camera 42 to the processor 21. The processor 21 receives and processes the image information, and performs corresponding operations according to the processing result, for example, outputting the image information to the remote device 600 through the communication system 5, or determining whether there is an obstacle according to the image information, and performing obstacle shielding if the obstacle is found. The processor 21 may also receive user inputs from the remote device 600 and generate control signals based on the user inputs. For example, the user may send a user input to switch the camera 42 to the second position through the remote device 600, and the processor 21 generates a control signal to switch the camera 42 to the second position after receiving the user input. The mapping module 41 may communicate with the processor 21 by wire or wirelessly, and the communication system 5 may also communicate with the remote device 600 by wire or wirelessly.
In one embodiment of the present invention, there is one camera 42, and the image information corresponding to the first position and/or the second position can be obtained by switching the position of the camera 42 between the first position and/or the second position. For example, the processor 21 may switch the position of the camera 42 to the first position according to the user input and continuously capture image information corresponding to the first position. Alternatively, the processor 21 may control the driving system 3 to switch the camera 42 back and forth between the first position and the second position, to switch to another position after each position stays for a fixed period of time, or to switch to another position after a certain amount of image information is captured. Alternatively, the processor 21 may determine whether or not the position of the camera 42 needs to be switched according to another determination condition.
In another embodiment of the present invention, there are two cameras 42, and the image information corresponding to the first position and/or the second position can be obtained by switching the positions of the cameras 42 between the first position and/or the second position, wherein the two cameras 42 may be located at the same position or different positions. For example, the processor 21 may set the first camera 42 at a first position and the second camera 42 at a second position, so that the image capturing system 4 may obtain image information corresponding to the first position and the second position at the same time; in this case, the processor 21 may also perform different processing on the image information of the first position and the image information of the second position to achieve different purposes, such as transmitting the image information of the first position to the remote device 600 and performing obstacle avoidance according to the image information of the second position. In other embodiments, the processor 21 may cause the first camera 42 and the second camera 42 to switch to the same position at the same time, so that the image information corresponding to the position can be obtained by the image capturing system 4. The processor 21 may switch the position of the camera 42 according to user input or other predetermined conditions, and process the received image information according to different purposes or applications, such as transmitting to the remote device 600, recognizing obstacles or other objects, avoiding obstacles, or locking and/or tracking recognized objects with the drone 100.
In other embodiments of the present invention, the number of the cameras 42 may be two or more, the processor 21 may switch the position of each camera 42 to be the first position and/or the second position according to user input or other determination conditions, and the processor 21 may also perform various processing using the obtained image information to achieve different purposes.
According to an embodiment of the present invention, the unmanned device body 1 may have a portion exposed to a first medium and another portion exposed to a second medium when in operation, wherein the first medium and the second medium may be air or water, respectively. That is, when the unmanned device 100 has a portion in the air and another portion in the water, the control system 2 can switch the position of the camera 42 on the water surface so that the camera 42 is in the air or switch the position of the camera 42 under the water surface so that the camera 42 is in the water to acquire the image information on the water or under the water. The unmanned equipment can be an underwater robot, an unmanned ship, a fish finder, a submersible, an unmanned aerial vehicle and the like, and the first position is underwater and the second position is above water, so that the underwater and above water shooting functions of the shooting system are realized.
Fig. 2 shows a fixable unmanned ship 200 with camera angles switched according to an embodiment of the present invention, and as shown in the figure, the camera system 4 of the unmanned ship 200 includes a camera 42, the unmanned ship body 1 can float and travel on the water surface, and a part of the ship body is located on the water surface (i.e. in the air) relative to the water surface, and the rest is located under the water surface (i.e. in the water). The camera 42 can be controlled by the control system 2 (not shown) to switch the shooting position, such as the first position on the water surface. When a control command for underwater photography is received, the position of the camera 42 is switched to a second position below the water surface.
Fig. 3 is a block diagram of a stationary camera angle switching unmanned aerial vehicle 300 according to another embodiment of the present invention, in which the camera system has one camera. As shown in fig. 3, the unmanned device 300 includes a processor 211, an image transfer module 411, a camera 421, a motor 311, and a drive control unit 321. The camera 421 is mechanically connected to the motor 311 in a stationary manner, and can change its position in response to the amount of change in the output of the motor 311. The processor 211 may send a control signal to the driving control unit 321, and the driving control unit 321 correspondingly generates an output signal to drive the motor 311 to change the output, so that the camera 421 follows the output variation of the motor 311 to change the position. In this embodiment, the camera 421 and the image transmission module 411 may transmit through a wired or wireless manner, where the wireless transmission manner may be any one of Wi-Fi, Bluetooth, ZigBee, infra, and NFC. In an embodiment of the present invention, the control signal is a Pulse Width Modulation (PWM) signal, and information of the PWM signal corresponds to an output signal of the driving control unit 321.
Fig. 4 is a block diagram of a stationary camera angle switching unmanned aerial vehicle 400 according to another embodiment of the present invention, in which the camera system has two cameras. As shown in fig. 4, the drone 400 includes a processor 212, an image transfer module 412, a camera 422, a camera 423, a motor 312, a motor 313, and a drive control unit 322. Cameras 422, 423 are in fixed mechanical communication with motors 312, 313 and are variable in position in response to the amount of change in the output of motors 312, 313. The processor 212 may send a control signal to the driving control unit 322, and the driving control unit 322 correspondingly generates an output signal to drive the motors 312 and 313 to change the output, so that the cameras 422 and 423 switch positions according to the output variation of the motors 312 and 313. In this embodiment, the driving control unit 322 can provide different output signals to the motors 312 and 313, so that the motors 312 and 313 drive the cameras 422 and 423 to move to different positions. In other embodiments, the driving control unit 322 may provide the same output signal to the motors 312 and 313, so that the motors 312 and 313 drive the cameras 422 and 423 to synchronously move to the same position.
Fig. 5 shows a stationary unmanned aerial vehicle 500 with camera angles switched according to an embodiment of the present invention, in which the camera system 4 of the unmanned aerial vehicle 500 includes two cameras 42A, 42B, the main body 1 of the unmanned aerial vehicle can hover or glide on the water surface, and a part of the main body is located on the water surface (i.e., in the air) and the rest is located under the water surface (i.e., in the water) relative to the horizontal plane. The cameras 42A and 42B can be controlled by the control system 2 (not shown) to switch the shooting positions, for example, when the camera 42A is located at a first position (i.e., on the water surface) and the camera 42B is located at a second position (i.e., in the water) during the gliding in the first direction, the image information shot by the camera 42A is used for obstacle avoidance, and the image information shot by the camera 42B is transmitted to a remote device. When the user changes the gliding direction of the drone 500 to the second direction through the remote device, the control system 2 switches the camera 42A to the second position and the camera 42B to the first position, and then uses the image information captured by the camera 42B to avoid the obstacle and transmits the image information captured by the camera 42A to the remote device.
In summary, in the embodiment of the present invention, when the unmanned device body is operated, a portion of the unmanned device body may be exposed to the first medium, and another portion of the unmanned device body may be exposed to the second medium, where the first medium and the second medium may be air or water, respectively. That is, some unmanned devices are in the air, and other parts are in the water, and the control system can switch the position of the camera on the water surface to make the camera in the air, or switch to the position under the water surface to make the camera in the water, so as to acquire the image information on the water or under the water. The unmanned device can be an underwater robot, an unmanned ship, a fish finder, a submersible, an unmanned aerial vehicle and the like, and the first position and the second position are above and/or below water, so as to realize the underwater and above-water camera shooting functions of the camera shooting system.
The above-described circuit embodiments are merely illustrative, and the units illustrated by the separate devices may or may not be physically separate, and the components as the circuits may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. An unmanned aerial vehicle capable of fixedly switching camera angles, comprising:
an unmanned device body;
the camera system is fixedly connected with the unmanned equipment body and comprises a picture transmission module and at least one camera;
a control system comprising at least one processor;
the driving system is used for receiving a control signal of the control system and switching at least one camera of the camera system to a first position and/or a second position according to the control signal so that the at least one camera can shoot image information at the first position and/or the second position;
the image transmission module is used for transmitting image information shot by the at least one camera to the processor, and the processor receives and processes the image information;
the at least one camera is two, and the two cameras are respectively fixedly and mechanically connected with the two motors and can change positions in response to the output variation of the motors; the camera system obtains the image information corresponding to a first position and a second position simultaneously by enabling a first camera to shoot at the first position and a second camera to shoot at the second position;
the first position corresponds to a first medium environment in which the unmanned equipment body is located, the second position corresponds to a second medium environment in which the unmanned equipment body is located, and the first medium environment and the second medium environment are respectively one of air and water;
when the unmanned equipment glides towards a first direction, the first camera is located at a first position, the second camera is located at a second position, image information shot by the first camera is used for obstacle avoidance, and the image information shot by the second camera is transmitted to the far-end device; when the unmanned equipment glides towards the second direction, the driving system switches the first camera to the second position, the second camera to the first position, the image information shot by the second camera is used for obstacle avoidance, and the image information shot by the first camera is transmitted to the far-end device.
2. The unmanned aerial vehicle capable of fixedly switching the camera angle according to claim 1, wherein the processor determines whether there is an obstacle according to the image information, and the control system controls the unmanned aerial vehicle to move to avoid the obstacle according to the determination result.
3. The fixable camera-angle-switching unmanned aerial device of claim 1, wherein the image transmission module has two transmission paths, and the image transmission module is respectively connected to the two cameras through the two transmission paths.
4. The fixable, camera-angle-switchable unmanned device of claim 1, wherein the driving system comprises at least one motor unit configured to drive the corresponding camera to switch to the first position or the second position.
5. The fixable, camera-angle-switchable robotic device according to claim 1, wherein said control system receives user input from a remote device and generates said control signal in accordance with said user input, wherein said user input comprises position switching information corresponding to said at least one camera.
6. The fixable camera-angle-switchable unmanned device according to claim 1, wherein the image transmission module transmits the image information to the processor via a wireless link, and the wireless link may be one of Wi-Fi, Bluetooth, ZigBee, infra, and NFC.
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| CN112399052A (en) * | 2020-11-06 | 2021-02-23 | 深圳慧源创新科技有限公司 | Picture switching method and device and electronic equipment |
| CN113086108A (en) * | 2021-05-12 | 2021-07-09 | 生态环境部华南环境科学研究所 | Sewage outlet unmanned ship underwater identification probe mounting structure |
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