CN110351483A - A kind of adaptive zoom monitoring unmanned platform of more camera lenses and control method - Google Patents
A kind of adaptive zoom monitoring unmanned platform of more camera lenses and control method Download PDFInfo
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- CN110351483A CN110351483A CN201910716455.6A CN201910716455A CN110351483A CN 110351483 A CN110351483 A CN 110351483A CN 201910716455 A CN201910716455 A CN 201910716455A CN 110351483 A CN110351483 A CN 110351483A
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- unmanned plane
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 32
- 238000012544 monitoring process Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000009987 spinning Methods 0.000 claims description 4
- 241001442234 Cosa Species 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 2
- 230000006978 adaptation Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 108010066114 cabin-2 Proteins 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
- H04N23/67—Focus control based on electronic image sensor signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Studio Devices (AREA)
- Lens Barrels (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The problems such as a kind of adaptive zoom monitoring unmanned platform of more camera lenses and control method, are suitable for unmanned plane field, and more lens focus can not adapt to fogging image after adjusting, poor image quality, synthesising picture automatically when solving unmanned plane.The present invention includes unmanned plane main body, video camera gondola, high-accuracy electronic gyroscope, range radar, adaptive Zoom camera；High-accuracy electronic gyroscope is set to inside unmanned plane main body ventral and is electrical connected with control mainboard, video camera gondola is set to the bottom of unmanned plane main body through turning joint, and range radar and adaptive Zoom camera are respectively arranged at the bottom of video camera gondola and are all electrical connected with the control mainboard of unmanned plane.Control method of the present invention are as follows: the coordinate data of 1. initialization unmanned plane during flying parameters, 2. measurement environment is collected, and 3. data calculate, the adaptive focal length of 4. video cameras.
Description
Technical field
A kind of adaptive zoom monitoring unmanned platform of more camera lenses and control method, are suitable for unmanned plane field.
Background technique
The unmanned plane field emerging as one, either it is military or it is civilian all apply it is more and more extensive；Especially
It is that unmanned plane is even more in the ascendant.Present unmanned plane is mostly single-lens shooting, the image range of shooting is limited,
The angle of shooting is single；So the shooting of the more camera lenses of unmanned plane is come into being, but the present more camera lenses shootings of unmanned plane are difficult to gram
The problem of more camera lenses adapt to zoom automatically is taken, the picture quality come at shooting is not high, and image surface is fuzzy after synthesizing big figure.
Summary of the invention
Technical problem: the more camera lens shootings of present unmanned plane are difficult to overcome the problems, such as that more camera lenses adapt to zoom automatically, shoot
The picture quality that place comes is not high, and image surface is fuzzy after synthesizing big figure.
Technical solution: a kind of more adaptive zoom monitoring unmanned platforms of camera lens are hung comprising unmanned plane main body, video camera
Cabin, high-accuracy electronic gyroscope, range radar, adaptive Zoom camera；High-accuracy electronic gyroscope is set to unmanned owner
It is electrical connected inside body ventral and with control mainboard, video camera gondola is set to the bottom of unmanned plane main body through turning joint, surveys
Away from radar and adaptive Zoom camera be respectively arranged at video camera gondola bottom and all with the control mainboard of unmanned plane electrical property
It is connected.
Further, the connecting joint of video camera gondola and unmanned plane main body is designed as moveing freely according to gravitation energy is multidirectional
The universal knot of spinning.
Further, the connecting joint of video camera gondola and unmanned plane main body is designed as according to high-accuracy electronic gyroscope instrument control
Make the universal knot of machine control of rotation.
Further, adaptive Zoom camera includes that 1 center camera and multiple peripheries are evenly distributed with video camera, and center is taken the photograph
Camera is fixed on video camera gondola bottom center, and periphery is evenly distributed with that video camera is square or circumferential is set to through machine control joint
The periphery of center camera.
Further, range radar is designed as U flute profile and is annularly arranged around center camera.
A kind of control method of the adaptive zoom monitoring unmanned platform of more camera lenses, it is characterised in that comprise the steps of:
One, unmanned plane during flying parameter is initialized: in setting according to the measurement data of high-accuracy electronic gyroscope and range radar
The focal length of heart video camera, periphery are evenly distributed with the tilt angle A of video camera and the overlapping area of picture, drone flying height H0, fly
Row forward direction fixed setting L, the lateral fixed setting R and flying speed V of flight, and set the coordinate (0 of takeoff point,0,H0)；
Two, the coordinate data for measuring environment is collected: keeping drone flying height to fly around measurement environment according to the route planned
Row obtains the relative coordinate (X of each point in measurement environmentn,Yn,Hn)；
Three, data calculate: the relative coordinate (X of each point in the 1. measurement environment measured according to unmanned planen,Yn,Hn) and camera shooting
The visual angle angle B and picture of machine the superposition image number number S positive in flightL, picture is in the lateral superposition image number number S of flyingR, periphery
It is D that the tilt angle A of uniformly distributed video camera, periphery, which are evenly distributed with video camera and the angle for the positive fixed setting L that flies,；Setting video camera exists
Adapt to object focal length apart from when photography shooting picture in the positive pixel of flight be determining NL、Lateral pixel of flying is
Determining NR, the coordinate value distance set between the every two pixel in picture is Q.
2. that is evenly distributed with video camera when center camera can be derived from periphery at the position of certain measurement point (X, Y, H)
Coordinate (the X of object distance (i.e. distance of the object to optical center point) point1,Y1):
X1=X+(NL-2SL) COSD*Q(is when 0o≤D≤90o,270o≤D≤360oWhen COSD take absolute value；90o<D<270oWhen
The negative value that COSD takes absolute value)；
Y1=Y+(NR-2SR) SIND*Q.
3. the coordinate value that corresponding step 2 has measured can obtain the coordinate that periphery is evenly distributed with the object distance point of video camera
For (X1,Y1,Hn), that periphery is evenly distributed with the object distance H of video camera1Are as follows:
H1=Hn/cosA。
Four, video camera adapts to automatically: according to lens parameters known to video camera, the center camera for measuring and being calculated
Coordinate value, the object distance value of video camera are evenly distributed with periphery；The image distance that control mainboard controlling automatically video camera adapts to each point (is imaged flat
Distance of the face to optical center) value, make have high clarity at image.
Detailed description of the invention
Fig. 1 is the overall diagram of a kind of adaptive zoom monitoring unmanned platform of more camera lenses of the present invention and control method；
Fig. 2 is the exploded view of a kind of adaptive zoom monitoring unmanned platform of more camera lenses of the present invention and control method；
Fig. 3 is the universal junction composition of a kind of adaptive zoom monitoring unmanned platform of more camera lenses of the present invention and control method；
Fig. 4 is the range radar structure chart of a kind of adaptive zoom monitoring unmanned platform of more camera lenses of the present invention and control method；
Fig. 5 is the measuring principle figure of a kind of adaptive zoom monitoring unmanned platform of more camera lenses of the present invention and control method；
Fig. 6 is the schematic diagram calculation of a kind of adaptive zoom monitoring unmanned platform of more camera lenses of the present invention and control method.
1 is unmanned plane main body in figure, and 2 be video camera gondola, and 3 be high-accuracy electronic gyroscope, and 4 be range radar, and 5 be certainly
Zoom camera is adapted to, 5-1 is center camera, and 5-2 is that periphery is evenly distributed with video camera, and 6 be the universal knot of spinning, and 7 be machine control ten thousand
Xiang Jie.
Specific embodiment
Embodiment one: a kind of more adaptive zoom monitoring unmanned platforms of camera lens are hung comprising unmanned plane main body 1, video camera
Cabin 2, high-accuracy electronic gyroscope 3, range radar 4, adaptive Zoom camera 5；High-accuracy electronic gyroscope 3 is set to nobody
It is electrical connected inside 1 ventral of owner's body and with control mainboard, video camera gondola 2 is set to unmanned plane main body 1 through turning joint
Bottom, range radar 4 and adaptive Zoom camera 5 be respectively arranged at the bottom of video camera gondola 2 and all with the control of unmanned plane
Mainboard processed is electrical connected.
The connecting joint of video camera gondola 2 and unmanned plane main body 1, which is designed as controlling according to high-accuracy electronic gyroscope 3, to be rotated
The universal knot 7 of machine control.
Adaptive Zoom camera 5 includes 1 center camera 5-1 and multiple peripheries are evenly distributed with video camera 5-2, center camera shooting
Machine 5-1 is fixed on 2 bottom center of video camera gondola, during periphery is evenly distributed with video camera 5-2 circumferentially shape is set to through machine control joint 7
The periphery of heart video camera 5-1.
Range radar 4 is designed as U flute profile and is annularly arranged around center camera 5-1.
A kind of control method of the adaptive zoom monitoring unmanned platform of more camera lenses, it is characterised in that comprise the steps of:
One, it initializes unmanned plane during flying parameter: being set according to high-accuracy electronic gyroscope 3 and the measurement data of range radar 4
The focal length of center camera 5-1, periphery are evenly distributed with the tilt angle A of video camera 5-2 and the overlapping area of picture, unmanned plane during flying are high
Spend H0, the positive fixed setting L that flies, the lateral fixed setting R and flying speed V of flight, and set the coordinate (0 of takeoff point,0,
H0).
Two, the coordinate data for measuring environment is collected: keeping drone flying height around measurement ring according to the route planned
Border flight obtains the relative coordinate (X of each point in measurement environmentn,Yn,Hn).
Three, data calculate: the relative coordinate (X of each point in the 1. measurement environment measured according to unmanned planen,Yn,Hn) and
The visual angle angle B and picture of video camera the superposition image number number S positive in flightL, picture is in the lateral superposition image number number S of flyingR、
Periphery is evenly distributed with the tilt angle A of video camera 5-2, periphery is evenly distributed with video camera 5-2 and the angle for the positive fixed setting L that flies is D；If
Determine video camera adapt to object focal length apart from when photography shooting picture in the positive pixel of flight be determining NL、Flight side
To pixel be determining NR, the coordinate value distance set between the every two pixel in picture is Q.
2. that is uniformly imaged when center camera 5-1 can be derived from periphery at the position of certain measurement point (X, Y, H)
Coordinate (the X of object distance (i.e. distance of the object to the optical center point) point of machine 5-21,Y1):
X1=X+(NL-2SL) COSD*Q(is when 0o≤D≤90o,270o≤D≤360oWhen COSD take absolute value；90o<D<270oWhen
The negative value that COSD takes absolute value)；
Y1=Y+(NR-2SR) SIND*Q.
3. the coordinate value that corresponding step 2 has measured can obtain the seat that periphery is evenly distributed with the object distance point of video camera 5-2
It is designated as (X1,Y1,Hn), that periphery is evenly distributed with the object distance H of video camera 5-21Are as follows:
H1=Hn/cosA。
Four, video camera adapts to automatically: according to lens parameters known to video camera, the center camera for measuring and being calculated
5-1 and periphery are evenly distributed with the coordinate value of video camera 5-2, object distance value；Control mainboard controlling automatically video camera adapts to the image distance of each point (i.e.
Distance of the imaging plane to optical center) value, make have high clarity at image.
Embodiment two: the connecting joint of video camera gondola 2 and unmanned plane main body 1 is designed as freely living according to gravitation energy is multidirectional
The universal knot 6 of dynamic spinning.Periphery, which is evenly distributed with video camera 5-2 and is square, is set to the week of center camera 5-1 through machine control joint 7
Side.Remaining is as described in embodiment one.
Claims (6)
1. a kind of adaptive zoom monitoring unmanned platform of more camera lenses includes unmanned plane main body (1) it is characterized by: also comprising taking the photograph
Camera gondola (2), high-accuracy electronic gyroscope (3), range radar (4), adaptive Zoom camera (5)；High-accuracy electronics top
Spiral shell instrument (3) is set to inside unmanned plane main body (1) ventral and is electrical connected with control mainboard, and video camera gondola (2) is closed through activity
Section is set to the bottom of unmanned plane main body (1), and range radar (4) and adaptive Zoom camera (5) are respectively arranged at video camera
It the bottom of gondola (2) and is all electrical connected with the control mainboard of unmanned plane.
2. the adaptive zoom monitoring unmanned platform of a kind of more camera lenses according to claim 1, it is characterised in that: video camera is hung
The connecting joint of cabin (2) and unmanned plane main body (1) is designed as according to the multidirectional universal knot (6) of spinning moveing freely of gravitation energy.
3. the adaptive zoom monitoring unmanned platform of a kind of more camera lenses according to claim 1, it is characterised in that: video camera is hung
The machine control that the connecting joint of cabin (2) and unmanned plane main body (1) is designed as controlling rotation according to high-accuracy electronic gyroscope (3) is universal
It ties (7).
4. the adaptive zoom monitoring unmanned platform of a kind of more camera lenses according to claim 1, it is characterised in that: adaptive strain
Focus video camera (5) includes that 1 center camera (5-1) and multiple peripheries are evenly distributed with video camera (5-2), and center camera (5-1) is solid
Due to video camera gondola (2) bottom center, periphery is evenly distributed with that video camera (5-2) is square or circumferential is through machine control joint (7)
It is set to the periphery of center camera (5-1).
5. according to claim 1 or a kind of 4 more adaptive zoom monitoring unmanned platforms of camera lens, it is characterised in that: ranging
Radar (4) is designed as U flute profile and is annularly arranged around center camera (5-1).
6. a kind of control method of the adaptive zoom monitoring unmanned platform of more camera lenses, it is characterised in that comprise the steps of:
One, it initializes unmanned plane during flying parameter: being set according to high-accuracy electronic gyroscope (3) and the measurement data of range radar (4)
Set the focal length of center camera (5-1), periphery is evenly distributed with the tilt angle A of video camera (5-2) and the overlapping area of picture, nobody
Machine flying height H0, the positive fixed setting L that flies, the lateral fixed setting R and flying speed V of flight, and set the seat of takeoff point
Mark (0,0,H0).
Two, the coordinate data for measuring environment is collected: keeping drone flying height to fly around measurement environment according to the route planned
Row obtains the relative coordinate (X of each point in measurement environmentn,Yn,Hn).
Three, data calculate: the relative coordinate (X of each point in the 1. measurement environment measured according to unmanned planen,Yn,Hn) and camera shooting
The visual angle angle B and picture of machine the superposition image number number S positive in flightL, picture is in the lateral superposition image number number S of flyingR, periphery
It is D that the tilt angle A of uniformly distributed video camera (5-2), periphery, which are evenly distributed with video camera (5-2) and the angle for the positive fixed setting L that flies,；If
Determine video camera adapt to object focal length apart from when photography shooting picture in the positive pixel of flight be determining NL、Flight side
To pixel be determining NR, the coordinate value distance set between the every two pixel in picture is Q.
2. that is evenly distributed with video camera when center camera (5-1) can be derived from periphery at the position of certain measurement point (X, Y, H)
Coordinate (the X of object distance (i.e. distance of the object to the optical center point) point of (5-2)1,Y1):
X1=X+(NL-2SL) COSD*Q(is when 0o≤D≤90o,270o≤D≤360oWhen COSD take absolute value；90o<D<270oWhen
The negative value that COSD takes absolute value).
Y1=Y+(NR-2SR) SIND*Q.
3. the coordinate value that corresponding step 2 has measured can obtain the coordinate that periphery is evenly distributed with the object distance point of video camera (5-2)
For (X1,Y1,Hn), that periphery is evenly distributed with the object distance H of video camera (5-2)1Are as follows:
H1=Hn/cosA。
Four, video camera adapts to automatically: according to lens parameters known to video camera, the center camera (5- for measuring and being calculated
1) and periphery is evenly distributed with the coordinate value of video camera (5-2), object distance value；The image distance of control mainboard controlling automatically video camera adaptation each point
(i.e. the distance of imaging plane to optical center) value, make have high clarity at image.
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Cited By (3)
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| CN112004025A (en) * | 2020-09-02 | 2020-11-27 | 广东电网有限责任公司 | Unmanned aerial vehicle automatic driving zooming method, system and equipment based on target point cloud |
| CN112506229A (en) * | 2021-02-05 | 2021-03-16 | 四川睿谷联创网络科技有限公司 | Flight preset path generation method of tourist sightseeing aircraft |
| CN112520028A (en) * | 2020-12-01 | 2021-03-19 | 邵阳学院 | Kitchen sanitation environment removes supervisory equipment |
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| CN110351483B (en) | 2024-09-17 |
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