CN206237517U - A kind of virtual reality scenario generating means, robot and unmanned device - Google Patents
A kind of virtual reality scenario generating means, robot and unmanned device Download PDFInfo
- Publication number
- CN206237517U CN206237517U CN201621405241.5U CN201621405241U CN206237517U CN 206237517 U CN206237517 U CN 206237517U CN 201621405241 U CN201621405241 U CN 201621405241U CN 206237517 U CN206237517 U CN 206237517U
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- wide angle
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
A kind of virtual reality scenario generating means, are made up of optical image unit, image sensing and processing unit, control unit and memory cell, and unit is sequentially connected；Optical image unit includes the first ultra-wide angle negative lens module and the second ultra-wide angle negative lens module, shares steering module, and the first steering module and the second steering module and conjunction are as module；The first ultra-wide angle negative lens module and the second ultra-wide angle negative lens module are used to obtain scene picture, under steering module, the first steering module, the cooperation of the second steering module, will obtain scene picture and send to the conjunction as module close as treatment.There is provided a kind of with low cost, small volume, hand-holdable, the virtual reality scenario generating means that 360 degree of visual fields gather without dead angle.The utility model additionally provides a kind of robot and unmanned device.
Description
Technical field
The utility model is related to virtual reality scenario generation technique field, more particularly to a kind of super wide field is virtual
Reality scene generating means, robot and unmanned device.
Background technology
Virtual reality system is widely applied in fields such as urban planning, simulated training, promotional display, amusements.Phase
For the application of virtual reality scenario, the structure of virtual reality scenario generally generates three-dimensional by the way of microcomputer modelling
Image, generally requires to expend a large amount of manpower and materials, and the time cycle is also more long, and cost is huge, constrains the development in market.At present,
Panoramic picture collection is carried out using optical device and builds virtual reality scenario, with efficiency high, the plurality of advantages of low cost is more next
More it is taken seriously.Wherein single-lens panoramic optical equipment carries out image and adopts using a wide-angle lens with unification image device
Collection, small volume and low cost, occupy the larger market share, but because camera lens visual field is limited, can be only generated approximate panorama sketch
Picture, therefore the 360 degree of virtual reality scenarios of visual field without dead angle truly can not be accomplished.And use twin-lens or many camera lenses
Panoramic optical equipment, coordinate multiple image devices to carry out IMAQ using twin-lens or many camera lenses, then splice by software
Into panoramic picture, the 360 degree of virtual reality scenarios of visual field without dead angle can be accomplished, but because the device for using is more, accordingly
Process circuit is also more complicated, and equipment volume is big, and cost is also higher.
Therefore, prior art is improved, there is provided a kind of compact conformation, small volume, low cost, 360 degree of visual fields without
Dead angle, can be used for the virtual reality scenario generating means of handheld device and method is necessary in fact.
The content of the invention
To overcome a kind of above-mentioned defect of the prior art（It is not enough）, there is provided with low cost, small volume, it is hand-holdable, 360 degree
Virtual reality scenario generating means and method that visual field gathers without dead angle.
The technical scheme that the utility model solution technical problem is used is as follows：
A kind of virtual reality scenario generating means, by optical image unit, image sensing and processing unit, control unit,
Memory cell is constituted.Control unit is connected with image sensing with processing unit and memory cell.Image sensing and processing unit bag
Include image inductor and corresponding data processing circuit.Optical image unit includes 2 ultra-wide angle negative lens modules, turns to mould
Group, closes as module, and the image f iotaeld-of-view scope that wherein ultra-wide angle negative lens module can be gathered is more than 180 degree, and 2 ultra-wide angle are negative saturating
Mirror module is coaxial to be arranged on the position that can gather complete 360 degree of visual angles.Steering module is only including a shared steering module and 2
Vertical steering module, wherein sharing steering module is arranged in the middle of two ultra-wide angle negative lens modules the position that can completely receive image
Put, two independent steering modules are separately positioned on corresponding ultra-wide angle negative lens module side, close as module is arranged on steering mould
Between group and image inductor and image inductor can be allowed completely to receive the position that 2 ultra-wide angle negative lens modules gather image
Put.The data that image inductor is gathered are spliced by data processing circuit, be sent to memory cell after correction process
Preserve.
A kind of virtual reality scenario generation method corresponding with said apparatus, comprises the following steps：
1. control unit sends sign on.
2. image sensing gathers image with the image inductor in processing unit.
3. data processing circuit is corrected to the image for gathering, removal serious distortion part.
4. data processing circuit splices to the image after correction according to characteristic point, generates complete panoramic picture.
5. storage image is to memory cell.
6. repeat step 2 to 5 sends halt instruction until control unit.
Compared with prior art, the beneficial effect of technical solutions of the utility model is：
The utility model provides a kind of virtual reality scenario generating means and method, is born by the ultra-wide angle by two groups of separation
Lens module, and steering module, close the optical image unit constituted as module, and 360 degree of panoramic pictures are imaged on into figure simultaneously
As sensor diverse location, image flame detection, splicing are completed by data processing circuit under the coordination of control unit, and will be final
Image is saved in memory cell.Because 360 degree of panoramic pictures are received by same sensor, therefore only use a sensor
And data processing circuit can be achieved with the collection and treatment of panoramic picture, it is not necessary to using 2 imageing sensors to both direction
Image receive respectively, effectively reduce system bulk size and cost of manufacture, make whole device compact, can be used in hand-held
Equipment, it can also be used to personal information terminal.
Brief description of the drawings
Fig. 1 is the structural representation of virtual reality scenario generating means described in the utility model；
Fig. 2 is virtual reality scenario generating means collection picture position schematic diagram described in the utility model；
Fig. 3 is virtual reality scenario generation method schematic flow sheet described in the utility model.
Specific embodiment
The utility model scheme is described in detail below in conjunction with better embodiment therein.
Accompanying drawing being for illustration only property explanation, it is impossible to be interpreted as the limitation to this patent；It is attached in order to more preferably illustrate the present embodiment
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；To those skilled in the art,
Some known features and its explanation may be omitted and will be understood by accompanying drawing.It is new to this practicality with reference to the accompanying drawings and examples
The technical scheme of type is described further.
As shown in figure 1, be the utility model virtual reality scenario generating means structural representation, by optical image unit 1,
Image sensing and processing unit 2, control unit 3, memory cell 4 are constituted.Control unit 3 and image sensing and processing unit 2 and
Memory cell 4 is connected.Optical image unit 1 includes the first ultra-wide angle negative lens module 11 and the second ultra-wide angle negative lens module
12, steering module 13, the first independent steering module 14 and the second independent steering module 15 are shared, close as module 16.Wherein first
Ultra-wide angle negative lens module 11 and the second ultra-wide angle negative lens module 12 are that the image that can be gathered made using optical glass is regarded
Field scope can be arranged on the position that can gather complete 360 degree of visual angles more than the optical mirror slip or lens set of 180 degree with coaxial.Altogether
Prism can be used with steering module 13, it would however also be possible to employ the form of combination plane mirrow is arranged on two ultra-wide angle negative lens modules
Centre can completely receive the position of image.First independent steering module 14 and the second independent steering module 15 use one or more
Level crossing, can also use prism or the quadratic surface element with high reflection characteristic.Wherein the first independent steering module 14 is set
In the side of the first ultra-wide angle negative lens module 11, the second independent steering module 15 is arranged on the second ultra-wide angle negative lens module 12 1
Side.Close as the use pick-up lens of module 16 or the lens set with imaging function, be arranged on the first independent steering module 14, second
Between independent steering module 15 and image inductor 21, and image inductor 21 can be allowed completely to receive 2 ultra-wide angle negative lenses
Module gathers the position of image.Image sensing includes image inductor 21 and data processing circuit 22 with processing unit 2, wherein
Image inductor 21 can be CCD（Charge-coupled image sensor）, or CMOS（Complementary metal oxide semiconductors (CMOS)）Device, number
According to process circuit 22 is comprising IC chip and can complete image flame detection, splicing function.Image sensing and processing unit 2 and deposit
Storage unit 4 is worked under the coordination of control unit 3, and the data that image inductor 21 is gathered are carried out by data processing circuit 22
Memory cell 4 is sent to after correction, splicing to preserve.
Fig. 2 is the utility model virtual reality scenario generating means collection picture position schematic diagram, wherein 201 is image sense
Answer device 21 to receive the first ultra-wide angle negative lens module 11 and gather the regional location of image, 202 is the reception of image inductor 21 the
Two ultra-wide angle negative lens modules 12 gather the regional location of image.Image inductor 21 receives two and is regarded more than 180 degree simultaneously
Field picture, under the coordination control of control unit 3, data processing circuit 22 is corrected to image, including according to perspective relation
Carry out distortion correction, removal image serious distortion part；Image mosaic is carried out according to the total characteristic point of two parts image again, most
Memory cell 4 is arrived in the 360 degree of view field images storage that will be completed afterwards.The collection of whole 360 degree of panoramic pictures is with treatment by single
Image sensing and processing unit are completed, and effectively reduce system bulk size and cost of manufacture, make whole device compact, can be with
Used in handheld device, it can also be used to personal information terminal.
Fig. 3 is virtual reality scenario generation method schematic flow sheet.According to upper described, virtual reality scenario generation includes as follows
Step：
S101：Using article known to parameters, at least one location point is being noted above as characteristic point（Characteristic point
Selection can arbitrarily be chosen by straight line or the curve for designing）
S102：Obtain the first ultra-wide angle negative lens module 11 and the second ultra-wide angle negative lens module 12 gathers the first scene graph
Picture and the second scene image；First scene image and the second scene image are the view field image more than 180 degree.Collection the
The process of one scene image and the second scene image includes：By obtaining the first ultra-wide angle negative lens module 11 respectively and the second surpassing
More than the view field image of 180 degree around wide-angle negative lens module 12, then completely receive the first ultra-wide angle with shared steering module 13
The image of negative lens module and the second ultra-wide angle negative lens module, and it is independent to be respectively issued to the first independent steering module 14, second
Steering module (15) is returned again to；It is last transmitted to close as module；
S103：The first field picture piece and the second scene image are corrected, removal serious distortion part；It is main according to
Distortion correction, removal image serious distortion part are carried out according to perspective relation；
S104：Characteristic point according to the first field picture piece and the second scene image is spliced, and generates complete 360
Degree view field image.Find out the first scene image and the total characteristic point of the second scene image, size, position pair according to characteristic point
First scene image and the second scene image are zoomed in and out, rotation, and translation makes the characteristic point in two images overlap, and completes figure
As splicing, record scaling rotate, translation data are used as splicing parameter.
S105：Storage image is to memory cell.
S106：S102 to S105 is repeated until control unit sends halt instruction.
The utility model additionally provides a kind of robot that the virtual reality scenario generating means are installed in head, main to use
In monitoring or patrol.
The utility model additionally provides one kind and installs the unmanned dress of virtual reality scenario generating means in vehicle roof
Put；The information of surrounding environment is preferably obtained during for automatic Pilot, and DAS (Driver Assistant System) enters according to the panoramic pictures for obtaining
Row is suitably processed.
Embodiment described above only expresses implementation method of the present utility model, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the utility model the scope of the claims can not be interpreted as.It should be pointed out that for the ordinary skill of this area
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection domain of utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (5)
1. a kind of virtual reality scenario generating means, by optical image unit（1）, image sensing and processing unit（2）, control it is single
Unit（3）And memory cell（4）Composition, unit is sequentially connected；Characterized in that, the optical image unit（1）Including
One ultra-wide angle negative lens module (11) and the second ultra-wide angle negative lens module (12), share steering module (13), and first turns to mould
Group (14) and the second steering module (15) and conjunction are as module (16)；The first ultra-wide angle negative lens module（11）With described
Two ultra-wide angle negative lens modules（12）For obtaining scene picture, the shared steering module（13）Form be arranged on two it is super wide
The position of image can be completely received in the middle of the negative lens module of angle；First independent steering module（14）It is arranged on the first ultra-wide angle negative saturating
Mirror module（11）Side, the second independent steering module（15）It is arranged on the second ultra-wide angle negative lens module（12）Side；Described
Steering module（13）, the first steering module（14）, the second steering module（15）Cooperation under, by obtain scene picture send to institute
Conjunction is stated as module（16）Close as treatment.
2. virtual reality scenario generating means according to claim 1, it is characterised in that the shared steering module（13）
It is complete to receive the image of the first ultra-wide angle negative lens module and the second ultra-wide angle negative lens module, and it is respectively issued to first independent turn
To module（14）, the second independent steering module（15）Returned again to.
3. virtual reality scenario generating means according to claim 1 and 2, it is characterised in that first ultra-wide angle is born
Lens module (11) and the second ultra-wide angle negative lens module (12) is coaxial is arranged on the position that can gather complete 360 degree of multi-view images
Put.
4. a kind of robot, it is characterised in that the robot head installs the void included any one of claim 1-3
Intend reality scene generating means.
5. a kind of unmanned device, it is characterised in that install and include in claim 1-3 times in the unmanned device top
Virtual reality scenario generating means described in one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621405241.5U CN206237517U (en) | 2016-12-21 | 2016-12-21 | A kind of virtual reality scenario generating means, robot and unmanned device |
| PCT/CN2016/112851 WO2018113010A1 (en) | 2016-12-21 | 2016-12-29 | Virtual reality scene generation device, robot and unmanned driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621405241.5U CN206237517U (en) | 2016-12-21 | 2016-12-21 | A kind of virtual reality scenario generating means, robot and unmanned device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206237517U true CN206237517U (en) | 2017-06-09 |
Family
ID=58992401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621405241.5U Expired - Fee Related CN206237517U (en) | 2016-12-21 | 2016-12-21 | A kind of virtual reality scenario generating means, robot and unmanned device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206237517U (en) |
| WO (1) | WO2018113010A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201205180A (en) * | 2010-07-27 | 2012-02-01 | Hon Hai Prec Ind Co Ltd | Camera |
| CN105120177B (en) * | 2015-09-18 | 2018-06-15 | 成都易瞳科技有限公司 | Panoramic picture harvester |
| CN105120176B (en) * | 2015-09-18 | 2018-06-15 | 成都易瞳科技有限公司 | Panoramic picture image collection system |
| CN105530431A (en) * | 2015-12-16 | 2016-04-27 | 景好 | Reflective panoramic imaging system and method |
| CN105739067A (en) * | 2016-03-23 | 2016-07-06 | 捷开通讯(深圳)有限公司 | Optical lens accessory for wide-angle photographing |
| CN105892022A (en) * | 2016-06-24 | 2016-08-24 | 乐视控股（北京）有限公司 | Image acquisition device and panorama camera |
-
2016
- 2016-12-21 CN CN201621405241.5U patent/CN206237517U/en not_active Expired - Fee Related
- 2016-12-29 WO PCT/CN2016/112851 patent/WO2018113010A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018113010A1 (en) | 2018-06-28 |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170609 Termination date: 20191221 |