CN206402317U - Camera system and aircraft - Google Patents
Camera system and aircraft Download PDFInfo
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- CN206402317U CN206402317U CN201720007761.9U CN201720007761U CN206402317U CN 206402317 U CN206402317 U CN 206402317U CN 201720007761 U CN201720007761 U CN 201720007761U CN 206402317 U CN206402317 U CN 206402317U
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Abstract
The utility model provides a kind of camera system, including：Spaced two vision sensors；And main camera, projection of the main camera on two vision sensor line directions is between two vision sensors；Based on same level perspective plane, projection of the main camera on the horizontal plane is located in the shooting blind area of two vision sensors, and projection of two vision sensors on the horizontal plane is respectively positioned in the shooting blind area of the main camera.Main camera can be respectively in the shooting blind area of other side with projection of the vision sensor on same level perspective plane, it is effective to solve because avoiding exposing the false camera lens by vertically pulling open the problem of the distance between main camera and vision sensor cause overall dimensions increase, reduce the overall dimensions of camera system, and then reduce the installing space of camera system, be conducive to the miniaturization of aircraft.The utility model additionally provides a kind of aircraft.
Description
Technical field
The utility model is related to aircraft devices technical field, more particularly to a kind of camera system and using the shooting is
The aircraft of system.
Background technology
For current aircraft, the technology for carrying out avoidance using vision sensor is also immature, and leads at present
Location layout between camera and vision sensor makes main camera be passed with vision typically by the projection on vertical plane
Sensor is in the shooting blind area of other side, i.e., avoid visual sensing by increasing the vertical height of main camera and vision sensor
Device and main camera expose the false mutually camera lens the problem of.But, so layout makes winner's camera installed with vision sensor
When, the vertical range between main camera and vision sensor so as to cause to increase the overall dimensions of aircraft, must be entered farther out
And increase the space taken when installing, it is impossible to suitable for small-sized or minute vehicle, it is unfavorable for the miniaturization of aircraft.
Utility model content
Based on this, it is necessary to which providing one kind can be while avoiding main camera and vision sensor from existing exposing the false camera lens
Reduce the camera system of overall dimensions, while also providing a kind of aircraft using above-mentioned camera system.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of camera system, including：
Spaced two vision sensors；And
Main camera, projection of the main camera on two vision sensor line directions is located at two visions
Between sensor；
Based on same level perspective plane, projection of the main camera on the horizontal plane, which is located at described in two, to be regarded
In the shooting blind area for feeling sensor, and projection of two vision sensors on the horizontal plane is respectively positioned on the master
In the shooting blind area of camera.
In one of the embodiments, the horizontal plane is the plane where the optical axis of two vision sensors
Or the plane with the plane parallel.
In one of the embodiments, projection of the main camera on the same horizontal plane is located at one or four sides
The shooting blind area in shape region；
Based on the same horizontal plane, two vision sensors are respectively provided with first level shooting visual angle, described
Main camera has the second horizontal shooting visual angle；
The quadrilateral area is by the intersecting two visual angles side of the first level shooting visual angle of two vision sensors
And master during critical value of two vision sensors outside the second horizontal shooting visual angle scope of the main camera
Two visual angles side of second shooting visual angle of camera is crossed to form.
In one of the embodiments, the vertical plane where the main camera optical axis can be relative to the visual sensing
Vertical plane where device optical axis horizontally rotates；
Second horizontal shooting visual angle of the main camera is maximum bat of the main camera in the range of horizontally rotating
Take the photograph visual angle.
In one of the embodiments, the angular range of the main horizontal turning of video camera is -45 ° ~ 45 °.
In one of the embodiments, projection of the main camera on the horizontal plane is located at described in two and regarded
On the perpendicular bisector for feeling sensor line.
In one of the embodiments, two vision sensors are arranged at same level with the main camera.
In one of the embodiments, plane where the optical axis of the main camera and two vision sensors
Vertical range is -20mm ~ 20mm.
In one of the embodiments, projection of the main camera on the horizontal plane is located at described in two and regarded
On the line for feeling sensor.
In one of the embodiments, projection of the main camera on the horizontal plane and two visions
The distance of the line of sensor is -50mm ~ 50mm.
In one of the embodiments, the main camera is rotated on vertical plane relative to the vision sensor.
In one of the embodiments, the angle that the main camera is rotated on vertical plane relative to the vision sensor
The scope of degree is upward 30 ° to 90 ° straight down of level.
In one of the embodiments, the distance between two described vision sensors are 30mm ~ 80mm.
Further relate to a kind of aircraft, including fuselage, head and the camera system described in any technical characteristic as described above；
The camera system is installed on the head, and the head is installed on the fuselage.
In one of the embodiments, the head includes shooting support, main body rack and is arranged at the main body rack
Two connecting brackets of both sides；
The shooting support and two connecting brackets are mounted on the main body rack, and the main body rack is installed
In on the fuselage of the aircraft；
Two connecting brackets are respectively used to install the vision sensor of the camera system；The shooting support is used for
The main camera of the camera system is installed.
The beneficial effects of the utility model are：
Camera system of the present utility model, structure design advantages of simple, based on same level perspective plane, main camera is in water
Projection on flat perspective plane is located in the shooting blind area of two vision sensors, is taken the photograph with avoiding two vision sensors from photographing master
As head, projection of two vision sensors on horizontal plane is in the shooting blind area of main camera, to avoid main shooting
Head photographs two vision sensors.So main camera is in the shooting blind area of other side with vision sensor, it is to avoid main
Camera photographs camera lens of exposing the false with vision sensor, it is ensured that shooting effect.Simultaneously as master takes the photograph on same level perspective plane
As head and vision sensor are in the shooting blind area of other side, it can effectively reduce the chi of the vertical direction of camera system
It is very little, and then reduce the overall dimensions of camera system, in such manner, it is possible to reduce the space taken when camera system is installed, be conducive to flying
The miniaturization of row device.Also, while camera system size is reduced, moreover it is possible to mitigate the heavy burden of aircraft so that flight
Device is had a smooth flight, and extends the flight time of aircraft, improves the security of aircraft flight.Camera system of the present utility model
Main camera can be respectively in the shooting blind area of other side with projection of the vision sensor on same level perspective plane, effectively
Solution cause overall dimensions by vertically pulling open the distance between main camera and vision sensor because avoiding exposing the false camera lens
The problem of increase, reduce the overall dimensions of camera system, and then reduce the installing space of camera system, be easy to camera system to install
In on small-sized or miniature aircraft, be conducive to the miniaturization of aircraft.
Because camera system has above-mentioned technique effect, including the aircraft of above-mentioned camera system also has corresponding skill
Art effect.
Brief description of the drawings
Fig. 1 is vision sensor and the overlooking the structure diagram of main camera layout in camera system of the present utility model,
The extreme position that wherein A is in for virtual main camera；
Fig. 2 is provided with the stereogram of main camera in the quadrilateral area for the camera system shown in Fig. 1；
Fig. 3 is provided with the top view of main camera in the quadrilateral area for the camera system shown in Fig. 2；
Fig. 4 is the stereogram of the layout of the camera system of the embodiment of the utility model one；
Fig. 5 is the top view of the layout structure of the camera system shown in Fig. 4；
Fig. 6 is the rearview of the layout of the camera system shown in Fig. 4；
Fig. 7 is the stereogram of the layout of the camera system of another embodiment of the utility model；
Fig. 8 is the top view of the layout of the camera system shown in Fig. 7；
Fig. 9 is the rearview of the layout of the camera system shown in Fig. 7；
Figure 10 is the stereogram of the layout of the camera system of the utility model another embodiment；
Figure 11 is the top view of the layout of the camera system shown in Figure 10；
Figure 12 is the stereogram for the head for realizing camera system layout of the present utility model；
Wherein：
100- camera systems；
110- vision sensors；
The main cameras of 120-；
200- heads；
210- images support；
220- connecting brackets；
230- main body racks.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, by the following examples, and tie
Accompanying drawing is closed, aircraft of the present utility model and its camera system are further elaborated.It should be appreciated that described herein
Specific embodiment only explaining the utility model, be not used to limit the utility model.
Referring to Fig. 1 to Fig. 3, the utility model provides a kind of camera system 100, and the camera system 100 is set including interval
Two vision sensors 110 and main camera 120 put.Vision sensor 110 is mainly based upon principle of parallax and utilizes vision
Sensor 110 different position acquisition objects two images, and by calculate the position deviation between image corresponding points obtain
The three-dimensional geometric information of object.Based on this, vision sensor 110 can obtain the three-dimensional geometric information of object, so that aircraft
Being capable of forward location and avoidance, it is to avoid impacting object during aircraft flight, it is ensured that the flight safety of aircraft.Main camera 120
Play covering power.Also, main camera 120 can for night vision goggles head, heat energy camera lens, common taking lens or its
He has the camera lens of specific function, to meet the use demand of different user.
Specifically, two vision sensors 110 are arranged at intervals to ensure the three-dimensional geometric information of acquisition object, it is ensured that flight
Forward location and avoidance effect during device flight, and then ensure the security of aircraft flight.Main camera 120 is in two visions
Projection on the line direction of sensor 110 is located between two vision sensors 110.Camera system 100 can so be reduced
Volume, it is to avoid exist between vision sensor 110 and camera caused by spacing farther out assembly space requirement compared with
Greatly, to reduce the installing space of camera system 100.
In the utility model, for the ease of the description of two vision sensors 110 and the position of main camera 120, draw
Enter rectangular coordinate system, set from a vision sensor 110 to the direction of another vision sensor 110 as X-direction, two visions
The perpendicular bisector direction of the line of sensor 110 is Y-direction, and the direction for being each perpendicular to X-direction and Y-direction is Z-direction.That is,
Two vision sensors 110 be in line direction the vision sensor of X-direction, i.e., two 110 in addition to the coordinate of X-direction is different in Y
Direction and the coordinate all same of Z-direction.The projection of main camera 120 in the X direction is located between two vision sensors 110,
To reduce the size of camera system 100.Based on same level perspective plane, projection position of the main camera 120 on horizontal plane
In the shooting blind area of two vision sensors 110, projection of two vision sensors 110 on horizontal plane is respectively positioned on master
In the shooting blind area of camera 120.So it can be respectively at other side's ensureing main camera 120 and vision sensor 110
While shooting blind area, additionally it is possible to reduce the vertical range between main camera 120 and vision sensor 110, and then reduction is taken the photograph
As the overall dimensions of system 100, it is easy to camera system 100 to be installed on small-sized or miniature aircraft.While camera system
100 overall dimensions, which reduce, can also mitigate the heavy burden of aircraft so that aircraft flight is steady, when extending the flight of aircraft
Between, improve the security of aircraft flight.It should be noted that the horizontal plane in the utility model refers to, two visions
Plane where the optical axis of sensor 110 or the plane with the plane parallel where the optical axis of two vision sensors 110.
The main camera 120 and two vision sensors 110 that camera system 100 of the present utility model is provided are in same level
Projection on perspective plane is in mutual shooting blind area, so as to reduce between main camera 120 and vision sensor 110
Vertical range, realizes the purpose that vision sensor 110 and main camera 120 are installed in smaller space.Due to current vision
Sensor and main camera ensure to shoot do not expose the false when typically by pull open main camera 120 and vision sensor 110 it
Between vertical range realize, can so increase the installing space of camera system 100, be unfavorable for the miniaturization of aircraft.
Therefore, camera system 100 of the present utility model can be projected by vision sensor 110 and main camera 120 in same level
Projection on face is respectively at the shooting blind area of other side and main camera 120 is located between two vision sensors 110 to subtract
The volume of small camera system 100 so that vision sensor 110 while ensureing that shooting is not exposed the false, reduces with main camera 120
The space that camera system 100 takes, and then reduce the weight of camera system 100 so that camera system 100 can be applied to small-sized
Or in miniature aircraft, it is easy to the miniaturization of aircraft.
Based on same level perspective plane, the main camera 120 of camera system 100 of the present utility model is on horizontal plane
Projection be located in the shooting blind area of two vision sensors 110, to avoid two vision sensors 110 from photographing main camera
120, projection of two vision sensors 110 on horizontal plane is in the shooting blind area of main camera 120, to avoid master
Camera 120 photographs two vision sensors 110.So main camera 120 is in the bat of other side with vision sensor 110
Take the photograph in blind area, it is to avoid main camera 120 photographs camera lens of exposing the false with vision sensor 110, it is ensured that shooting effect.Simultaneously as
Main camera 120 is in the shooting blind area of other side with vision sensor 110 on same level perspective plane, can be effective
Reduce the size of the vertical direction of camera system 100, and then reduce the overall dimensions of camera system 100, in such manner, it is possible to reduce shooting
The space that system 100 takes when installing, is conducive to the miniaturization of aircraft.Also, reducing the size of camera system 100
Simultaneously, moreover it is possible to mitigate the heavy burden of aircraft so that aircraft flight is steady, extend the flight time of aircraft, improve aircraft
The security of flight.The main camera 120 of camera system 100 of the present utility model is thrown with vision sensor 110 in same level
Projection on shadow face can be respectively in the shooting blind area of other side, effective to solve because avoiding exposing the false camera lens by vertically drawing
The problem of the distance between main camera and vision sensor cause overall dimensions increase is opened, reduces the entirety of camera system 100
Size, and then reduce the installing space of camera system 100, it is easy to camera system 100 to be installed on small-sized or miniature aircraft
On, be conducive to the miniaturization of aircraft.
As a kind of embodiment, bat of projection of the main camera 120 on horizontal plane positioned at quadrilateral area
Take the photograph blind area.Based on same level perspective plane, two vision sensors 110 are respectively provided with first level shooting visual angle, main camera 120
With the second horizontal shooting visual angle.First level shooting visual angle is the shooting visual angle scope of vision sensor 110 in floor projection
Projection on face；Second horizontal shooting visual angle is projection of the shooting visual angle scope of main camera 120 on horizontal plane.Four
At two article visual angle of the shape region by the second horizontal shooting visual angle and two vision sensors 110 are the of main camera 120
Shape is intersected on two visual angles side of the second horizontal shooting visual angle of main camera 120 during critical value outside two horizontal shooting visual angle scopes
Into.Critical value of two vision sensors 110 outside the second horizontal shooting visual angle scope of main camera 120 refers to that two regard
Feel that sensor 110 is located at outside the second horizontal shooting visual angle of main camera 120, and the second level of main camera 120 is shot
Two visual angles side at visual angle and vision sensor 110 are tangent.
It is preferred that in the present embodiment, vertical plane and the main light of camera 120 where two optical axises of vision sensor 110
Vertical plane where axle is parallel.The intersecting two visual angles side difference of the first level shooting visual angle of two vision sensors 110
For the wherein both sides of quadrilateral area.The other both sides of quadrangle are two vision sensors 110 the second of main camera 120
Two visual angles side of second horizontal shooting visual angle of main camera 120 during critical value outside horizontal shooting visual angle scope.Main shooting
First 120 ensure that vision sensor 110 and main camera 120 are in mutual clap when being projected in above-mentioned quadrilateral area
Take the photograph in blind area.Specifically, two vision sensors 110 are critical outside the second horizontal shooting visual angle scope of main camera 120
The position of main camera 120 is in the extreme position for shooting blind area during value.It is main when main camera 120 is in extreme position
Camera 120 is located on the perpendicular bisector of the line of two vision sensors 110, and two vision sensors 110 are located at main camera
Outside 120 the second horizontal shooting visual angle, and the second horizontal shooting visual angle of main camera 120 two visual angles side respectively with two
Individual vision sensor 110 is tangent.The extreme position of main camera 120 is the location A shown in Fig. 1, and main camera 120 is at A
Taken the photograph based on the quadrilateral area that two visual angles of main camera 120 are formed at the visual angle with two vision sensors 110 when putting
As first 120 shooting blind area.Projection of the main camera 120 on horizontal plane is located in quadrilateral area, ensure that and regards
Feel that sensor 110 is in mutual shooting blind area with main camera 120.
For the ease of the description of quadrilateral area, main camera 120 and two vision sensors 110 are thrown in same level
Projected on shadow face.Two visual angles side of the first level shooting visual angle of one of vision sensor 110 is respectively a1 and a2, separately
Two visual angles side of the first level shooting visual angle of one vision sensor 110 is respectively a3 and a4, one of vision sensor
The 110 two visual angles sides intersected with the first level shooting visual angle of another vision sensor 110 are respectively a2 and a3, then visual angle side
A2 and a3 is the wherein both sides of quadrilateral area.Two visual angles side of second horizontal shooting visual angle of main camera 120 is respectively
A5 and a6, when main camera 120 is in extreme position, visual angle side a5 and a6 is tangent with two vision sensors 110 respectively, this
When, visual angle a2 and a3 when a5 is with a6 and visual angle intersects, and visual angle a2 and a3 in a5 and a6 and visual angle surrounds quadrangle jointly, should
Quadrilateral area is then the region where projection of the main camera 120 in horizontal plane, in this region, main camera
120 can not photograph two vision sensors 110, meanwhile, two vision sensors 110 can not photograph main camera 120, former
On then, the vertical range between main camera 120 and vision sensor 110 is unrestricted, as long as main camera 120 is in level side
To be projected in the blind area and can ensure that main camera 120 and vision sensor 110 are not in the problem of exposing the false camera lens.
Main camera 120 on horizontal plane when being projected in above-mentioned quadrilateral area, main camera 120 and vision are passed
Sensor 110 is in mutual shooting blind area, and main camera 120 can be avoided to photograph vision sensor 110 and vision biography
Sensor 110 photographs main camera 120, and then avoids the occurrence of camera lens of exposing the false, it is ensured that the shooting effect of main camera 120 and regard
Feel the accuracy of the data acquisition of sensor 110, and then security during guarantee aircraft flight.Meanwhile, main camera 120 is in water
Being projected in above-mentioned quadrilateral area and can also reduce the overall dimensions of camera system 100 on flat perspective plane, mitigates camera system
100 weight, and then reduce the space taken when camera system 100 is installed.Further, first horizontal view angle and second is shot
Horizontal shooting visual angle is equal, and when main camera 120 is in extreme position, i.e., main camera 120 is located at two visual sensings
On the perpendicular bisector of the line of device 110, two vision sensors 110 are outside the second horizontal shooting visual angle scope of main camera 120
Critical value, quadrilateral area is diamond-shaped area.It can so be easy to shoot the determination of blind area, be easy to the main position of camera 120
Setting.
Certainly, in other embodiment of the present utility model, vertical plane where the main optical axis of camera 120 can be relative to
Vertical plane where the optical axis of vision sensor 110 horizontally rotates.Second horizontal shooting visual angle of main camera 120 is main camera
The 120 maximum horizontal shooting visual angle in the range of horizontally rotating.Maximum horizontal shooting visual angle is the shooting visual angle of main camera 120
The angle that projection of the scope on horizontal plane horizontally rotates plus main camera 120.Specifically, the bat of main camera 120
Take the photograph after the angle that projection of the angular field of view on horizontal plane is horizontally rotated plus main camera 120 and form one and new regard
Angle, the side at the visual angle is visual angle border.Quadrilateral area is shot by visual angle border and the first level of two vision sensors 110
The intersecting two visual angles side in visual angle is crossed to form.Main camera 120 can also make in the quadrilateral area main camera 120 with
Vision sensor 110 is in mutual blind area.Further, the angular range that main camera 120 horizontally rotates be -45 ° ~
45 °, to avoid main camera 120 from there is camera lens of exposing the false with vision sensor 110, it is to avoid main camera 120 photographs vision biography
Sensor 110, and avoid vision sensor 110 from photographing main camera 120.
As a kind of embodiment, two vision sensors 110 are arranged at same level with main camera 120.
That is, main camera 120 and two vision sensors 110 are respectively positioned in the plane of X-direction and Y-direction.Now, two visions
Sensor 110 and the coordinate all same of main camera 120 in z-direction.It so ensure that two vision sensors 110 and master
Camera 120 is in the shooting blind area of other side, while the reduction of the size of camera system 100 is also helped, and then reduction is taken the photograph
The space-consuming during installation of picture system 100, is easily installed on small-sized or miniature aircraft, mitigates the heavy burden of aircraft,
Extend the flight time of aircraft.
Certainly, in other embodiment of the present utility model, the plane where two vision sensors 110 may be located on
The lower section of main camera 120 or two vision sensors 110 are located at the top of main camera 120.That is, main camera
120 coordinate in z-direction can be more than or less than the coordinate in z-direction of two vision sensors 110.So can
Enough realize that vision sensor 110 is in main camera 120 in the shooting blind area of other side, realize that main camera 120 is passed with vision
The diversity of the installation site of sensor 110.For in principle, in the case where not considering aircraft fuselage limitation, as long as main shooting
First 120 projection on horizontal plane is located at main camera 120 and is in four formed during extreme position with vision sensor 110
In the shape region of side, you can ensure that the shooting visual angle of main camera 120 and vision sensor 110 mutually staggers, to avoid photographing
Expose the false camera lens, meet the job requirement of camera system 100.It is preferred that the overall dimensions to reduce camera system 100, vision is passed
Scope preferably -20mm ~ 20mm of plane and the distance of the main in the vertical direction of camera 120 where sensor 110.
As a kind of embodiment, projection of the main camera 120 on horizontal plane is located at two vision sensors
On the perpendicular bisector of 110 lines.That is, main camera 120 is located at the centre position of two vision sensors 110, i.e., master takes the photograph
As the distance of first 120 to two vision sensors 110 is identical, it can so be easy to determine the position of main camera 120.Certainly,
In other embodiment of the present utility model, main camera 120 can be also fixedly installed in two vision sensors 110 of deviation
The position of vertical line.In principle, as long as projection of the main camera 120 on horizontal plane is located in quadrilateral area, vision is passed
Sensor 110 and main camera 120 are the position that can be at shooting blind area each other, with ensure the shooting effect of main camera 120 with
And the data acquisition accuracy of vision sensor 110.
As a kind of embodiment, projection of the main camera 120 on horizontal plane is located at two vision sensors
On 110 line.That is, main camera 120 and two vision sensors 110 are collinearly set.Certainly, in the utility model
Other embodiment in, projection of the main camera 120 on horizontal plane may also set up in deviate two vision sensors 110
Line position.In principle, as long as projection of the main camera 120 on horizontal plane is located in quadrilateral area, vision
Sensor 110 can be at shooting the position of blind area each other with main camera 120, to ensure the shooting effect of main camera 120
And the data acquisition accuracy of vision sensor 110.To reduce the overall dimensions of camera system 100, main camera 120 is in water
Projection and scope preferably -50mm ~ 50mm of the distance of the line of two vision sensors 110 on flat perspective plane.
As a kind of embodiment, main camera 120 is rotated on vertical plane relative to vision sensor 110, so
The adjustment of the main angle of camera 120 can be realized, it is ensured that the shooting effect of main camera 120, to realize the shooting of different angles,
Meet the different use demands of user.Meanwhile, aircraft can make after being flown after flight a period of time or according to predetermined angle
There is deviation in the angle when angle of winner's camera 120 and main 120 initial position of camera, to ensure main camera 120
Shooting effect, can be by main camera 120 relative to vision sensor, it is necessary to the angle to main camera 120 is repaired
110 rotate, to adjust the position of main camera 120.Further, main camera 120 on vertical plane relative to visual sensing
The scope for the angle that device 110 is rotated is upward 30 ° to 90 ° straight down of level, to meet the different shooting demands of user.Together
When, the initial position of main camera 120 can manually be adjusted by user and can also adjusted by controller.It is of the present utility model
Camera system 100 is while the shooting angle for ensureing main camera 120 and vision sensor 110 staggers completely, additionally it is possible to real
The now adjustment of the angle of main camera 120, so that main camera 120 can realize the shooting of different angles, it is ensured that main camera
120 obtain shooting effect.
It should be noted that the distance between two vision sensors 110 are relevant with the actual size of aircraft, to ensure
Camera system 100 is installed on carry-on harmony, it is ensured that aircraft smooth flight.It is preferred that two vision sensors 110
The distance between preferably 30mm ~ 80mm, to reduce the overall dimensions of camera system 100.Meanwhile, main camera 120 is passed with vision
Size of the sensor 110 in X-direction, Y-direction and Z-direction can avoid main camera 120 and vision sensor 110 and flight
Each parts contact of device, it is to avoid interfered between main camera 120 and vision sensor 110 and aircraft, Yi Mianying
Ring the operation of aircraft.Simultaneously, additionally it is possible to avoid main camera 120 and vision sensor 110 photograph aircraft each zero
Part, it is ensured that aircraft is in the shooting blind area of main camera 120 and vision sensor 110, it is ensured that shooting effect.
It is preferred that referring to Fig. 4 to Fig. 6, in an embodiment of the present utility model, main camera 120 and vision sensor
Position relationship between 110 is：The distance between two vision sensors 110 are 50mm, and main camera 120 is located at two visions
On the perpendicular bisector of sensor 110, also, main camera 120 and the distance of vision sensor 110 in the Y direction are 16.6mm, main
Camera 120 is 5.5mm with the distance of vision sensor 110 in z-direction.As shown in figure 4, main camera 120 is passed with vision
The shooting visual angle of sensor 110 staggers completely, now, and main camera 120 is not in mirror of exposing the false when being shot with vision sensor 110
Simultaneously, main camera 120 and the space that the camera system 100 that vision sensor 110 is formed takes are smaller, are ensureing main shooting for head
First 120 with vision sensor 110 do not interfere in the case of reduce camera system 100 volume, be easy to camera system 100 to be installed on
On small-sized or miniature aircraft.
Referring to Fig. 7 to Fig. 9, in another embodiment of the present utility model, main camera 120 and vision sensor 110 it
Between position relationship be：The distance between two vision sensors 110 are 50mm, and main camera 120 is located at two visual sensings
On the perpendicular bisector of device 110, also, main camera 120 and the distance of vision sensor 110 in the Y direction are 34.4mm, main shooting
First 120 be 5.5mm with the distance of vision sensor 110 in z-direction.As shown in fig. 7, main camera 120 and vision sensor
110 shooting visual angle staggers completely, now, and main camera 120 is not in camera lens of exposing the false when being shot with vision sensor 110.
Referring to Figure 10 and Figure 11, in another embodiment of the present utility model, main camera 120 and vision sensor 110
Between position relationship be：The distance between two vision sensors 110 are 43mm, and main camera 120 is located at two visions and passed
On the perpendicular bisector of sensor 110, also, main camera 120 and the distance of vision sensor 110 in the Y direction are 3.5mm, and master takes the photograph
Picture first 120 is with vision sensor 110 in same level.As shown in Figure 10, main camera 120 and vision sensor 110
Shooting visual angle staggers completely, now, and main camera 120 is not in camera lens of exposing the false when being shot with vision sensor 110.Meanwhile,
The space that the camera system 100 that main camera 120 and vision sensor 110 are formed takes is smaller, ensure main camera 120 with
Vision sensor 110 do not interfere in the case of reduce camera system 100 volume, be easy to camera system 100 be installed on it is small-sized or
On the miniature aircraft of person.
Referring to Figure 12, the utility model is additionally provided in a kind of aircraft, including fuselage, head 200 and above-described embodiment
Camera system 100.Camera system 100 is installed on head 200, and head 200 is installed on fuselage.Flight of the present utility model
Device realizes shoot function by camera system 100, meanwhile, pass through the main camera 120 and vision sensor of camera system 100
110 make the shooting visual angle of main camera 120 and vision sensor 110 stagger completely in mutual shooting blind area, to meet
Work requirements.
Further, head 200 includes shooting support 210, main body rack 230 and is arranged at the both sides of main body rack 230
Two connecting brackets 220.Shooting support 210 and two connecting brackets 220 are mounted on main body rack 230, main body rack 230
It is installed on the fuselage of aircraft.Two connecting brackets 220 are respectively used to install the vision sensor 110 of camera system 100；Even
Connect the main camera 120 that support 220 is used to install camera system 100.Two connecting brackets 220 are symmetricly set in shooting support
210 both sides, two connecting brackets 220, which are symmetrical arranged, ensure that vision sensor 110 is in same level position, it is ensured that vision
The shooting angle of sensor 110 is consistent, and then ensures that the movement locus of vision sensor 110 is consistent, so ensure that
Vision sensor 110 accurately obtains the three-dimensional geometric information of object, effectively plays a part of forward location and avoidance, and then
Ensure the security of aircraft flight.Vision sensor 110 is respectively arranged in two connecting brackets 220 to ensure that aircraft flies
Capable security, and then ensure the shooting effect of main camera 120 being located between two connecting brackets 220.
Camera system 100 of the present utility model is installed on the fuselage of aircraft by head 200, to ensure visual sensing
The position of device 110 and main camera 120 so that the shooting visual angle of main camera 120 and vision sensor 110 staggers completely, keeps away
Exempt from main camera 120 and photograph camera lens of exposing the false with vision sensor 110, it is ensured that the shooting effect and vision of main camera 120
The accuracy of the data acquisition of sensor 110, meets work requirements.Meanwhile, camera system 100 of the present utility model passes through head
200 are installed on the fuselage of aircraft, additionally it is possible to avoid interfering between vision sensor 110 and main camera 120, and
Each last parts of fuselage of vision sensor 110 and main camera 120 and aircraft are interfered, it is ensured that aircraft flight
Security.
Embodiment described above only expresses several embodiments of the present utility model, and it describes more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model the scope of the claims.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (15)
1. a kind of camera system, including：
Spaced two vision sensors；And
Main camera, projection of the main camera on two vision sensor line directions is located at two visual sensings
Between device；It is characterized in that：
Based on same level perspective plane, projection of the main camera on the horizontal plane is located at two visions and passed
In the shooting blind area of sensor, and projection of two vision sensors on the horizontal plane is respectively positioned on the main shooting
In the shooting blind area of head.
2. camera system according to claim 1, it is characterised in that the horizontal plane is two visual sensings
Plane where the optical axis of device or the plane with the plane parallel.
3. camera system according to claim 2, it is characterised in that the main camera is in the same horizontal plane
On projection positioned at a quadrilateral area shooting blind area；
Based on the same horizontal plane, two vision sensors are respectively provided with first level shooting visual angle, and the master takes the photograph
As head has the second horizontal shooting visual angle；
The quadrilateral area by the intersecting two visual angles side of the first level shooting visual angle of two vision sensors and
Main shooting during critical value of two vision sensors outside the second horizontal shooting visual angle scope of the main camera
Two visual angles side of second shooting visual angle of head is crossed to form.
4. camera system according to claim 3, it is characterised in that the vertical plane where the main camera optical axis can
Horizontally rotate relative to the vertical plane where the vision sensor optical axis；
Second horizontal shooting visual angle of the main camera is that maximum shoot of the main camera in the range of horizontally rotating regards
Angle.
5. camera system according to claim 4, it is characterised in that the angular range of the main horizontal turning of video camera
For -45 ° ~ 45 °.
6. the camera system according to any one of claim 1 to 5, it is characterised in that the main camera is in the level
Projection on perspective plane is located on the perpendicular bisector of two vision sensor lines.
7. the camera system according to any one of claim 1 to 5, it is characterised in that two vision sensors and institute
State main camera and be arranged at same level.
8. the camera system according to any one of claim 1 to 5, it is characterised in that described in the main camera and two
The vertical range of plane where the optical axis of vision sensor is -20mm ~ 20mm.
9. the camera system according to any one of claim 1 to 5, it is characterised in that the main camera is in the level
Projection on perspective plane is located on the line of two vision sensors.
10. the camera system according to any one of claim 1 to 5, it is characterised in that the main camera is in the level
The distance of projection and the line of two vision sensors on perspective plane is -50mm ~ 50mm.
11. the camera system according to any one of claim 1 to 5, it is characterised in that the main camera is on vertical plane
Rotated relative to the vision sensor.
12. camera system according to claim 11, it is characterised in that the main camera is on vertical plane relative to institute
The scope for stating the angle of vision sensor rotation is upward 30 ° to 90 ° straight down of level.
13. the camera system according to any one of claim 1 to 5, it is characterised in that between two vision sensors
Distance be 30mm ~ 80mm.
14. a kind of aircraft, it is characterised in that the shooting system including fuselage, head and as described in any one of claim 1 to 13
System；
The camera system is installed on the head, and the head is installed on the fuselage.
15. aircraft according to claim 14, it is characterised in that the head include shooting support, main body rack and
It is arranged at two connecting brackets of the main body rack both sides；
The shooting support and two connecting brackets are mounted on the main body rack, and the main body rack is installed on institute
State on the fuselage of aircraft；
Two connecting brackets are respectively used to install the vision sensor of the camera system；The shooting support is used to install
The main camera of the camera system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720007761.9U CN206402317U (en) | 2017-01-04 | 2017-01-04 | Camera system and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720007761.9U CN206402317U (en) | 2017-01-04 | 2017-01-04 | Camera system and aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206402317U true CN206402317U (en) | 2017-08-11 |
Family
ID=59516866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720007761.9U Active CN206402317U (en) | 2017-01-04 | 2017-01-04 | Camera system and aircraft |
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| Country | Link |
|---|---|
| CN (1) | CN206402317U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108270950A (en) * | 2017-01-04 | 2018-07-10 | 重庆零度智控智能科技有限公司 | Camera system and aircraft |
| CN110770128A (en) * | 2018-06-26 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Sensor assembly and unmanned aerial vehicle |
-
2017
- 2017-01-04 CN CN201720007761.9U patent/CN206402317U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108270950A (en) * | 2017-01-04 | 2018-07-10 | 重庆零度智控智能科技有限公司 | Camera system and aircraft |
| CN108270950B (en) * | 2017-01-04 | 2024-02-09 | 北京远度互联科技有限公司 | Imaging system and aircraft |
| CN110770128A (en) * | 2018-06-26 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Sensor assembly and unmanned aerial vehicle |
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Denomination of utility model: Camera system and aircraft Effective date of registration: 20180102 Granted publication date: 20170811 Pledgee: XinDa national equity investment fund (Shanghai) partnership (L.P.) Pledgor: ZEROTECH (BEIJING) INTELLIGENCE TECHNOLOGY Co.,Ltd.|CHONGQING ZERO INTELLIGENT CONTROL TECHNOLOGY CO.,LTD. Registration number: 2017990001217 |
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Date of cancellation: 20221008 Granted publication date: 20170811 Pledgee: XinDa national equity investment fund (Shanghai) partnership (L.P.) Pledgor: CHONGQING ZERO INTELLIGENT CONTROL TECHNOLOGY CO.,LTD. Registration number: 2017990001217 |
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