WO2017143787A1 - 无人机及其使用的多目影像模组 - Google Patents

无人机及其使用的多目影像模组 Download PDF

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Publication number
WO2017143787A1
WO2017143787A1 PCT/CN2016/101854 CN2016101854W WO2017143787A1 WO 2017143787 A1 WO2017143787 A1 WO 2017143787A1 CN 2016101854 W CN2016101854 W CN 2016101854W WO 2017143787 A1 WO2017143787 A1 WO 2017143787A1
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Prior art keywords
light
light transmission
image module
view image
sensing unit
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English (en)
French (fr)
Inventor
任伟
周谷越
谢捷斌
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof

Definitions

  • the invention relates to a multi-view image module, in particular to a multi-view image module and a drone applied to a vision system of a drone.
  • the vision system of an unmanned aerial vehicle typically acquires image information through a visual sensor.
  • the vision sensor includes a graphic sensor by which the ambient image is acquired by the vision sensor and processed.
  • the graphic sensor is a CCD camera or the like, and the graphic sensor is usually provided in plurality, and thus is also called a multi-multiple image module.
  • multi-view image modules are susceptible to external light. When the external light is too bright or too dark, the images collected by the multi-image module may be seriously distorted due to abnormal exposure, thereby reducing the above-mentioned Sensitivity of the UAV vision system.
  • a multi-view image module is applied to a vision system of a drone, which includes at least two camera modules, each of which includes an image sensing unit.
  • the object side of the image sensing unit is provided with a light transmission adjusting layer, and the light transmission adjusting layer can adjust its light transmittance according to the intensity of the ambient light to control the light intensity incident on the image sensing unit.
  • the multi-view image module is a binocular image module.
  • the light transmission adjusting layer includes a photosensitizer capable of being The intensity of ambient light produces a photochemical reaction that causes the light transmission adjustment layer to adjust its light transmittance.
  • the light transmission adjusting layer is a lens doped with the photosensitizer
  • the light transmission adjusting layer is at least one of an aluminoborosilicate glass lens, a borosilicate glass lens, a borate glass lens or a phosphate glass lens.
  • the light transmission adjusting layer further includes a light transmissive carrier, and the photosensitizer is coated on the light transmissive carrier to form an adjustment layer.
  • the light transmissive carrier is at least one of a glass lens, a polyester lens, and a cellulose acetate lens;
  • the conditioning layer is coated with a protective film layer.
  • the light transmission adjusting layer has a light transmittance of 20% to 100%.
  • the light transmittance of the light transmission adjusting layer is 90% to 100%
  • the light transmission adjusting layer has a light transmittance of 20% to 30%.
  • an antireflection film is disposed on the light transmission adjustment layer.
  • the anti-reflection film is disposed on both sides of the light transmission adjustment layer;
  • the anti-reflection film is disposed on a side of the light transmission adjustment layer facing the image sensing unit;
  • the anti-reflection film is disposed on a side of the light transmission adjustment layer facing away from the image sensing unit.
  • the camera module further includes an optical unit disposed on an object side of the image sensing unit, the optical unit being optically coupled to the image sensing unit.
  • the light transmission adjustment layer is located on an object side of the optical unit
  • the light transmission adjustment layer is located on the image side of the optical unit.
  • the optical unit includes a lens barrel and at least a housing contained in the lens barrel A lens, the light transmission adjustment layer is disposed in the lens barrel.
  • optical unit and the light transmission adjustment layer are packaged as one body
  • optical unit the light transmission adjustment layer and the image sensing unit are packaged in one body.
  • the camera module further includes a substrate, the image sensing unit is disposed in the substrate, and the optical unit is carried on the substrate.
  • the light transmission adjusting unit is disposed on the substrate and located between the optical unit and the image sensing unit.
  • the substrate is provided with a receiving cavity, and the image sensing unit is disposed in the receiving cavity.
  • the multi-view image module is configured to sense an environment around the drone for providing information and/or data for obstacle avoidance, speed measurement, positioning, or navigation of the UAV.
  • An inorganic body comprising a body and a multi-view image module according to any one of the preceding claims, wherein the multi-view image module is disposed on the body and applied to a vision system of the drone.
  • the UAV is an unmanned aerial vehicle, and the UAV includes a flight controller and an inertial measurement unit electrically connected to the flight controller, and the inertial measurement unit is configured to detect the UAV
  • the attitude is to allow the flight controller to control the UAV flight in accordance with the attitude.
  • the UAV further includes a rotor assembly and an electronic governor, the rotor assembly including a motor and a propeller disposed on the motor, the electronic governor being coupled to the motor.
  • the drone is an unmanned vehicle or an unmanned ship.
  • the above-mentioned multi-view image module is applied to a vision system of a drone to identify environmental information around the drone, thereby allowing the drone to be based on the environmental information operation.
  • the light transmission adjustment layer can automatically adjust the light transmittance according to the change of the incident light intensity to adjust the light intensity entering the image sensing unit, so that the light intensity incident on the image sensing unit is controlled in a Within a predetermined range, the image sensing unit is prevented from generating over-exposure imaging or over-dark imaging, so that the UAV using the multi-view image module as a visual system is more sensitive.
  • FIG. 1 is a schematic perspective view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a cross-sectional view of the camera module of the multi-view image module of the drone shown in FIG. 1.
  • Multi-view image module 100 Multi-view image module 100
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an embodiment of the present invention provides a drone, which may be, but is not limited to, an unmanned aerial vehicle, an unmanned vehicle, or an unmanned ship.
  • the The man-machine uses the unmanned aerial vehicle 500 as an example.
  • the UAV 500 includes a body 510 and a rotor assembly 530 and a multi-view image module 100 disposed on the body 510.
  • the UAV 500 is used to mount an image acquisition device 200 for aerial photography.
  • the multi-view image module 100 is disposed on the body 510 and located in front of the flight direction of the UAV 500.
  • the multi-view image module 100 serves as a vision system of the UAV 500 for identifying environmental information around the UAV 500 to allow the UAV 500 to operate in accordance with the environmental information.
  • the UAV 500 is a quadrotor, ie an aircraft having four rotor assemblies 530.
  • the rotor assembly 530 includes a motor 531 and a propeller (not shown) coupled to the motor 531.
  • the propeller of the rotor assembly 530 is not shown, but does not indicate that the rotor assembly 530 can dispense with the propeller.
  • the motor 531 is capable of driving the propeller to rotate to provide the unmanned aerial vehicle 500 with the power to fly.
  • the UAV 500 can also be a six-rotor aircraft, an eight-rotor aircraft, a twelve-rotor aircraft, etc., and even the UAV 500 can be a single-rotor aircraft; in addition, in other embodiments, the UAV 500 The UAV 500 can be a fixed wing aircraft, or a fixed wing-rotor hybrid aircraft.
  • the UAV 500 further includes a control board, an Inertial Measurement Unit (IMU), and an electronic governor.
  • IMU Inertial Measurement Unit
  • the control board may be a flight controller for controlling flight operations of the UAV 500 as a whole, including flight speed, flight attitude, etc., and for controlling the image acquisition apparatus 200 to perform a photographing operation. Specifically, the control board controls the UAV 500 to perform a flight operation according to the environmental information acquired by the multi-view image module 100, and/or controls the image acquisition device 200 to perform a shooting operation.
  • the inertial measurement unit is electrically connected to the control board for detecting the posture of the UAV 500.
  • the electronic governor is disposed on the body 510 and electrically connected to the control board.
  • the electronic governor can adjust the rotational speed of the motor under the control of the control board.
  • the electronic governor may be multiple, and one or more of the plurality of electronic governors are respectively connected to the motor of the rotor assembly 530 and used to adjust the rotational speed of the motor. To adjust the flight speed and flight attitude of the UAV 500.
  • the multi-view image module 100 is capable of sensing an environment around the UAV 500 and measuring the posture of the UAV 500 itself, for providing information for obstacle avoidance, speed measurement, positioning, navigation, etc. of the UAV 500 or / and data.
  • the multi-view image module 100 includes a plurality of camera modules 1 .
  • the multi-view image module 100 is a binocular image module, and the number of the camera modules 1 is two, and the two camera modules 1 are spaced apart from each other in the body 510. on.
  • the number of the camera modules 1 may be three, four, five or more according to different requirements, and the plurality of the camera modules 1 are respectively located at the The same side or different sides of the unmanned aerial vehicle 500 are not limited to the embodiment.
  • the multi-view image module 100 is embedded in the body 510. It can be understood that the multi-image module 100 can also be fixed to the body 510 by welding or gluing.
  • FIG. 2 is a cross-sectional view of the camera module 1 according to an embodiment of the present invention.
  • the camera module 1 includes a substrate 10, an image sensing unit 30, a light transmission adjusting layer 50, and optical Unit 70.
  • the optical unit 70, the light transmission adjustment layer 50, and the image sensing unit 30 are integrally packaged.
  • the image sensing unit 30 is disposed at the base In the board 10, the light transmission adjustment layer 50 and the optical unit 70 are disposed on the substrate 10.
  • the image sensing unit 30 cooperates with the optical unit 70 to collect image information of an external environment, and the light transmission adjusting layer 50 is disposed between the image sensing unit 30 and the optical unit 70.
  • the light transmission adjusting layer 50 can automatically adjust the light transmittance according to the intensity change of the incident light of the external environment to adjust the exposure amount of the image sensing unit 30.
  • the substrate 10 is provided with a receiving cavity 12 , and the image sensing unit 30 is received in the receiving cavity 12 and stacked on the bottom wall of the substrate 10 .
  • the receiving cavity 12 includes an opening 14.
  • the image sensing unit 30 is capable of sensing light and converting the sensed light signal into an electrical signal.
  • the image sensing unit 30 includes a substrate 32 and a photosensitive region 34.
  • the photosensitive region 34 is disposed on the base 32 and on a side of the base 32 facing the opening 14. The incident light enters the image sensing unit 30 via the opening 14 to enable the image sensing unit 30 to be imaged.
  • the image sensing unit 30 is a packaged complementary metal oxide semiconductor device (CMOS, Complementary Metal Oxide Semiconductor).
  • CMOS Complementary Metal Oxide Semiconductor
  • the image sensing unit 30 is a global shutter CMOS sensor. It can be understood that the image sensing unit 30 can also be a packaged charge coupled device.
  • the image sensing unit 30 can be, but is not limited to, any one or combination of the following: a charge coupled device (Charge-Coupled Device, CCD), N-type Metal-Oxide-Semiconductor (NMOS).
  • the package is a ceramic leaded chip carrier (CLCC), a plastic leaded chip carrier (PLCC) or a chip scale package (CSP).
  • the light transmission adjusting layer 50 is disposed on the substrate 10 and is disposed on the opening 14 on. At this time, the light transmission adjustment layer 50 is located on the object side of the photosensitive region 34.
  • the light transmission adjusting layer 50 can adjust the light transmittance of the light according to the intensity of the ambient light, so that the incident light entering the image sensing unit 30 via the opening 14 is not excessively strong, thereby avoiding the image.
  • the overexposure phenomenon when the sensing unit 30 is imaged.
  • the light-transmitting adjustment layer 50 can increase the transmittance of the light, so that the incident light can enter the image sensing unit 30 sufficiently to prevent the image sensing unit 30 from being imaged. dark.
  • the light transmission adjusting layer 50 is a photochromic glass or a photochromic lens, specifically a glass or lens doped with a photosensitizer.
  • the photochromic glass or lens may be an aluminoborosilicate glass lens doped with a photosensitizer, a borosilicate glass lens, a borate glass lens or a phosphate glass lens or the like.
  • the photosensitizer is a silver halide, and the silver halide may be AgCl, AgBr or AgI.
  • the light transmission adjusting layer 50 After the external light is irradiated on the light transmission adjusting layer 50, the light transmission adjusting layer 50 is discolored, and its own light transmittance decreases as the incident light intensity increases, that is, when the light is strong, The color of the light-transmitting adjustment layer 50 is reduced to a low transmittance, and when the incident light is weak, the light-transmitting adjustment layer 50 returns to its original transparent state to achieve a maximum light transmittance.
  • the photosensitizer such as AgCl, AgBr or AgI
  • the silver particles are opaque particles that block a portion of incident light, darkening the light transmission adjusting layer 50, thereby reducing the light transmittance of the light transmission adjusting layer 50.
  • the photochemical decomposition described above is as follows:
  • the light transmission adjusting layer 50 is prepared by adding a small amount of silver halide (AgCl, AgBr or AgI) as a photosensitizer to the sodium aluminate glass, and adding a trace amount of copper ions and cadmium ions as a sensitizer. After being melted into glass, it is obtained by heat-treating at a suitable temperature to form a silver halide into a particulate form.
  • the particulate silver halide has a diameter between 70 angstroms and 300 angstroms.
  • the light transmission adjusting layer 50 has a thickness of 0.5 mm to 1 mm.
  • the transmittance adjustment range of the light transmission adjusting layer 50 is 20% to 100%, and the light transmittance of the light transmission adjusting layer 50 is ⁇ 30% in an environment of light intensity>10000 lux.
  • the light transmittance of the light-transmitting adjustment layer 50 is 100%, so as to ensure that the image sensing unit 30 can sense sufficient light to make the multi-image module 100 Can be clearly imaged.
  • the light transmittance of the light transmission adjusting layer 50 may be 90% to 100% in a low light environment.
  • the low light environment refers to an environment with a light intensity ⁇ 200 lux.
  • the light transmittance of the light transmission adjusting layer 50 is less than or equal to 30% in a strong light environment to weaken the light intensity incident on the image sensing unit 30, preventing the image sensing unit 30 from being imaged. Exposure phenomenon.
  • the light transmittance adjusting layer 50 has a light transmittance of 20% to 30% in a strong light environment.
  • the intense light environment refers to an environment with a light intensity > 10000 lux.
  • the thickness of the light transmission adjusting layer 50 and the doping concentration of the photosensitizer can be optimally designed according to the actual required light transmittance, so that the doped photosensitizer is completely decomposed into a strong light environment.
  • Silver particles, the light transmittance of the light transmission adjusting layer 50 is as low as 50% or less, and the photo-chemical decomposition of the doped photosensitizer does not occur in low light, and the light transmittance of the light transmission adjusting layer 50 is as high as 90
  • the light intensity after the incident light passes through the light transmission adjusting layer 50 is maintained within the automatic exposure balance range actually required by the image sensing unit 30.
  • the light transmission adjusting layer 50 may further be provided with an anti-reflection film 52 to increase the incident intensity of the incident light, so that the image sensing unit 30 is more clearly imaged.
  • the anti-reflection films 52 are respectively disposed on both sides of the light transmission adjustment layer 50.
  • the optical unit 70 is carried on the substrate 10 and is located on a side of the light-transmitting adjustment layer 50 facing away from the image sensing unit 30, and is optically coupled to the image sensing unit 30, that is, the optical Unit 70 receives the incident light and focuses it on the photosensitive region 34 along the optical axis.
  • the optical unit 70 includes a lens barrel 71 and at least one lens 72 housed in the lens barrel 71.
  • the optical unit 70 is located on the object side of the image sensing unit 30
  • the light transmission adjusting layer 50 is located on the image side of the optical unit 70 .
  • An anti-reflection film 52 disposed on a side of the light-transmitting adjustment layer 50 facing away from the image sensing unit 30 is interposed between the optical unit 70 and the light-transmitting adjustment layer 50. After the incident light is focused by the optical unit 70, the anti-transmission film 52 disposed on the side of the light-transmitting adjustment layer 50 facing away from the image sensing unit 30, the light-transmitting adjustment layer 50, and the setting are disposed.
  • the light transmission adjusting layer 50 faces the anti-reflection film 52 on the side of the image sensing unit 30, finally reaches the photosensitive area 34 of the image sensing unit 30 for optical imaging, thereby allowing the image processor (Fig.
  • the image formed on the photosensitive area 34 is processed (not shown).
  • the lens 72 has a FNO of 2, a length of 3 mm, and an FOV of less than 80 degrees.
  • the light transmission adjustment layer 50 can also be disposed on a side of the optical unit 70 facing away from the image sensing unit 30, that is, the light transmission adjustment layer 50 can also be disposed on the optical unit.
  • the object side of the 70 or the light transmission adjusting layer 50 is directly received in the lens barrel 71, and the incident light passes through the light transmission adjusting layer 50, and then is focused by the optical unit 70 to reach On the photosensitive area 34.
  • the anti-reflection film 52 may be disposed only on one side of the light transmission adjustment layer 50. Specifically, the anti-reflection film 52 may be disposed on the optical unit 70 toward the image sensing unit. One side of 30; or, the anti-reflection film 52 may be disposed only on the side of the light-transmitting adjustment layer 50 facing away from the optical unit 70, and is not limited to the embodiment.
  • the above-described multi-view image module 100 is applied to the vision system of the UAV 500 to identify environmental information around the UAV 500, thereby allowing the UAV 500 to operate in accordance with the environmental information.
  • the light transmission adjustment layer 50 can automatically adjust the light transmittance according to the change of the incident light intensity to adjust the light intensity entering the image sensing unit 30 to make the light intensity incident on the image sensing unit 30.
  • the image is controlled within a predetermined range, thereby preventing the image sensing unit 30 from generating over-exposure imaging or over-dark imaging, so that the unmanned aerial vehicle 500 using the multi-view image module 100 as a visual system is more sensitive to the scene. Strong adaptability.
  • the light-transmitting adjustment layer 50 having the photosensitizer can make the multi-view image module 100 have a simple structure and a low manufacturing cost while being able to adjust the light transmittance according to the external environment.
  • the multi-view image module 100 may further include an image processing unit (not shown) for processing an image acquired by the camera module 1.
  • the image processing unit can be based on different camera modules. Information such as the distance between the groups 1 and the distance from the target, and images/videos obtained by the different camera modules 1 are combined into an image/video having depth information.
  • the structure of the light transmission adjusting layer is not limited to the single-layer glass or lens structure described above, and it may also be designed as other structures.
  • the light transmission adjusting layer may be a structure in which a carrier and a photosensitive layer are combined.
  • the light transmission adjusting layer may include a light transmissive carrier and an adjustment layer coated on the light transmissive carrier.
  • the transparent carrier may be a substrate or a lens made of a material having good light transmittance, for example, the light transmission
  • the carrier may be a glass lens, a polyester lens, a cellulose acetate lens or the like.
  • the conditioning layer is a photosensitive material comprising the photosensitizer described above, and the photosensitizer is coated on the light transmissive carrier to form the conditioning layer. Further, a protective film may be coated on the adjustment layer to make the light transmission adjustment layer more durable.
  • the substrate 10 can be omitted, and the image sensing unit 30 and the light transmission adjusting layer 50 are directly packaged together and disposed on the optical unit 70.
  • the image sensing unit 30 may be bonded to the light transmission adjusting layer 50, and the light transmission adjusting layer 50 is disposed adjacent to the photosensitive region 34 and located at the image sensing unit 30 and the optical Between units 70.
  • the unmanned aerial vehicle is a rotor unmanned aerial vehicle, and is used for carrying an aerial photography operation by a camera, a camera, or the like. It can be understood that the UAV can also be used for map mapping, disaster investigation and rescue, air monitoring, transmission line inspection and the like.
  • the vision system adopting the multi-view image module is not limited to the application in the unmanned aerial vehicle, and can also be applied to other mobile devices or remote-controlled mobile devices such as unmanned vehicles and unmanned ships. This specification does not describe one by one.

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Abstract

一种无人机及其使用的多目影像模组(100)。所述多目影像模组(100)应用于无人机的视觉系统中，其包括至少两个相机模组(1)，每一个所述相机模组(1)包括影像感测单元(30)。所述影像感测单元(30)的物侧设置有透光调节层(50)，所述透光调节层(50)能够根据环境光线的强弱调节自身的透光率，以控制射入所述影像感测单元(30)的光线强度。使用上述的多目影像模组(100)的无人机的视觉系统灵敏度较高。

Description

无人机及其使用的多目影像模组 技术领域
本发明涉及一种多目影像模组，尤其涉及一种应用于无人机的视觉系统的多目影像模组以及无人机。
背景技术
无人飞行器的视觉系统通常通过视觉传感器来获取图像信息。该视觉传感器包括图形传感器，该视觉系统借助该图形传感器获取外界的环境图像，并对该环境图像进行处理。具体而言，该图形传感器为CCD摄像机等，该图形传感器通常设置为多个，因此也称多多目影像模组。然而，该类多目影像模组容易受到外界光线的影响，当外界光线过亮或者过暗时，该类多目影像模组所采集的图像会因为曝光不正常而严重失真，进而降低上述的无人飞行器视觉系统的灵敏度。
发明内容
鉴于上述状况，有必要提供一种具有较高灵敏度的视觉系统的无人机及其使用的多目影像模组。
一种多目影像模组，应用于无人机的视觉系统中，其包括至少两个相机模组，每一个所述相机模组包括影像感测单元。所述影像感测单元的物侧设置有透光调节层，所述透光调节层能够根据环境光线的强弱调节自身的透光率，以控制射入所述影像感测单元的光线强度。
进一步地，所述多目影像模组为双目影像模组。
进一步地，所述透光调节层包括光敏剂，所述光敏剂能够根据 环境光线的强弱产生光化学反应，使所述透光调节层调节自身的透光率。
进一步地，所述透光调节层为掺杂有所述光敏剂的镜片；
或者，所述透光调节层为铝硼硅酸盐玻璃镜片、硼硅酸盐玻璃镜片、硼酸盐玻璃镜片或者磷酸盐玻璃镜片中的至少一种。
进一步地，述透光调节层还包括透光载体，所述光敏剂涂覆在所述透光载体上形成调节层。
进一步地，所述透光载体为玻璃镜片、聚酯镜片、醋酸纤维素镜片中的至少一种；
或/及，所述调节层上涂覆有保护膜层。
进一步地，所述透光调节层的透光率为20％～100％。
进一步地，在光强度<200lux的环境下，所述透光调节层的透光率为90％～100％；
或/及，在光强度>10000lux的环境下，所述透光调节层的透光率为20％～30％。
进一步地，所述透光调节层上设置有增透膜。
进一步地，所述增透膜设置在所述透光调节层的两侧；
或者，所述增透膜设置于所述透光调节层朝向所述影像感测单元的一侧；
或者，所述增透膜设置于所述透光调节层背离所述影像感测单元的一侧。
进一步地，所述相机模组还包括设置于所述影像感测单元的物侧的光学单元，所述光学单元与所述影像感测单元光学耦合。
进一步地，所述透光调节层位于所述光学单元的物侧；
或者，所述透光调节层位于所述光学单元的像侧。
进一步地，所述光学单元包括一镜筒以及收容于镜筒内的至少 一透镜，所述透光调节层设置于所述镜筒内。
进一步地，所述光学单元、所述透光调节层封装为一体；
或/及，所述光学单元、所述透光调节层和所述影像感测单元封装为一体。
进一步地，所述相机模组还包括基板，所述影像感测单元设置于所述基板内，所述光学单元承载在所述基板上。
进一步地，所述透光调节单元设置在所述基板上，并位于所述光学单元与所述影像感测单元之间。
进一步地，所述基板开设有一收容腔，所述影像感测单元设置于所述收容腔内。
进一步地，所述多目影像模组用于感测所述无人机周围的环境，用于为无人飞行器的避障、测速、定位、或导航提供信息及/或数据。
一种无机，包括机身及如上任一项所述的多目影像模组，所述多目影像模组设置在所述机身上，并应用于所述无人机的视觉系统中。
进一步地，所述无人机为无人飞行器，所述无人飞行器包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
进一步地，所述无人飞行器还包括旋翼组件以及电子调速器，所述旋翼组件包括电机和设置于所述电机上的螺旋桨，所述电子调速器与所述电机连接。
进一步地，所述无人机为无人车或无人船。
上述的多目影像模组，其应用于无人机的视觉系统中，以识别所述无人机周围的环境信息，从而允许所述无人机根据该环境信息 作业。由于所述透光调节层能够随着入射光线强度变化自动调节自身透光率，以调整进入所述影像感测单元的光线强弱，使射入所述影像感测单元的光线强度控制在一预定范围之内，从而避免所述影像感测单元产生过曝成像或过暗成像，使采用所述多目影像模组作为视觉系统的无人机的视觉较为灵敏。
附图说明
图1为本发明实施例提供的无人机的立体示意图。
图2为图1所示的无人机的多目影像模组的相机模组的剖面示意图。
主要元件符号说明
无人飞行器                       500
机身                             510
旋翼组件                         530
电机                             531
多目影像模组                     100
相机模组                         1
基板                             10
收容腔                           12
开口                             14
影像感测单元                     30
基体                             32
感光区域                         34
透光调节层                       50
光学单元                         70
镜筒                             71
透镜                             72
图像获取装置                      200
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“或/及”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，本发明实施例所提供一种无人机，所述无人机可以为但并不限于为无人飞行器、无人车或无人船等，本实施例中，所述无人机以无人飞行器500为例。所述无人飞行器500包括机身510以及设置于所述机身510上的旋翼组件530和多目影像模组100。所述无人飞行器500用于搭载一图像获取装置200进行航拍作业。所述多目影像模组100设置在所述机身510上，并位于所述无人飞行器500飞行方向的前方。所述多目影像模组100作为所述无人飞行器500的视觉系统，其用于识别所述无人飞行器500周围的环境信息，以允许所述无人飞行器500根据该环境信息作业。在本发明实施方式中，所述无人飞行器500为四旋翼飞行器，即具有四个旋翼组件530的飞行器。所述旋翼组件530包括电机531以及与所述电机531相连的螺旋桨(图未示出)。具体在图示的实施方式中，所述旋翼组件530的螺旋桨并未示出，但并不表示所述旋翼组件530可以省去所述螺旋桨。所述电机531能够驱动螺旋桨转动，以为所述无人飞行器500提供飞行的动力。可以理解，所述无人飞行器500也可以为六旋翼飞行器、八旋翼飞行器、十二旋翼飞行器等，甚至，所述无人飞行器500可以为单旋翼飞行器；另外，在其他实施方式中，所述无人飞行器500可以为固定翼飞行器，或者固定翼-旋翼混合的飞行器。
所述无人飞行器500还包括控制主板、惯性测量单元(IMU，Inertial measurement unit)以及电子调速器。
所述控制主板可以为飞行控制器，其用于控制所述无人飞行器500整体的飞行作业，包括飞行速度、飞行姿态等，还用于控制所述图像获取装置200执行拍摄作业。具体而言，所述控制主板根据所述多目影像模组100获取的环境信息，控制所述无人飞行器500执行飞行作业，或/及控制所述图像获取装置200执行拍摄作业。
所述惯性测量单元与所述控制主板电性连接，其用于检测所述无人飞行器500的姿态。
所述电子调速器设置在所述机身510上，并与所述控制主板电性连接。所述电子调速器在所述控制主板的控制下，能够调节所述电机的转动速度。具体而言，所述电子调速器可以为多个，多个所述电子调速器中的一个或多个分别与所述旋翼组件530的电机相连接，并用于调节所述电机的转动速度，以调节所述无人飞行器500的飞行速度、飞行姿态。
所述多目影像模组100能够感测所述无人飞行器500周围的环境以及测量无人飞行器500自身的姿态，用于为无人飞行器500的避障、测速、定位、导航等提供信息或/及数据。所述多目影像模组100包括多个相机模组1。在本实施方式中，所述多目影像模组100为双目影像模组，所述相机模组1的数量为两个，两个所述相机模组1彼此间隔设置于所述机身510上。可以理解，在其他的实施方式中，依据不同的需求，所述相机模组1的数量可以为三个、四个、五个或者更多个，且多个所述相机模组1分别位于所述无人飞行器500的相同侧或不同侧，并不限于本实施例。
本实施例中，为了避免所述多目影像模组100之间的基线发生变化，增强所述视觉系统工作的稳定性，所述多目影像模组100嵌置于所述机身510内。可以理解的是，所述多目影像模组100也可以通过焊接或胶粘的方式固定于所述机身510上。
请同时参阅图2，图2示出了本发明实施例提供的所述相机模组1的剖面示意图，所述相机模组1包括基板10、影像感测单元30、透光调节层50及光学单元70。在本实施方式中，所述光学单元70、所述透光调节层50以及所述影像感测单元30封装为一体。
具体在图示的实施例中，所述影像感测单元30设置在所述基 板10中，所述透光调节层50及所述光学单元70设置在所述基板10上。所述影像感测单元30与所述光学单元70相配合以采集外界环境的图像信息，所述透光调节层50设置在所述影像感测单元30与所述光学单元70之间，所述透光调节层50能够随着外界环境的入射光线的强度变化自动调节自身透光率，以调整所述影像感测单元30的曝光量。
为了降低所述相机模组1的体积，所述基板10上开设有收容腔12，所述影像感测单元30收容于所述收容腔12中，并叠置于所述基板10的底壁上。所述收容腔12包括一开口14。
所述影像感测单元30能够感应光线并将感应到的光线信号转换为电信号。所述影像感测单元30包括基体32及感光区域34。具体地，所述感光区域34设置于所述基体32上，并位于所述基体32朝向所述开口14的一侧。所述入射光线经由所述开口14进入所述影像感测单元30，使所述影像感测单元30得以成像。
在本实施方式中，所述影像感测单元30为封装的互补式金属氧化物半导体器件(CMOS，Complementary Metal OxideSemiconductor)。优选地，所述影像感测单元30为全局快门COMS传感器(global shutterCMOS sensor)。可以理解，所述影像感测单元30还可以为封装的电荷耦合器件，所述影像感测单元30可以为但不限于以下所描述的任意一种或者组合：电荷耦合元件(Charge-Coupled Device,CCD)、N型金属氧化物半导体(N-type Metal-Oxide-Semiconductor,NMOS)。优选地，所述封装为陶瓷引线芯片载体封装(Ceramic Leaded Chip Carrier，CLCC)，塑料引线芯片载体封装(Plastic Leaded Chip Carrier，PLCC)或芯片尺寸封装(ChipScale Package，CSP)。
所述透光调节层50设置于所述基板10上，并盖设于所述开口 14上。此时，所述透光调节层50位于所述感光区域34的物侧。所述透光调节层50能够根据外界环境光线的强弱调节自身的透光率，以使经由所述开口14进入所述影像感测单元30的入射光线不至于过强，从而避免所述影像感测单元30成像时的过曝现象。当外界环境光线相对较弱时，所述透光调节层50能够提高自身透光率，以使所述入射光线充分进入所述影像感测单元30，防止所述影像感测单元30成像时过暗。
在本实施方式中，所述透光调节层50为光致变色玻璃或光致变色镜片，具体地为掺杂有光敏剂的玻璃或镜片。具体而言，所述光致变色玻璃或镜片可以为掺杂光敏剂的铝硼硅酸盐玻璃镜片、硼硅酸盐玻璃镜片、硼酸盐玻璃镜片或者磷酸盐玻璃镜片等。所述光敏剂为卤化银，所述卤化银可为AgCl、AgBr或者AgI。外界光线照射在所述透光调节层50后，所述透光调节层50发生变色，其自身透光率随着所述入射光线强度增大而减小，即，所述光线较强时，所述透光调节层50的颜色变深降以低透光率，而当所述入射光线较弱时，所述透光调节层50互恢复其原始透明的状态，达到最大透光率。
具体地，所述光敏剂，如AgCl、AgBr或者AgI，在一定强度的光入射光线光线照射下，发生光化学分解反应从而生成细小的银微粒和卤素分子Cl2、Br2或者I2。所述银微粒为不透光微粒，其会阻挡一部分的入射光线，使所述透光调节层50发暗，从而使所述透光调节层50的透光率降低。上述的光化学分解如下：
AgC→Ag+Cl2
如果所述生成的卤素分子停留在银微粒附近，当入射光线强度较弱时，上述的化学反应即逆向进行，银微粒和卤素分子再次反应成为卤化银，使得所述透光调节层50恢复至其最大透光率，所述 逆向进行的反应如下：
Ag+Cl2→AgC
优选地，所述透光调节层50的制作方法为：在钠铝硼酸盐玻璃中加入少量卤化银(AgCl、AgBr或者AgI)作光敏剂，再加入微量铜离子、镉离子作敏化剂，熔制成玻璃后，经适当温度热处理，使卤化银聚成微粒状而制得。优选地，所述微粒状的卤化银直径大小在70埃～300埃之间。
在本实施方式中，所述透光调节层50的厚度为0.5mm～1mm。所述透光调节层50的透光率调节范围为20％～100％，在光强度>10000lux的环境下，所述透光调节层50的透光率<30％。
具体而言，在弱光环境下，所述透光调节层50的透光率为100％，以便保证所述影像感测单元30能够感测足够的光线，使所述多目影像模组100能够清晰成像。可以理解的是，在弱光环境下，所述透光调节层50的透光率还可以为90％～100％。所述的弱光环境是指光强度<200lux的环境。在强光环境下，所述透光调节层50的透光率小于或等于30％，以减弱射入所述影像感测单元30的光线强度，防止所述影像感测单元30成像时发生过曝现象。优选地，在强光环境下，所述透光调节层50的透光率为20％～30％。所述的强光环境是指光强度>10000lux的环境。
优选地，所述透光调节层50的厚度及所述光敏剂的掺杂浓度可以根据实际需要的透光率进行优化设计，使得在强光环境下，所述掺杂的光敏剂完全分解成银微粒，所述透光调节层50的透光率低至50％以下，而在弱光时所述掺杂的光敏剂不发生光化学分解，所述透光调节层50的透光率高达90％以上，使得所述入射光线经过所述透光调节层50之后的光强保持在所述影像感测单元30实际需要的自动曝光平衡范围内。
进一步地，所述透光调节层50上还可以设置有增透膜52，以增加所述入射光线的射入强度，使所述影像感测单元30成像更清晰。在本实施方式中，所述增透膜52分别设置在所述透光调节层50的两侧。
所述光学单元70承载在所述基板10上，并位于所述透光调节层50背离所述影像感测单元30的一侧，并与所述影像感测单元30光学耦合，即所述光学单元70接收入射光线并将其沿光轴聚焦在所述感光区域34上。
在本实施方式中，所述光学单元70包括镜筒71以及收容于所述镜筒71内的至少一个透镜72。所述光学单元70位于所述影像感测单元30的物侧，所述透光调节层50位于所述光学单元70的像侧。设置于所述透光调节层50背离所述影像感测单元30一侧的增透膜52夹设于所述光学单元70与所述透光调节层50之间。所述入射光线经由所述光学单元70聚焦后，再经过设置于所述透光调节层50背离所述影像感测单元30一侧的增透膜52、所述透光调节层50、和设置于所述透光调节层50朝向所述影像感测单元30一侧的增透膜52后，最后到达所述影像感测单元30的感光区域34上以光学成像，从而允许图像处理器(图未示出)对感光区域34上所形成的图像进行处理。
本实施例中，所述透镜72的FNO为2，长度为3mm，FOV小于80度。
可以理解的是，所述透光调节层50还可以设置于所述光学单元70背离所述影像感测单元30的一侧，即，所述透光调节层50还可以设置于所述光学单元70的物侧，或者所述透光调节层50直接收容于所述镜筒71内，所述入射光线经过所述透光调节层50，再经由所述光学单元70对其进行聚焦后，到达所述感光区域34上。
实际应用中，所述增透膜52也可以只设置于所述透光调节层50的一侧，具体地，所述增透膜52可以设置在所述光学单元70朝向所述影像感测单元30的一侧；或者，所述增透膜52可以只设置于所述透光调节层50背离所述光学单元70的一侧，并不限于本实施例。
上述的多目影像模组100，其应用于所述无人飞行器500的视觉系统中，以识别所述无人飞行器500周围的环境信息，从而允许所述无人飞行器500根据该环境信息作业。由于所述透光调节层50能够随着入射光线强度变化自动调节自身透光率，以调整进入所述影像感测单元30的光线强弱，使射入所述影像感测单元30的光线强度控制在一预定范围之内，从而避免所述影像感测单元30产生过曝成像或过暗成像，使采用所述多目影像模组100作为视觉系统的无人飞行器500的视觉较为灵敏，场景适应能力较强。另外，上述具有光敏剂的透光调节层50，使所述多目影像模组100在能够根据外界环境调整自身透光率的同时，其结构较为简单，制造成本较低。
进一步地，所述多目影像模组100还可以包括用于处理所述相机模组1所获取的图像的像处理单元(图未示)，具体地，所述图像处理单元能够基于不同相机模组1之间的距离以及其与目标物的距离等信息，将不同的所述相机模组1所获取的图像/视频合成具有景深信息的图像/视频。
可以理解，所述透光调节层的结构不局限于上文所描述的单层玻璃或镜片结构，其还可以设计为其他的结构。例如，所述透光调节层可以为载体和感光层相结合的结构。具体而言，所述透光调节层可以包括透光载体以及涂布在所述透光载体上的调节层。所述透光载体可以为透光性较好的材料制成的基体或镜片，如，所述透光 载体可以为玻璃镜片、聚酯镜片、醋酸纤维素镜片等。所述调节层为包括上述的光敏剂的感光材料，所述光敏剂涂覆在所述透光载体上以形成所述调节层。进一步地，所述调节层上还可以涂覆一层保护膜，以使所述透光调节层更经久耐用。
可以理解，所述基板10可以省略，而直接将所述影像感测单元30与所述透光调节层50封装于一起，并设置在所述光学单元70上。具体而言，所述影像感测单元30可以与所述透光调节层50粘合，所述透光调节层50邻近所述感光区域34设置并位于所述影像感测单元30与所述光学单元70之间。
在本发明实施方式中，所述无人飞行器为旋翼无人飞行器，其用于搭载照相机、摄像机等拍摄装置进行航拍作业。可以理解，所述无人飞行器还可以用于地图测绘、灾情调查和救援、空中监控、输电线路巡检等工作。
可以理解，采用所述多目影像模组的视觉系统不局限于在所述无人飞行器中应用，其还可以应用于其他的可移动设备或遥控移动装置如无人驾驶车辆、无人驾驶船舶中，本说明书不作一一赘述。
以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上较佳实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发明技术方案的精神和范围。本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (22)

  1. 一种多目影像模组，应用于无人机的视觉系统中，其包括至少两个相机模组，每一个所述相机模组均包括影像感测单元，其特征在于：所述影像感测单元的物侧设置有透光调节层，所述透光调节层能够根据环境光线的强弱调节自身的透光率，以控制射入所述影像感测单元的光线强度。
  2. 如权利要求1所述的多目影像模组，其特征在于：所述多目影像模组为双目影像模组。
  3. 如权利要求1所述的多目影像模组，其特征在于：所述透光调节层包括光敏剂，所述光敏剂能够根据环境光线的强弱产生光化学反应，使所述透光调节层调节自身的透光率。
  4. 如权利要求3所述的多目影像模组，其特征在于：所述透光调节层为掺杂有所述光敏剂的镜片；
    或者，所述透光调节层为铝硼硅酸盐玻璃镜片、硼硅酸盐玻璃镜片、硼酸盐玻璃镜片或者磷酸盐玻璃镜片中的至少一种。
  5. 如权利要求3所述的多目影像模组，其特征在于：所述透光调节层还包括透光载体，所述光敏剂涂覆在所述透光载体上形成调节层。
  6. 如权利要求5所述的多目影像模组，其特征在于：所述透光载体为玻璃镜片、聚酯镜片、醋酸纤维素镜片中的至少一种；
    或/及，所述调节层上涂覆有保护膜层。
  7. 如权利要求3所述的多目影像模组，其特征在于：所述透光调节层的透光率为20％～100％。
  8. 如权利要求7所述的多目影像模组，其特征在于：在光强度<200lux的环境下，所述透光调节层的透光率为 90％～100％；
    或/及，在光强度>10000lux的环境下，所述透光调节层的透光率为20％～30％。
  9. 如权利要求1所述的多目影像模组，其特征在于：所述透光调节层上设置有增透膜。
  10. 如权利要求9所述的多目影像模组，其特征在于：所述增透膜设置在所述透光调节层的两侧；
    或者，所述增透膜设置于所述透光调节层朝向所述影像感测单元的一侧；
    或者，所述增透膜设置于所述透光调节层背离所述影像感测单元的一侧。
  11. 如权利要求1所述的多目影像模组，其特征在于：所述相机模组还包括设置于所述影像感测单元的物侧的光学单元，所述光学单元与所述影像感测单元光学耦合。
  12. 如权利要求11所述的多目影像模组，其特征在于：所述透光调节层位于所述光学单元的物侧；
    或者，所述透光调节层位于所述光学单元的像侧。
  13. 如权利要求11所述的多目影像模组，其特征在于：所述光学单元包括一镜筒以及收容于镜筒内的至少一透镜，所述透光调节层设置于所述镜筒内。
  14. 如权利要求11所述的多目影像模组，其特征在于：所述光学单元、所述透光调节层封装为一体；
    或/及，所述光学单元、所述透光调节层和所述影像感测单元封装为一体。
  15. 如权利要求11所述的多目影像模组，其特征在于：所述相机模组还包括基板，所述影像感测单元设置于所述基板，所述光学单元承载在所述基板上。
  16. 如权利要求15所述的多目影像模组，其特征在于：所述透光调节单元设置在所述基板上，并位于所述光学单元与所述影像感测单元之间。
  17. 如权利要求15所述的多目影像模组，其特征在于：所述基板开设有一收容腔，所述影像感测单元设置于所述收容腔内。
  18. 如权利要求1所述的多目影像模组，其特征在于：所述多目影像模组用于感测所述无人机周围的环境，用于为无人飞行器的避障、测速、定位、或导航提供信息及/或数据。
  19. 一种无人机，包括机身，其特征在于：所述无人机还包括权利要求1～18中任一项所述的多目影像模组，所述多目影像模组设置在所述机身上，并应用于所述无人机的视觉系统中。
  20. 如权利要求19所述的无人机，其特征在于：所述无人机为无人飞行器，所述无人飞行器包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态，以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
  21. 如权利要求20所述的无人机，其特征在于：所述无人飞行器还包括旋翼组件以及电子调速器，所述旋翼组件包括电机和设置于所述电机上的螺旋桨，所述电子调速器与所述电机连接。
  22. 如权利要求19所述的无人机，其特征在于：所述无人机为无人车或无人船。
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