WO2017206079A1

WO2017206079A1 - Unmanned aerial vehicle, and device and method for image anti-jitter thereof

Info

Publication number: WO2017206079A1
Application number: PCT/CN2016/084182
Authority: WO
Inventors: 王军
Original assignee: 深圳曼塔智能科技有限公司
Priority date: 2016-05-31
Filing date: 2016-05-31
Publication date: 2017-12-07

Abstract

An unmanned aerial vehicle, and a device and a method for image anti-jitter thereof. The image anti-jitter device (01) of the unmanned aerial vehicle comprises a controlling module (02), a camera module (03), a sensing module (04), and a motor module (05); the controlling module (02) being connected to the camera module (03), the sensing module (04), and the motor module (05) respectively; the sensing module (04) acquiring jitter displacement variables of the unmanned aerial vehicle, and generating a feedback signal and sending same to the controlling module (02); the controlling module (02) generating, according to the feedback signal, a jitter compensation instruction, and sending same to the motor module (05); and the motor module (05) and the camera module (03) being fixedly connected to each other, and the motor module (05) driving, according to the jitter compensation instruction, the camera module to move, so as to compensate for jitter in the unmanned aerial vehicle.

Description

Description: A UAV and an image anti-shake device and method thereof

[0001] The present invention belongs to the field of drones, and in particular, to a drone and an image anti-shake device and method thereof.

Background technique

[0002] At present, the technology for unmanned aerial vehicle image stabilization is mainly based on the mechanical anti-shake mode of the gimbal. The common one has two-axis or three-axis gimbal; the anti-shake effect of the mechanical anti-shake method of the gimbal is good. , but it will increase the cost and weight, and the gimbal will take up a certain amount of space, usually only used on drones with a large wheelbase (280cm) and weight above lKg, while the miniaturized entertainment drones are not. The method is equipped with a device such as a gimbal.

[0003] As can be seen from the above, there is a problem in the prior art that the anti-shake processing cannot be implemented on the drone without using the pan/tilt.

technical problem

The present invention provides a drone and an image anti-shake device and method thereof, which aim to solve the problem that the anti-shake processing cannot be implemented on a drone without using a pan/tilt in the prior art.

Problem solution

Technical solution

[0005] The present invention is implemented as follows, an unmanned image stabilization device, the image stabilization device includes a control module, a camera module, a sensing module, and a motor module; the control module and the camera module respectively The sensing module and the motor module are connected;

[0006] the sensing module acquires a jitter displacement variable on the drone, and generates a feedback signal and sends the signal to the control module;

[0007] The control module generates a compensation jitter instruction according to the feedback signal, and sends the compensation to the motor module; [0008] the motor module is fixedly connected to the camera module, and the motor module is configured according to the compensation jitter command The camera module is driven to move to compensate for jitter on the drone.

Another object of the present invention is to provide a drone, which further includes the unmanned image anti-shake device as described above.

[0010] Another object of the present invention is to provide an image stabilization method, comprising the following steps: [0011] acquiring a jitter displacement variable on the drone by the sensing module, and generating a feedback signal and transmitting the signal to the control module

[0012] the control module calculates and generates a compensation jitter command according to the feedback signal, and sends the compensation to the motor module; [0013] the motor module drives the camera module to move according to the compensation jitter command to make up for the shake.

Advantageous effects of the invention

Beneficial effect

[0014] The technical solution provided by the present invention has the following beneficial effects: It can be seen from the above description that the UAV image anti-shake device includes a control module, a camera module, a sensing module and a motor module; the control module and the camera module respectively The sensing module and the motor module are connected; the sensing module acquires the jitter displacement variable on the drone, and generates a feedback signal and sends it to the control module; the control module generates a compensation jitter command according to the feedback signal, and sends the compensation to the motor module; the motor module and The camera module is fixedly connected, and the motor module drives the camera module to move according to the compensation jitter command to compensate for the jitter on the drone; therefore, the anti-shake processing is implemented on the drone without using the pan/tilt.

Brief description of the drawing

DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present invention. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a block diagram of an embodiment of an unmanned image stabilization device according to an embodiment of the present invention;

2 is a block diagram showing another embodiment of an unmanned image stabilization device according to the present invention;

3 is a circuit diagram showing an example of an unmanned image stabilization device according to the present invention;

4 is a flowchart of an implementation of an image stabilization method according to an embodiment of the present invention;

5 is a flowchart of an implementation of another embodiment of an image stabilization method according to the present invention.

Embodiments of the invention The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] FIG. 1 shows an embodiment of a module structure of an unmanned image stabilization device provided by the present invention. For convenience of explanation, only parts related to the embodiment of the present invention are shown, which are described in detail as follows:

[0023] An unmanned image stabilization device 01, the image stabilization device 01 includes a control module 02, a camera module 03, a sensing module 04, and a motor module 05.

[0024] The control module 02 is connected to the camera module 03, the sensor module 04 and the motor module 05, respectively.

[0025] In the image stabilization device 01 of the UAV, the sensing module 04 acquires the jitter displacement variable on the UAV, and generates a feedback signal and sends it to the control module 02; the control module 02 generates a compensation dither command according to the feedback signal. And sent to the motor module 05; the motor module 05 is fixedly connected with the camera module 03, and the motor module 0 5 drives the camera module 03 to move according to the compensation jitter command to compensate for the jitter on the drone.

[0026] The first embodiment of the present invention can be applied to an environment in which a drone is slightly shaken. When the drone has slight jitter, the motor module 05 drives the camera module to perform a linear type and/or a limited swing angle according to the compensation shake command. The motion of the linear and/or finite swing angle is the same as the amplitude of the jitter on the drone, but the direction is opposite, so that the interference of the camera of the drone to the camera module 03 can be eliminated, and the camera module 03 is in a stable position. , Get a stable, clear image.

[0027] Since the range in which the motor module 05 controls the movement of the camera module is limited, for example, the maximum range is: an angular variable of 6 degrees and an axial distance variable of 8 mm. Therefore, when the drone has a large jitter, the present invention drives the camera module 03 to move but can only offset a part of the jitter on the drone, and then combines the image acquired by the image processing module with the camera. Perform correction processing. FIG. 2 shows another embodiment of the module structure of the UAV image anti-shake device provided by the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown, which are described in detail as follows: The shaking device 01 further includes an image processing module 06 connected to the control module 02 on the basis of the first embodiment; the control module 02 further includes a determining module; after receiving the feedback signal from the sensing module 04, the control module 02 determines the module determining Whether the jitter displacement variable exceeds the maximum range of movement of the motor module 05; if so, the control module 02 generates a compensation shake command to control the motor module 05 to drive the camera module 03 to move, and then the compensation shake command corresponds to the motor module 0 5 to drive the camera module 03 The maximum range of movement (ie, the control module 02 controls the motor module 05 to drive the camera module 03 to the maximum range of movement), since the amount of jitter that is not calibrated remains, the control module 02 controls the image again. The processing module 06 performs a correction process on the image acquired by the camera module 03.

[0028] Further, the control module 02 further includes a calculation module; the calculation module calculates a difference according to the jitter displacement variable and the maximum range of movement of the motor module 05, and the image acquired by the image processing module 06 according to the difference value to the camera module 03. Perform correction processing.

[0029] When the drone has a large jitter, the control module 02 determines that the jitter displacement variable is greater than the maximum range of the motor module 05 control movement, and the motor module drives the camera module to perform the maximum range value movement to maximize calibration but only eliminates A part of the drone is shaken, and the control module controls the image processing module 06 to perform correction processing on the image acquired by the camera. Specifically, the shaking axis distance and/or the shaking angle of the drone exceed the maximum range that can be controlled by the motor module 05, and the control module 02 notifies the motor module 0 5 that the motor module 05 maximizes the distance and/or angle of the shaft. The calibration of the limit, at the same time, the control module sends the remaining uncalibrated axial distance and/or angle information to the image processing module 06, and the image processing module 06 corrects the frame of the image taken by the current camera by a software algorithm. For example, the X-axis direction of the drone is originally offset by 28 degrees, corrected by 6 degrees by the motor module 05, and the image processing module rotates the image by 22 degrees, so that the obtained picture is consistent with the horizontally-shot picture, thereby ensuring The camera is stable and smooth and high definition.

[0030] FIG. 3 shows an exemplary circuit configuration of the image stabilization device 01 of the drone according to the embodiment of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown, which are described in detail as follows:

[0031] The UAV image stabilization device 01 further includes a power module 07. The output of the power module 07 is connected to the first input of the control module 02, the input of the sensing module 04, and the first input of the motor module 05. The second input end of the power module 07 is connected to the first output end of the control module 02, the data output end of the sensing module 04 is connected to the data input end of the control module 02, and the first output end of the sensing module 04 and the control module The second input of the motor module 05 is connected to the data output of the control module 02, and the second input of the motor module 05 is connected to the second output of the control module 02.

[0032] The power module 07 includes a voltage regulator Ul, a first capacitor Cl, a second capacitor C2, and a third capacitor C3.

[0033] The input end of the voltage regulator U1, the first end of the first capacitor C1 and the first end of the second capacitor C2 are the first input end of the power module 07, the empty end NR of the voltage regulator U1 and the third The first end of the capacitor C3, the output terminal OUT of the voltage regulator U1 is the output end of the power module 07, the enable terminal EN of the voltage regulator is the second input end of the power module 07, the second end of the first capacitor C1, The second end of the second capacitor C2 and the second end of the third capacitor C3 are And the ground terminal of the voltage regulator U1 is connected to the power ground.

[0034] The sensing module 04 includes a gyroscope U2, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, a first resistor R1, a second resistor R2, and a third resistor R3.

[0035] The power terminal VDD of the gyro U2, the digital power terminal VLOGK of the gyro U2, the first end of the fourth capacitor C4, the first end of the fifth capacitor C5, the first end of the second resistor R2, and the third The first end of the resistor R3 is the input end of the sensing module 04, and the I2C of the gyroscope U2 is connected from the lower end of the address ADO to the first end of the first resistor R1, and the calibration filter capacitor end REGOUT and the sixth capacitor C6 of the gyroscope U2 The first end is connected, the charge pump capacitor CPOUT of the gyroscope U2 is connected to the first end of the seventh capacitor C7, and the I2C of the gyroscope U2 (inte r-integrated circuit) data terminal SDA, the second resistor The second end of R2, the I2C clock terminal SCL of the gyroscope U2, and the second end of the third resistor R3 together constitute a data output end of the sensing module 04, and the interrupt end INT of the gyroscope U2 is the first of the sensing module 04. The output end, the second end of the fourth capacitor C4, the second end of the fifth capacitor C5, the second end of the first resistor R1, the second end of the sixth capacitor C6, the second end of the seventh capacitor C7, and the gyroscope The grounding terminal GND of U2 is connected to the power ground. .

[0036] The motor module 05 includes a voice coil motor U3, a fourth resistor R4, and a fifth resistor R5.

[0037] The power terminal VCC of the voice coil motor U3, the first end of the fourth resistor R4, and the first end of the fifth resistor R5 are the first input end of the motor module 05, and the I2C data terminal SDA of the voice coil motor U3, The second end of the fourth resistor R4, the I2C clock terminal of the voice coil motor U3, and the second end of the fifth resistor R5 together constitute a data input end of the motor module 05, and the interrupt end INT of the voice coil motor U3 is the motor module 05. At the two input terminals, the ground terminal GND of the voice coil motor U3 is connected to the power ground.

[0038] The control module 02 includes a microprocessor U4, a crystal oscillator U5, an eighth capacitor C8, a ninth capacitor C9, a tenth capacitor C10, an eleventh capacitor Cl1, a twelfth capacitor C12, a thirteenth capacitor C13, Fourteen capacitor C14, fifteenth capacitor C15, sixteenth capacitor C16, sixth resistor R6 and seventh resistor R7.

[0039] The first power terminal VDD_1 of the microprocessor U4, the second power terminal VDD_2 of the microprocessor U4, the third power terminal VDD_3 of the microprocessor U4, the fourth power terminal VDD_4 of the microprocessor U4, and the microprocessor The reference power supply positive terminal VREF+ of U4, the analog power supply terminal VDDA of the microprocessor U4, the first end of the sixth resistor R6, the first end of the seventh resistor R7, the first end of the eighth capacitor C8, and the ninth capacitor C9 The first end, the first end of the tenth capacitor C10, the first end of the eleventh capacitor C11, the first end of the twelfth capacitor C12, and the first end of the thirteenth capacitor C13 are the first input of the control module 02 Terminal, battery power terminal V of microprocessor U4 The BAT is connected to the second end of the sixth resistor R6, and the reset terminal NRST of the microprocessor U4 is connected to the second end of the seventh resistor R7 and the capacitor end of the fourteenth capacitor C14, and the crystal oscillator input terminal OSC_IN of the microprocessor U4 is The input terminal XIN of the crystal oscillator U5 is connected to the first end of the sixteenth capacitor C16, and the crystal oscillator output terminal 0 SC_OUT of the microprocessor U4 is connected to the output terminal XOUT of the crystal oscillator U5 and the first end of the fifteenth capacitor C 15 , and the micro processing The first input and output terminal PC8 of the U4 is the first output end of the control module 02, and the second input and output terminal PA12 of the microprocessor U4 and the third input and output terminal PA11 of the microprocessor U4 together form the data input of the control module 02. The fourth input/output terminal PA10 of the microprocessor U4 is the second input end of the control module 02, and the fifth input/output terminal PA9 of the microprocessor U4 and the sixth input/output terminal PA8 of the microprocessor U4 form a control module. The data output terminal of 02, the seventh input/output terminal PA7 of the microprocessor U4 is the second output end of the control module 02, the second end of the eighth capacitor C8, the second end of the ninth capacitor C9, and the tenth capacitor C10 The second end, the second end of the eleventh capacitor C11, The second end of the twelve capacitor C12, the second end of the thirteenth capacitor C13, the second end of the fourteenth capacitor C14, the second end of the fifteenth capacitor C15, the second end of the sixteenth capacitor C16, and the crystal oscillator The first ground terminal GND1 of U5, the second ground terminal GND2 of the crystal oscillator U5, the first ground terminal VSS_1 of the microprocessor U4, the second ground terminal VSS_2 of the microprocessor U4, and the third ground terminal VSS_3 of the microprocessor U4 The fourth ground terminal VSS_4 of the microprocessor U4, the fifth ground terminal VSS_5 of the microprocessor U4, the analog ground terminal VSSA of the microprocessor U4, and the reference power source negative terminal VREF- of the microprocessor U4 are connected to the power ground.

[0040] The image stabilization device of the drone shown in FIG. 3 is further described below in conjunction with the working principle:

[0041] In a specific implementation process (slight vibration of the drone), the gyroscope U2 acquires the jitter displacement variable on the drone and generates a feedback signal to be sent to the second portion of the microprocessor U4 through the I2C data terminal SDA of the gyroscope U2. Input and output terminal PA12, the microprocessor U4 generates a compensation jitter command according to the jitter displacement variable and sends it to the I2C data terminal SDA of the voice coil motor U3 through the fifth input/output terminal PA9 of the microprocessor U4, and the voice coil motor U3 according to the compensation jitter command The camera module is driven to move to compensate for the jitter on the drone, thereby ensuring that the camera module 0 3 is in a stable position, and ensuring that the image acquired by the camera module 03 is clear.

[0042] Based on the image stabilization device 01 described above, the present invention also provides a drone, including the above-described UAV image stabilization device 01. The drone further includes a remote controller, and the remote controller includes an anti-shake mode setting module communicably connected to the control module 02, and the anti-shake mode setting module generates an anti-shake mode control signal according to a command input by the user, and sends the anti-shake mode control signal To the control module to control the motor module and/or image processing The module is turned on or off. The anti-shake mode setting module corresponds to the integrated anti-shake mode and the six-axis anti-shake mode. When the user needs to comprehensively utilize the motor module anti-shake and image processing module processing, that is, the integrated anti-shake mode is set, and then the first anti-shake mode command is given to the control module to control the motor module and the image processing module. . When the user only needs to use the motor module anti-shake mode, that is, set the six-axis anti-shake mode, then, the second anti-shake mode command is given to the control module to control the motor module and close the image processing module.

As shown in the figure, the present invention provides an embodiment of an image stabilization method based on the UAV image stabilization device 01. For ease of explanation, only parts related to the present invention are shown, which are described in detail as follows:

[0044] In step 101, the jitter displacement variable on the drone is acquired by the sensing module, and a feedback signal is generated and sent to the control module.

[0045] In step 102, the control module calculates a generated compensation jitter command based on the feedback signal and transmits it to the motor module.

[0046] In step 103, the motor module drives the camera module to move to compensate for the jitter on the drone according to the compensation jitter command.

[0047] The image stabilization method of the present embodiment corresponds to a six-axis anti-shake mode, in which the drone is slightly shaken, the user sets a six-axis anti-shake mode on the remote control according to the environment, and the image anti-shake method on the drone Follow steps 01, 102 and 103.

[0048] As shown in FIG. 5, further, based on the above image stabilization method, after the feedback signal of the jitter displacement variable is received by the control module, a determination procedure is added, as in steps 201 and 202. The control module determines whether the jitter displacement variable exceeds a maximum range of movement of the motor module. The image stabilization method of the present embodiment corresponds to the integrated anti-shake mode, and the user sets the integrated anti-shake mode on the remote control.

[0049] In step 203-1, if no, the control module calculates a generation compensation shake command based on the feedback signal and sends it to the motor module. In step 204-1, the motor module drives the camera module to move to compensate for the jitter on the drone based on the compensation jitter command.

[0050] In step 203-2, if yes, the motor module drives the camera module to move the maximum range, and the control module controls the image processing module to perform correction processing on the image acquired by the camera module. In a specific implementation, the motor module drives the camera module to move the maximum range, and the control module controls the image processing module to perform the correction processing on the image acquired by the camera module, specifically: the control module is based on the jitter displacement variable and the motor module. The maximum range of block movement calculates the difference, and the image processing module performs correction processing on the image acquired by the camera module according to the difference. For example: The X-axis direction of the drone is originally offset by 28 degrees and corrected by the motor module.

At 6 degrees, the image processing module rotates the image by 22 degrees, so that the resulting image is consistent with the horizontally captured image, thereby ensuring stable and smooth imaging and high definition.

In summary, the embodiment of the present invention implements anti-shake processing on the drone without using the pan/tilt, and ensures that the camera module obtains a stable image. Among them, in the integrated anti-shake mode, the anti-shake effect of the drone is better, the acquired image is more stable and clear, and there is no need to sacrifice image resolution.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., which are included in the spirit and principles of the present invention, should be included in the present invention. Within the scope of protection of the invention.

Claims

Claim

An image anti-shake device of a drone, wherein the image anti-shake device comprises a control module, a camera module, a sensing module and a motor module; the control module and the camera module and the sensing module respectively And connecting the motor module;

The sensing module acquires a jitter displacement variable on the drone, and generates a feedback signal and sends the signal to the control module;

The control module generates a compensation jitter instruction according to the feedback signal, and sends the compensation jitter instruction to the motor module;

The motor module is fixedly connected to the camera module, and the motor module drives the camera module to move according to the compensation jitter command to compensate for jitter on the drone.

The drone image stabilization device according to claim 1, wherein the maximum range of movement of the motor module is: an angular variable of 6 degrees and an axial distance variable of 8 mm.

The image stabilization device of the UAV according to claim 2, wherein the image stabilization device further comprises an image processing module connected to the control module; the control module further comprising a determination module;

The determining module determines whether the jitter displacement variable exceeds a maximum range of movement of the motor module; if yes, the motor module drives the camera module to move the maximum range, and the control module controls the image processing module to the camera module The acquired image is then subjected to correction processing.

The anti-shake image stabilization device of claim 3, wherein the control module further comprises a calculation module;

The calculation module calculates a difference according to the jitter displacement variable and a maximum range of movement of the motor module, and the image processing module performs a correction process on the image acquired by the camera module according to the difference.

A drone, characterized by further comprising the non-human image stabilization device according to any one of claims 1 to 4.

The drone according to claim 5, further comprising a remote controller, wherein the remote controller comprises an anti-shake mode setting module communicably connected to the control module, the anti-shake mode The setting module generates an anti-shake mode control signal according to an instruction input by the user, and sends the anti-shake mode control signal to the control module to control the turning on or off of the motor module and/or the image processing module.

[Attachment 7] The image stabilization method of the unmanned image stabilization device according to claim 1, comprising the following steps:

Obtaining a jitter displacement variable on the drone by the sensing module, and generating a feedback signal and transmitting the signal to the control module;

The control module calculates and generates a compensation jitter instruction according to the feedback signal, and sends the compensation jitter command to the motor module;

The motor module drives the camera module to move to compensate for the jitter on the drone according to the compensation jitter command.

The image stabilization method according to claim 7, wherein the image stabilization method further comprises:

After receiving the feedback signal of the jitter displacement variable, the control module determines whether the jitter displacement variable exceeds a maximum range of movement of the motor module; if yes, the motor module drives the maximum range of movement of the camera module, The control module controls the image processing module to perform a correction process on the image acquired by the camera module.

The image stabilization method according to claim 8, wherein the image stabilization method further comprises:

The control module calculates a difference according to the jitter displacement variable and a maximum range of movement of the motor module, and the image processing module performs a correction process on the image acquired by the camera module according to the difference.

The image stabilization method according to claim 9, wherein the unmanned aerial vehicle further includes a remote controller; the remote controller receives the first anti-shake mode command and the second anti-shake mode command; The first anti-shake mode and the second anti-shake mode command control the motor module and/or the image processing module to be turned on or off.