WO2017206079A1 - Véhicule aérien sans pilote, et dispositif et procédé anti-gigue d'image - Google Patents

Véhicule aérien sans pilote, et dispositif et procédé anti-gigue d'image Download PDF

Info

Publication number
WO2017206079A1
WO2017206079A1 PCT/CN2016/084182 CN2016084182W WO2017206079A1 WO 2017206079 A1 WO2017206079 A1 WO 2017206079A1 CN 2016084182 W CN2016084182 W CN 2016084182W WO 2017206079 A1 WO2017206079 A1 WO 2017206079A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
jitter
motor
image
control module
Prior art date
Application number
PCT/CN2016/084182
Other languages
English (en)
Chinese (zh)
Inventor
王军
Original Assignee
深圳曼塔智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳曼塔智能科技有限公司 filed Critical 深圳曼塔智能科技有限公司
Priority to PCT/CN2016/084182 priority Critical patent/WO2017206079A1/fr
Publication of WO2017206079A1 publication Critical patent/WO2017206079A1/fr

Links

Classifications

    • 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 present invention belongs to the field of drones, and in particular, to a drone and an image anti-shake device and method thereof.
  • 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.
  • 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.
  • 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;
  • 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 to the motor module;
  • 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.
  • 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
  • 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.
  • 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.
  • FIG. 1 is a block diagram of an embodiment of an unmanned image stabilization device according to an embodiment of the present invention
  • FIG. 2 is a block diagram showing another embodiment of an unmanned image stabilization device according to the present invention.
  • FIG. 3 is a circuit diagram showing an example of an unmanned image stabilization device according to the present invention.
  • FIG. 4 is a flowchart of an implementation of an image stabilization method according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of an implementation of another embodiment of an image stabilization method according to the present invention.
  • 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:
  • An unmanned image stabilization device 01 includes a control module 02, a camera module 03, a sensing module 04, and a motor module 05.
  • the control module 02 is connected to the camera module 03, the sensor module 04 and the motor module 05, respectively.
  • 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.
  • the first embodiment of the present invention can be applied to an environment in which a drone is slightly shaken.
  • 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.
  • FIG. 2 shows another embodiment of the module structure of the UAV image anti-shake device provided by the present invention.
  • 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
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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:
  • 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.
  • the power module 07 includes a voltage regulator Ul, a first capacitor Cl, a second capacitor C2, and a third capacitor C3.
  • 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.
  • 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.
  • the first end of the resistor R3 is the input end of the sensing module 04
  • 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
  • the grounding terminal GND of U2 is connected to the power ground. .
  • the motor module 05 includes a voice coil motor U3, a fourth resistor R4, and a fifth resistor R5.
  • 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.
  • the ground terminal GND of the voice coil motor U3 is connected to the power ground.
  • 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.
  • 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
  • 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 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.
  • 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.
  • 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.
  • 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.
  • the motor module anti-shake mode that is, set the six-axis anti-shake mode
  • the second anti-shake mode command is given to the control module to control the motor module and close the image processing module.
  • the present invention provides an embodiment of an image stabilization method based on the UAV image stabilization device 01.
  • the present invention provides an embodiment of an image stabilization method based on the UAV image stabilization device 01.
  • the present invention provides an embodiment of an image stabilization method based on the UAV image stabilization device 01.
  • 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.
  • step 102 the control module calculates a generated compensation jitter command based on the feedback signal and transmits it to the motor module.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the motor module drives the camera module to move the maximum range
  • the control module controls the image processing module to perform the correction processing on the image acquired by the camera module
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Adjustment Of Camera Lenses (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote, et un dispositif et un procédé anti-gigue d'image associés. Le dispositif anti-gigue d'image (01) du véhicule aérien sans pilote comprend un module de commande (02), un module de caméra (03), un module de détection (04) et un module de moteur (05). Le module de commande (02) est relié au module de caméra (03), au module de détection (04) et au module de moteur (05), respectivement. Le module de détection (04) acquiert des variables de déplacement de gigue du véhicule aérien sans pilote, et génère un signal de rétroaction qu'il envoie au module de commande (02). D'après le signal de rétroaction, le module de commande (02) génère une instruction de compensation de gigue qu'il envoie au module de moteur (05). Le module de moteur (05) et le module de caméra (03) sont reliés fixement l'un à l'autre et, d'après l'instruction de compensation de gigue, le module de moteur (05) entraîne le module de caméra à se déplacer de sorte à compenser la gigue dans le véhicule aérien sans pilote.
PCT/CN2016/084182 2016-05-31 2016-05-31 Véhicule aérien sans pilote, et dispositif et procédé anti-gigue d'image WO2017206079A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/084182 WO2017206079A1 (fr) 2016-05-31 2016-05-31 Véhicule aérien sans pilote, et dispositif et procédé anti-gigue d'image

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/084182 WO2017206079A1 (fr) 2016-05-31 2016-05-31 Véhicule aérien sans pilote, et dispositif et procédé anti-gigue d'image

Publications (1)

Publication Number Publication Date
WO2017206079A1 true WO2017206079A1 (fr) 2017-12-07

Family

ID=60479481

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/084182 WO2017206079A1 (fr) 2016-05-31 2016-05-31 Véhicule aérien sans pilote, et dispositif et procédé anti-gigue d'image

Country Status (1)

Country Link
WO (1) WO2017206079A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112819710A (zh) * 2021-01-19 2021-05-18 郑州凯闻电子科技有限公司 基于人工智能的无人机果冻效应自适应补偿方法及系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060272328A1 (en) * 2005-06-06 2006-12-07 Konica Minolta Holdings, Inc. Driving device and image stabilizing system
CN101251706A (zh) * 2008-03-24 2008-08-27 香港应用科技研究院有限公司 一种光学模组、照相机及移动终端设备
CN101334574A (zh) * 2007-06-28 2008-12-31 奥林巴斯映像株式会社 摄像装置
CN102694979A (zh) * 2011-03-22 2012-09-26 佳能株式会社 摄像设备和摄像设备的控制方法
CN104410134A (zh) * 2014-12-23 2015-03-11 深圳市保千里电子有限公司 一种带数码照相功能的充电宝
CN205249350U (zh) * 2015-12-31 2016-05-18 信利光电股份有限公司 一种防抖摄像头模组及电子设备

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060272328A1 (en) * 2005-06-06 2006-12-07 Konica Minolta Holdings, Inc. Driving device and image stabilizing system
CN101334574A (zh) * 2007-06-28 2008-12-31 奥林巴斯映像株式会社 摄像装置
CN101251706A (zh) * 2008-03-24 2008-08-27 香港应用科技研究院有限公司 一种光学模组、照相机及移动终端设备
CN102694979A (zh) * 2011-03-22 2012-09-26 佳能株式会社 摄像设备和摄像设备的控制方法
CN104410134A (zh) * 2014-12-23 2015-03-11 深圳市保千里电子有限公司 一种带数码照相功能的充电宝
CN205249350U (zh) * 2015-12-31 2016-05-18 信利光电股份有限公司 一种防抖摄像头模组及电子设备

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112819710A (zh) * 2021-01-19 2021-05-18 郑州凯闻电子科技有限公司 基于人工智能的无人机果冻效应自适应补偿方法及系统

Similar Documents

Publication Publication Date Title
CN205480041U (zh) 360度万向节系统
US11930273B2 (en) Vibration damping gimbal sleeve for an aerial vehicle
CN203757311U (zh) 一种陀螺仪自平衡云台
US20170171468A1 (en) Apparatus and methods for stabilization and vibration reduction
CN206413079U (zh) 云台增稳系统
CN106662793A (zh) 使用稳定用常平架的常平架系统
WO2019029551A1 (fr) Système et procédé d'évitement d'obstacles dans des systèmes aériens
CN101520327A (zh) 物理量测定装置以及电子设备
KR101098097B1 (ko) 진동 보정 제어 회로 및 그것을 탑재하는 촬상 장치
US10150576B2 (en) Vibration damping gimbal sleeve for an aerial vehicle
JP6834581B2 (ja) 物理量センサー、電子機器及び移動体
CN111345033A (zh) 参数同步方法、拍摄装置和可移动平台
US5978137A (en) Image stabilizing apparatus
KR102128548B1 (ko) 외란을 상쇄하는 시선 안정화 시스템
KR20180106603A (ko) 짐벌장치 및 이를 포함하는 드론
WO2017206079A1 (fr) Véhicule aérien sans pilote, et dispositif et procédé anti-gigue d'image
WO2019227464A1 (fr) Procédé de commande d'angle de rotation, dispositif panoramique-basculant et support d'enregistrement lisible par ordinateur
CN202484536U (zh) 摄像单元用防摇晃机构
JP2021185356A (ja) 物理量検出回路、物理量検出装置、電子機器及び移動体
JP2020122675A (ja) 物理量検出回路、物理量センサー、電子機器、移動体及び物理量検出回路の動作方法
JP4144827B2 (ja) 像安定化装置
WO2018214015A1 (fr) Procédé et dispositif de correction de course, et véhicule aérien
CN108279708A (zh) 一种云台自动校准方法、装置以及云台
CN104040420A (zh) 抖动校正装置、镜头镜筒以及摄影装置
CN214504163U (zh) 一种三轴自稳云台控制装置

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16903464

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 30.04.2019)

122 Ep: pct application non-entry in european phase

Ref document number: 16903464

Country of ref document: EP

Kind code of ref document: A1