WO2020042115A1

WO2020042115A1 - Panorama pan-tilt head and imaging system

Info

Publication number: WO2020042115A1
Application number: PCT/CN2018/103352
Authority: WO
Inventors: 田奥妮; 彭顺丰
Original assignee: 广州大西洲科技有限公司
Priority date: 2018-08-30
Filing date: 2018-08-30
Publication date: 2020-03-05
Also published as: CN213843742U

Abstract

A panoramic pan-tilt head and an imaging system. The panoramic pan-tilt head comprises a machine frame (1). A second rotation mechanism (3) is disposed on the machine frame; an output end of the second rotation mechanism is connected to a capturing mechanism (4); and the second rotation mechanism is used for driving the capturing mechanism to rotate relative to the machine frame about a second rotation axle (5). The machine frame is connected to an output end of a first rotation mechanism (2); a first rotation axle (21) of the first rotation mechanism is perpendicular to the second rotation axle (5), and an intersection point of the first rotation axle and the second rotation axle is the circle center of a lens of a capturing device (41) on the capturing mechanism. The described panoramic pan-tilt head and imaging system may obtain a plurality of high-definition pictures/videos, and the plurality of high-definition pictures/videos may form a complete and seamless 720 degree panoramic high-definition picture/video. The formed 720 degree panoramic picture/video has less panoramic distortion, and does not require a large amount of post-processing to obtain a high-definition and single-reflection level 720 degree panorama/video, thereby improving the quality of panoramic content production.

Description

Panoramic head and imaging system

Technical field

The invention relates to the technical field of camera equipment, in particular to a panoramic pan / tilt head and an imaging system.

Background technique

720-degree panoramic shooting technology is a new visual technology used to take panoramic pictures / videos and develop rapidly around the world. It brings people a new immersive visual experience, scene recording of panoramic perspectives and immersive viewing modes. Can be widely used in digital space display field, tourism field and many other fields, such as online real estate real estate display, virtual tourism, virtual education, etc. The displayed scene is the real scene obtained through panoramic shooting. Compared with virtual reality technology, panoramic technology has a higher degree of reproduction and reproduction of real scenes, shorter production time, lower production cost, and greater market demand.

There are three general methods of panoramic photography on the market. One is through a non-automatic panoramic pan / tilt, the camera is fixed on the pan / tilt, and the photographer manually rotates the pan / tilt to shoot. The second is to use a motorized pan-tilt head to carry a horizontal 360-degree panorama. The third is to shoot with a panoramic camera.

However, shooting through the above three methods will encounter the following problems: 1. Shooting through the first method takes a lot of shooting time, it takes a long time to complete a panoramic shot, and the stitched panorama caused by manual rotation The image is distorted and requires more post-processing time. At the same time, the pictures obtained in this way may not form a seamless panorama. Second, only the 360 degree horizontal panorama can be obtained through the second method, and the 720 degree panorama cannot be obtained. 3. The panorama obtained by the third method is affected by the level between the camera and the ground at the time of shooting. It may also face the possibility of requiring a lot of post-processing, and the maximum resolution of the obtained panorama is only 8K. The visual effect is relatively high. Poor to meet high-quality visual needs.

Therefore, the present invention mainly aims to solve the problem of seamless imaging and higher-quality imaging in the panorama shooting technology, and at the same time, the problem of forming a 3D image.

Summary of the Invention

An object of the present invention is to provide a panoramic pan / tilt, which can obtain high-quality picture materials that can form seamless, distortion-free panoramic images or panoramic videos. Solve the problem of seamless imaging in panoramic shooting technology, higher quality imaging, more efficient shooting, more efficient post-panoramic problems, and at the same time the problem of forming a panoramic 3D image.

Another object of the present invention is to provide an imaging system that can obtain a high-quality and lossless pixel panorama composition material by applying the panoramic pan / tilt mentioned above, and supports an imaging system that realizes a 3D panorama through a virtual reality engine.

To achieve this, the present invention adopts the following technical solutions:

A panoramic pan / tilt includes a rack, and the panoramic pan / tilt also includes:

A first rotating mechanism, the frame is connected to an output end of the first rotating mechanism;

A second rotation mechanism provided on the frame; and

The photographing mechanism is connected to the output end of the second rotation mechanism, and the second rotation mechanism drives the photographing mechanism to rotate relative to the frame about a second rotation axis, and the first rotation axis of the first rotation mechanism Perpendicular to the second rotation axis; the photographing mechanism includes a photographing device, and the intersection of the first rotation axis and the second rotation axis is the lens center of the photographing device and also the rotation center of the photographing device .

Optionally, an output end of the second rotation mechanism includes a second gear, and the photographing mechanism further includes:

A frame, one end of the frame is rotatably connected to the frame, and the other end is provided with a first gear, and the first gear meshes with the second gear.

Optionally, one of the frame and the photographing device is provided with a card protrusion, and the other is provided with a card slot, and the card protrusion is engaged in the card slot.

Optionally, a rotation shaft is protruded on an end surface of the first gear, and the rotation shaft is rotatably connected to the frame.

Optionally, the frame includes at least two mounting positions, wherein one of the mounting positions is provided with a photographing device, and the remaining of the mounting positions can be provided with an auxiliary photographing mechanism.

Optionally, the frame and the frame are made of sheet metal.

Optionally, the output end of the second rotation mechanism is fixedly connected to the photographing mechanism.

Optionally, the first rotation mechanism and the second rotation mechanism are stepper motors or servo motors.

Optionally, the first rotation mechanism rotates a first preset number of times around a first rotation axis as a center, and each time the first rotation mechanism rotates a first preset angle, the photographing device performs a shooting, The product of a preset angle and the first preset number of times is 360 degrees; each time the first rotation mechanism rotates a first preset angle, the second rotation mechanism makes a cyclic rotation, and each of the cyclic The rotation includes a second preset number of rotations of the photographing device, each second rotation mechanism rotates a second preset angle, and a product of the second preset number of times and the second preset angle is 90 degrees .

An imaging system includes the panoramic head described above.

The beneficial effects of the present invention are:

The panoramic head provided by the present invention includes a frame, a first rotating mechanism, a second rotating mechanism, and a photographing mechanism. Wherein, the second rotating mechanism is arranged on the frame, the output end of the second rotating mechanism is connected with the photographing mechanism, and the second rotating mechanism is used for driving the photographing mechanism to rotate relative to the frame about the second rotation axis. The frame is connected to the output end of the first rotation mechanism, the first rotation axis of the first rotation mechanism is perpendicular to the second rotation axis, and the intersection point of the first rotation axis and the second rotation axis is the same as that of the photographing equipment on the photographing mechanism. Rotation center. In the invention, the photographing device is rotated around the first rotation axis and the second rotation axis respectively, and the intersection point of the first rotation axis and the second rotation axis is the lens circle center of the photographing device, that is, the rotation center of the photographing device is the lens center. The panoramic pan / tilt provided by the present invention can obtain multiple high-definition pictures / videos, and multiple high-definition pictures / videos are obtained with the same lens center, so a complete and seamless 720-degree panoramic high-definition picture / video can be formed, and The multiple pictures / videos obtained by the present invention have no distortion, and the resulting 720-degree panorama / video has a small distortion of the panorama. Without a large number of post-processing, a high-list inversion 720-degree panorama / video can be obtained, which greatly improves Quality and efficiency of panoramic content production.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solutions in the embodiments of the present invention more clearly, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are just some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the content of the embodiments of the present invention and these drawings without paying creative labor.

FIG. 1 is a schematic structural diagram of a panoramic pan / tilt provided by the present invention; FIG.

2 is a schematic structural diagram of a first gear and a second gear provided by an embodiment;

FIG. 3 is a schematic structural diagram of a first gear and a second gear according to another embodiment.

In the picture:

1-frame; 2-first rotation mechanism; 3-second rotation mechanism; 4-photographing mechanism; 5-second rotation axis; 6-connection shaft;

21-first rotation axis; 31-second gear; 41-photographic equipment; 42-frame;

421-first gear; 422-rotating shaft; 423-installation position.

detailed description

In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

This embodiment provides a 720-degree panoramic pan / tilt that can obtain pictures or videos in 360 degrees in the horizontal direction and 360 degrees in the vertical direction.

FIG. 1 is a schematic structural diagram of a panoramic pan / tilt provided in this embodiment. As shown in FIG. 1, the panoramic pan / tilt provided in this embodiment includes a frame 1, a first rotation mechanism 2, a second rotation mechanism 3, and a photographing mechanism 4. In this embodiment, the first rotating mechanism 2 and the second rotating mechanism 3 specifically refer to a mechanism that rotates the output end, and may be a stepping motor, a servo motor, etc., but the first rotating mechanism 2 and the third rotating mechanism are not described in this application. The specific structure of the rotation mechanism 3 is limited, as long as the mechanism that rotates at the output end is within the protection scope of the present application. The second rotation mechanism 3 is disposed on the frame 1. The output end of the second rotation mechanism 3 is connected to the photographing mechanism 4. The second rotation mechanism 3 is used to drive the photographing mechanism 4 to rotate relative to the frame 1 about the second rotation axis 5. . The frame 1 is connected to the output end of the first rotation mechanism 2, the first rotation axis 21 of the first rotation mechanism 2 is perpendicular to the second rotation axis 5, and the intersection point of the first rotation axis 21 and the second rotation axis 5 is The lens center of the photographing device 41 on the photographing mechanism 4 is also the rotation center of the photographing device.

In this embodiment, the photographing device 41 is rotated around the first rotation axis 21 and the second rotation axis 5 respectively, and the intersection of the first rotation axis 21 and the second rotation axis 5 is the lens center of the photographing device 41 and also the photographing device. Center of rotation. Each time the first rotation mechanism 2 rotates 30 °, the photographing device 41 takes a picture. The first rotation mechanism 2 rotates 12 times around the first rotation axis 21 as the center. The product of the angle of each rotation of the first rotation mechanism 2 and the number of rotations is 360 degrees, each rotation of the first rotation mechanism 2 by 30 °, the second rotation mechanism 3 performs one cycle of rotation, each rotation includes the camera 41 to rotate 3 times, and the second rotation mechanism 3 rotates 30 degrees every second The product of the number of rotations of the rotating mechanism 3 and the second preset angle is 90 degrees. The shooting device 41 provided in this embodiment can obtain 36 high-definition pictures / videos through the foregoing operations, and the 36 high-definition pictures / videos can form a complete and seamless 720-degree panoramic high-definition picture / video, and 36 pictures obtained by shooting according to the present invention There is no distortion of pictures / videos, and the resulting 720-degree panoramas / videos have less distortion. You do n’t need a lot of post-processing to get high-inversion 720-degree panoramas / videos, which greatly improves the quality and production of panoramic content. effectiveness.

Exemplarily, the first rotation mechanism 2 and the second rotation mechanism 3 in this embodiment are motors, which can ensure that the photographing device 41 rotates at a uniform speed. Compared with the solution for obtaining panoramic pictures or videos by the existing handheld shooting equipment, the panoramic pan / tilt provided in this embodiment can avoid deviation of the pictures or videos in the direction of the rotation axis, and facilitate the stitching of the overall pictures or videos in the later stage; On the one hand, it can be ensured that the imaging of obtaining pictures or videos does not deform.

Exemplarily, the photographing device 41 in this embodiment may be a camera device, a photographing device, a mobile phone, or the like, and an operator may select a type of a picture or a video according to needs.

FIG. 2 is a schematic structural diagram of the first gear 421 and the second gear 31 provided in this embodiment. It can be known from the combination of FIG. 1 and FIG. 2 that the specific connection mode for connecting the shooting mechanism 4 and the output end of the second rotation mechanism 3 is: The output of the two rotating mechanisms 3 includes an output shaft and a second gear 31. The second gear 31 is fixedly sleeved on the outer periphery of the output shaft. The photographing mechanism 4 further includes a frame 42. One end of the frame 42 is rotated with the frame 1 through the connecting shaft 6. Connected, the other end is provided with a first gear 421, the first gear 421 is in mesh with the second gear 31, and the photographing device 41 is disposed in the frame 42. In this embodiment, the axis of the connecting shaft 6 coincides with the second rotation axis 5, and the output shaft of the second rotation mechanism 3 rotates to drive the second gear 31 to rotate, and the second gear 31 drives the first gear 421 to rotate, thereby achieving Rotation of the photographing mechanism 4 relative to the frame 1 about the second rotation axis 5.

Of course, in other embodiments, the connection between the shooting mechanism 4 and the output of the second rotation mechanism 3 is: the output shaft of the second rotation mechanism 3 is fixedly connected to the shooting mechanism 4, that is, the axis of the connection shaft 6, the first The axes of the output shafts of the two rotation mechanisms 3 and the second rotation axis 5 coincide. Specifically, the output shaft of the second rotation mechanism 3 is fixedly connected to the photographing mechanism 4 through components such as a coupling and a pin, and the output shaft of the second rotation mechanism 3 can also be fixedly connected to the photographing mechanism 4 by welding, which can ensure the first The connection modes of the output shaft of the two rotating mechanisms 3 and the photographing mechanism 4 can be fixed.

Exemplarily, the tooth widths of the first gear 421 and the second gear 31 are both 1/3 to 1/2 of the diameter of the respective tooth top circle. Since the tooth widths of the first gear 421 and the second gear 31 are wide, they can pass through. The first gear 421 and the second gear 31 mesh with each other to support the photographing mechanism 4 in the vertical direction. In addition, because the first rotating mechanism 2 and the second rotating mechanism 3 are motors, when the motor stops moving, it can achieve the technical effect of locking the first gear 421 and the second gear 31 to ensure that the shooting mechanism 4 is in a stationary state. Stability.

FIG. 3 is a schematic diagram of the mechanism of the first gear 421 and the second gear 31 provided in another embodiment. In combination with FIG. 1 and FIG. 3, this embodiment is different from this embodiment in that an end surface of the first gear 421 is provided with a rotating shaft. 422, the rotating shaft 422 is rotatably connected to the frame 1, which can further improve the support effect of the frame 1 on the photographing mechanism 4 in the vertical direction, and prevent the photographing mechanism 4 from being deflected when rotating relative to the frame 1. Specifically, the frame 1 is provided with a first mounting hole for placing the connecting shaft 6 and a second mounting hole for placing the rotating shaft 422. The outer periphery of the connecting shaft 6 is sleeved with a bearing and installed in the first mounting hole. The rotating shaft 422 The outer sleeve is provided with a bearing and is installed in the second mounting hole.

In this embodiment, a cam protrusion (not shown in the figure) is provided on the photographing device 41, and a card slot (not shown in the figure) is provided on the frame 42. The card protrusion is engaged in the card slot to improve shooting. The stability of the device 41 and the frame 42 after installation ensures that the shooting device 41 does not risk deflection or falling out during the shooting process, and ensures that the shooting device 41 obtains a more stable picture or video, which is convenient for subsequent pictures or videos Stitching production.

In other embodiments, a card protrusion may be provided on the frame 42, a card slot is provided on the photographing device 41, and the card protrusion is engaged in the card slot, and the above technical effect can also be achieved.

As shown in FIG. 1, in this embodiment, two mounting positions 423 are provided on the frame 42. One of the mounting positions 423 is provided with a photographing device 41, and the other mounting position 423 can be provided with an auxiliary photographing mechanism (in the figure). (Not shown). The 720-degree panoramic picture or the 720-degree panoramic video material is obtained through the shooting device 41, and the 3D panoramic image is formed by the picture or video obtained by the auxiliary shooting mechanism.

In this embodiment, the frame 42 and the frame 1 are made of sheet metal, which can improve the support force of the frame 42 and the frame 1 to the photographing device 41 and effectively avoid the frame 42 and the frame caused by the gravity of the photographing device 41 The deformation of 1 guarantees that the shooting device 41 obtains the accuracy of the picture or video material.

This embodiment also provides an imaging system including the panoramic pan / tilt as mentioned above. By applying the panoramic pan / tilt as mentioned above, a high-quality and lossless pixel panorama composition material can be obtained and supported by a virtual reality engine. 3D panoramic imaging system.

Note that the basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the foregoing embodiments. What is described in the above embodiments and the description is only to explain the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Various changes and improvements fall within the scope of the claimed invention, which is defined by the appended claims and their equivalents.

Claims

A panoramic pan / tilt head includes a rack (1), wherein the panoramic pan / tilt head further includes:

A first rotating mechanism (2), the frame (1) is connected to an output end of the first rotating mechanism (2);

A second rotation mechanism (3) provided on the frame (1); and

The photographing mechanism (4) is connected to the output end of the second rotating mechanism (3), and the second rotating mechanism (3) drives the photographing mechanism (4) to rotate around the second frame relative to the frame (1). The rotation axis (5) rotates, the first rotation axis (21) of the first rotation mechanism (2) is perpendicular to the second rotation axis (5); the photographing mechanism (4) includes a photographing device (41) An intersection point of the first rotation axis (21) and the second rotation axis (5) is a lens circle center of the photographing device (41).
The panoramic pan / tilt according to claim 1, wherein the output end of the second rotating mechanism (3) comprises a second gear (31), and the photographing mechanism (4) further comprises:

A frame (42), one end of the frame (42) is rotatably connected with the frame (1), and the other end is provided with a first gear (421), the first gear (421) and the second gear ( 31) Engage.
The panoramic pan / tilt head according to claim 2, characterized in that one of the frame (42) and the photographing device (41) is provided with a card convex, and the other is provided with a card slot, and the card convex is connected with the card. Mentioned card slot.
The panoramic pan / tilt head according to claim 2, characterized in that an end surface of the first gear (421) is convexly provided with a rotating shaft (422), and the rotating shaft (422) is rotatably connected to the frame (1).
The panoramic pan / tilt according to claim 2, wherein the frame (42) comprises at least two mounting positions (423), wherein one of the mounting positions (423) is provided with a photographing device (41), and the rest An auxiliary photographing mechanism can be provided in the mounting position (423).
The panoramic head according to claim 5, characterized in that the frame (42) and the frame (1) are made of sheet metal.
The panoramic pan / tilt head according to claim 1, wherein the output end of the second rotating mechanism (3) is fixedly connected to the photographing mechanism (4).
The panoramic head according to any one of claims 1 to 7, wherein the first rotating mechanism (2) and the second rotating mechanism (3) are stepping motors or servo motors.
The panoramic pan / tilt head according to any one of claims 1 to 7, wherein the first rotation mechanism (2) rotates a first preset number of times around a first rotation axis (21), and the first Each time the rotating mechanism (2) rotates a first preset angle, the photographing device (41) takes a shot, and the product of the first preset angle and the first preset number of times is 360 degrees; the first Each time the rotation mechanism (2) rotates for a first preset angle, the second rotation mechanism (3) makes one cycle of rotation, and each rotation of the cycle includes the second preset number of times performed by the photographing device (41). When rotating, the second rotation mechanism (3) rotates a second preset angle each time, and the product of the second preset number of times and the second preset angle is 90 degrees.
An imaging system, comprising a panoramic head according to any one of claims 1 to 9.