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WO2018035764A1 - Procédé permettant de prendre des photos à grand angle, dispositif, têtes à berceau, véhicule aérien sans pilote et robot - Google Patents

Procédé permettant de prendre des photos à grand angle, dispositif, têtes à berceau, véhicule aérien sans pilote et robot Download PDF

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Publication number
WO2018035764A1
WO2018035764A1 PCT/CN2016/096594 CN2016096594W WO2018035764A1 WO 2018035764 A1 WO2018035764 A1 WO 2018035764A1 CN 2016096594 W CN2016096594 W CN 2016096594W WO 2018035764 A1 WO2018035764 A1 WO 2018035764A1
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WO
WIPO (PCT)
Prior art keywords
angle
lens
pan
tilt
photo
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2016/096594
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English (en)
Chinese (zh)
Inventor
陶冶
杨秉臻
胡攀
王岩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
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 SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to CN201680003183.XA priority Critical patent/CN107079104B/zh
Priority to PCT/CN2016/096594 priority patent/WO2018035764A1/fr
Publication of WO2018035764A1 publication Critical patent/WO2018035764A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • Embodiments of the present invention relate to the field of drones, and in particular, to a wide-angle photo shooting method, apparatus, pan/tilt, unmanned aerial vehicle, and robot.
  • the shooting equipment has become an increasingly popular device.
  • the user can take pictures of his or her interest through a camera, a digital camera on a mobile phone, and the shooting device can also be used in the field of drones, which is carried by the gimbal of the drone.
  • the shooting device performs aerial photography.
  • the viewing angle of the photographing device is limited, that is, the range that the lens of the photographing device can cover is limited, and the image area in the photograph taken by the photographing device is limited, and in order to take a photograph with a wider viewing angle,
  • a fisheye lens is mounted on the photographing device, and the fisheye lens is a lens having a viewing angle close to or equal to 180°. Because the scenes seen by the human eye in real life are regular or fixed, and the fisheye lens is very different from the real world scene in the human eye. The effect produced by the fisheye lens is beyond the human eye. The normal range causes distortion in the photos taken by the fisheye lens.
  • Embodiments of the present invention provide a wide-angle photo shooting method, apparatus, pan/tilt, unmanned aerial vehicle, and robot to realize a super wide-angle, high-quality photo shooting method.
  • An aspect of an embodiment of the present invention provides a wide-angle photo shooting method, including:
  • Controlling the lens to photograph at a plurality of azimuth angles wherein the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, and m is an integer greater than or equal to 1;
  • a photograph taken at a plurality of azimuths of the lens is synthesized into a super wide-angle photograph.
  • n is an integer greater than or equal to 2
  • m is an integer greater than or equal to 1;
  • a photograph taken at a plurality of azimuths of the lens is synthesized into a super wide-angle photograph.
  • cloud platform including:
  • a lens control device electrically connected to the motor for controlling lens photographing;
  • the lens control device comprising one or more processors, the processor for:
  • Controlling the lens to photograph at a plurality of azimuth angles wherein the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, and m is an integer greater than or equal to 1;
  • a photograph taken at a plurality of azimuths of the lens is synthesized into a super wide-angle photograph.
  • an unmanned aerial vehicle including: a fuselage, a motor, a propeller, an attitude sensor, a flight controller, an electronic governor, and a pan/tilt;
  • the electronic governor is connected to the flight controller, and is configured to control the rotation of the motor according to a throttle control signal sent by the flight controller;
  • the motor is coupled to the propeller to drive the propeller to rotate under control of the electronic governor;
  • the attitude sensor is integrated in the flight controller for sensing a posture of the unmanned aerial vehicle
  • the pan/tilt is electrically connected to the motor, and the motor is further configured to control the pan/tilt rotation;
  • the pan/tilt head includes: a lens control device electrically connected to the motor for controlling the photographing of the lens;
  • the lens control device includes one or more processors for:
  • Controlling the lens to photograph at a plurality of azimuth angles wherein the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, and m is an integer greater than or equal to 1;
  • a photograph taken at a plurality of azimuths of the lens is synthesized into a super wide-angle photograph.
  • an unmanned aerial vehicle including: a fuselage, a motor, a propeller, an attitude sensor, a flight controller, an electronic governor, and a fixture;
  • the electronic governor is connected to the flight controller, and is configured to control the rotation of the motor according to a throttle control signal sent by the flight controller;
  • the motor is coupled to the propeller to drive the control under the control of the electronic governor Rotating the propeller;
  • the attitude sensor is integrated in the flight controller for sensing a posture of the unmanned aerial vehicle
  • the fixing device is connected to the body for fixing a photographing device
  • the flight controller includes one or more MCUs for:
  • Controlling the lens to photograph at a plurality of azimuth angles wherein the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, and m is an integer greater than or equal to 1;
  • a photograph taken at a plurality of azimuths of the lens is synthesized into a super wide-angle photograph.
  • Another aspect of an embodiment of the present invention provides a robot, including:
  • a mobile device coupled to the body for providing power to move the body
  • a photographing device mounted on the body, the photographing device being provided with a lens
  • a lens control device coupled to the photographing device for controlling photographing of a lens;
  • the lens control device comprising one or more processors, the processor for:
  • Controlling the lens to photograph at a plurality of azimuth angles wherein the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, and m is an integer greater than or equal to 1;
  • a photograph taken at a plurality of azimuths of the lens is synthesized into a super wide-angle photograph.
  • the wide-angle photo shooting method, device, pan/tilt, unmanned aerial vehicle and robot provided by the embodiments of the present invention calculate the plurality of azimuth angles of the photographed photos of the lens according to the parameter information of the lens by acquiring the parameter information of the lens, specifically the control lens The number of rotations in the horizontal direction, the angle of rotation in the horizontal direction each time, and the number of rotations of the control lens in the vertical direction, each time the angle is rotated in the vertical direction, the lens is rotated in the horizontal direction and the vertical direction, the lens It can be located in multiple azimuth angles and photographed in multiple azimuth angles.
  • the photos taken by each lens in each azimuth are combined into one super wide-angle photo, which realizes the shooting method of super wide-angle photos compared with existing ones.
  • the picture effect is in the normal range of the human eye vision, and there is no such problem as the distortion of the fisheye lens, and the quality of the super wide-angle photo is improved.
  • FIG. 1 is a flowchart of a wide-angle photo shooting method according to Embodiment 1 of the present invention.
  • FIG. 2A is a schematic diagram of an apparatus applicable to a wide-angle photo shooting method according to Embodiment 1 of the present invention
  • FIG. 2B is a schematic diagram of an apparatus applicable to a wide-angle photo shooting method according to Embodiment 1 of the present invention
  • FIG. 2C is a schematic diagram of a device suitable for a wide-angle photo shooting method according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic diagram of an apparatus applicable to a wide-angle photo shooting method according to Embodiment 1 of the present invention.
  • FIG. 4 is a schematic diagram of a lens angle of view according to Embodiment 1 of the present invention.
  • FIG. 5 is a flowchart of a wide-angle photo shooting method according to Embodiment 2 of the present invention.
  • FIG. 6 is a schematic diagram of a photograph taken by a lens according to Embodiment 2 of the present invention.
  • 7A is a photograph of a pitch angle of 30° and a yaw angle of -45° according to the second embodiment
  • 7B is a projection image of a photograph having a pitch angle of 30° and a yaw angle of -45° according to the second embodiment
  • 8A is a photograph of a pitch angle of 0° and a yaw angle of 0° according to the second embodiment
  • 8B is a projection image of a photograph having a pitch angle of 0° and a yaw angle of 0° according to the second embodiment
  • 9A is a photograph of a pitch angle of -30° and a yaw angle of 45° according to the second embodiment
  • 9B is a projection image of a photograph having a pitch angle of -30° and a yaw angle of 45° according to the second embodiment
  • FIG. 10 is a flowchart of a wide-angle photo shooting method according to Embodiment 3 of the present invention.
  • FIG. 11 is a flowchart of a wide-angle photo shooting method according to Embodiment 4 of the present invention.
  • FIG. 13 is a schematic diagram of a projection image stitching provided in the fourth embodiment.
  • FIG. 14 is a schematic diagram of the projection image stitching provided in the fourth embodiment.
  • FIG. 16 is a structural diagram of a lens control device according to Embodiment 5 of the present invention.
  • Figure 17 is a structural diagram of a lens control device according to a seventh embodiment of the present invention.
  • FIG. 18 is a structural diagram of a pan/tilt provided according to Embodiment 9 of the present invention.
  • FIG. 19 is a structural diagram of a cloud platform according to Embodiment 10 of the present invention.
  • FIG. 20 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 11 of the present invention.
  • FIG. 21 is a schematic structural diagram of a robot according to Embodiment 13 of the present invention.
  • 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. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • Embodiment 1 of the present invention provides a wide-angle photo shooting method.
  • 1 is a flowchart of a wide-angle photo shooting method according to Embodiment 1 of the present invention; as shown in FIG. 1 , the specific steps of the wide-angle photo shooting method provided by this embodiment are as follows:
  • Step S101 The control lens is photographed in a plurality of azimuth angles, wherein the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, and m is an integer greater than or equal to 1.
  • FIG. 2A is a schematic diagram of a device suitable for a wide-angle photo shooting method according to Embodiment 1 of the present invention.
  • the photographing device 21 is mounted on the pan/tilt head 20.
  • the pan/tilt head 20 and the photographing device 21 are connected by a connecting member 23, and the photographing device 21 may be a mobile phone with an image capturing function or a camera.
  • the pan/tilt head 20 can rotate in the horizontal direction and the vertical direction, and the pan head 20 rotates while the photographing device 21 rotates.
  • the photographing angle of the lens 22 on the photographing device 21 is also It can be changed in the horizontal direction and the vertical direction.
  • the 24 shown in FIG. 2A represents the body of the drone.
  • the 24 shown in FIG. 2A represents the handheld cloud. The handle of the table.
  • the pan/tilt head 20 can also control the twisting of the connecting member 23, and since the photographing device 21 is connected to the connecting member 23, the photographing device 21 is rotated while the connecting member 23 is twisted, and at the same time, the photographing angle of the lens 22 on the photographing device 21 is changed.
  • the pan/tilt head 20 controls the connection member 23 to be twisted in the horizontal direction and the vertical direction, and the connecting member 23 drives the photographing device 21 to rotate in the horizontal direction and the vertical direction, and at the same time, the photographing angle of the lens 22 on the photographing device 21 is also It can be changed in the horizontal direction and the vertical direction.
  • FIG. 2B is a schematic diagram of a device suitable for a wide-angle photo shooting method according to Embodiment 1 of the present invention
  • FIG. 2C is a schematic diagram of a device suitable for wide-angle photo shooting method according to Embodiment 1 of the present invention
  • the shooting angle changes in the vertical direction.
  • the lens 22 looks up. Photographing; as shown in FIG. 2B, the lens 22 is photographed in a flat view; as shown in FIG. 2C, the lens 22 is photographed in a plan view.
  • FIG. 3 is a schematic diagram of a device suitable for a wide-angle photo shooting method according to Embodiment 1 of the present invention.
  • the PTZ 20 can also be provided with a lens 22, and the PTZ 20 and the lens 22 are connected through a hardware interface inside the PTZ 20, and the hardware interface can be used to transmit parameters of the lens.
  • the lens 22 rotates as the pan head 20 rotates, and the photographing angle of the lens 22 changes.
  • the angle of each rotation of the gimbal may be a fixed angle, and each time the pan/tilt is rotated, the control lens takes a picture.
  • the pan/tilt head 20 may also store parameters of the lens 22 in advance. The pan/tilt can also calculate the plurality of azimuth angles for controlling the photograph taken by the lens according to the parameters of the lens 22 before controlling the lens to take a photo.
  • the pan/tilt may further acquire parameter information of the lens before controlling the lens to take a photo; and calculate, according to the parameter information, the plurality of azimuth angles for controlling the photo taken by the lens.
  • the method for obtaining the lens parameter information of the cloud platform may be obtained by wireless transmission or by a hardware interface.
  • the photographing apparatus 21 stores in advance the parameters of the lens 22, and the parameters of the lens include the angle of view of the lens, the pixels of the lens, the aperture of the lens, and the focal length of the lens.
  • the photographing device 21 transmits the parameters of the lens to the pan/tilt head 20 by wireless transmission before taking the photograph.
  • the pan/tilt head 20 and the lens 22 are connected through a hardware interface inside the pan/tilt head 20, and the lens 22 transmits the parameters of the lens to the pan/tilt head 20 through the hardware interface.
  • the PTZ 20 may be internally provided with a processor or a Microcontroller Unit (MCU). After the processor or the MCU obtains the parameter information of the lens 22, the PTZ 20 controls the plurality of azimuths of the photograph taken by the lens 22.
  • the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, m is an integer greater than or equal to 1, the plurality of azimuth angles include n*m angle information, and the lens 22 A photo is taken at each azimuth, and n*m photos are obtained after photographing the plurality of azimuths respectively, and the n*m photos constitute an array of n rows and m columns.
  • FIG. 4 is a schematic diagram of a lens angle of view according to Embodiment 1 of the present invention.
  • the light source O represents the center of the lens
  • the ABCD is the range that the lens can cover.
  • the size of the ABCD can be changed as the focal length changes, and the angle of view of the lens includes the horizontal angle of view and the vertical.
  • the angle of view as shown in FIG. 4, the angle AOB represents a horizontal angle of view, the angle BOC represents a vertical angle of view, and the longer the focal length of the lens, the smaller the angle of view of the lens, the shorter the focal length of the lens, and the larger the angle of view of the lens.
  • the focal length of the lens 22 may be variable or fixed.
  • the lens 22 takes a single photo with a horizontal angle of view of ⁇ hor and a vertical angle of view of ⁇ ver .
  • the lens 22 adjacent to need two photos taken there is a certain overlap area the horizontal viewing angle overlap region is ⁇ hor
  • the vertical viewing angle is ⁇ ver overlap region .
  • the horizontal angle of view of the final synthesized wide-angle photograph needs to be ⁇ HOR
  • the vertical angle of view to be reached is ⁇ VER , where ⁇ HOR is greater than ⁇ hor and ⁇ VER is greater than ⁇ ver .
  • the processor or MCU in the pan/tilt 20 can calculate the number of rotations of the gimbal 20 in the horizontal direction and the angle of each rotation in the horizontal direction according to ⁇ hor , ⁇ hor , ⁇ HOR ; the processor or the MCU can also be based on ⁇ ver ⁇ ver , ⁇ VER calculates the number of rotations of the gimbal 20 in the vertical direction and the angle of each rotation in the vertical direction.
  • the pan/tilt head 20 can control the rotation of the lens 22 according to the manner of looking up first, then rear view, and rear view, while controlling the horizontal swing of the lens 22 according to the method of first left and right, that is, the pan/tilt head 20 can control the rotation of the lens 22 to Photographs were taken at multiple azimuth angles.
  • the pan/tilt head 20 can first control the horizontal swing of the lens 22 in the manner of first looking left and right in the bottom view state, and then control the horizontal swing of the lens 22 in the manner of first left and right in the head-up state, and finally left and right in the top view state.
  • the mode control lens 22 is horizontally oscillated, so that the pan/tilt head 20 controls the lens 22 to rotate to a plurality of azimuth angles for photographing.
  • the pan/tilt head 20 can also control the rotation of the lens 22 in a manner of looking down, rear view, and rear view; the pan/tilt head 20 can also be cycled according to the first left, the right, the right, the right, and the left.
  • the mode controls the lens 22 to swing horizontally.
  • Step S102 synthesizing the photographs taken by the lens in a plurality of azimuth angles into super wide-angle photographs.
  • the processor or MCU in the pan/tilt head 20 can synthesize the photograph taken by the lens 22 at each azimuth angle into a super wide-angle photograph, or the lens is taken by the photographing device 21. 22 Photographs taken at each azimuth are combined into super wide-angle photos. The photo taken by the lens 22 in each azimuth is synthesized into a super wide-angle photo. Specifically, a picture is selected from a plurality of photos as a reference image, and the reference image is projected to generate a first projected image, and the selected image is selected.
  • An adjacent image of the reference image, and splicing the second projected image of the adjacent image with the first projected image, and the first projected image and the second projected image are stitched together to generate Splicing the image, according to the preset combination method, selecting a photo with the overlapped image from the remaining photos, and stitching the third projected image of the photo to the stitched image to form a new stitched image, and so on.
  • the photographs taken by the lens 22 at each azimuth are stitched together to form a final super wide-angle photograph.
  • the method in this embodiment can also be applied to a multi-axis unmanned aerial vehicle.
  • the method in this embodiment may not be limited to the pan/tilt control or driving.
  • the lens turns.
  • One or more axes of the UAV can be equipped with a pan/tilt, a fixed shooting device on the pan/tilt, and the pan/tilt can be fixed.
  • the flight controller of the UAV includes one or more micro control units (Micro Controller Unit, Referring to the MCU for short, the MCU acquires the parameter information of the lens of the photographing device through a hardware interface or a wireless communication method, and calculates a plurality of azimuth angles for controlling the photograph taken by the lens according to the parameter information of the lens.
  • the MCU transmits the plurality of azimuths to the motor of the unmanned aerial vehicle, and the motor can control the rotation of the propeller.
  • the unmanned aerial vehicle can be at different attitude angles under the control of the motor and the propeller, and the attitude angle specifically includes a pitch angle, a heading angle and a horizontal direction. Rolling angle.
  • the photographing device can be at different azimuths according to the change of the attitude angle of the unmanned aerial vehicle, that is, the attitude angle of the unmanned aerial vehicle is consistent with the azimuth angle of the photographing device, and the unmanned aerial vehicle further includes an attitude sensor (Inertial) a measurement unit (IMU), the IMU may be integrated in the flight controller for sensing the attitude of the unmanned aerial vehicle, and the attitude angle of the unmanned aerial vehicle sensed by the IMU is consistent with the azimuth calculated by the MCU
  • the MCU controls the lens to take a picture at the azimuth and synthesizes the picture taken by the lens in a plurality of azimuths into a super wide-angle picture.
  • the method in this embodiment can also be applied to a movable robot.
  • the method in this embodiment may not be limited to the pan/tilt control or the lens rotation.
  • the shooting device can be mounted on the top of the movable robot body, and the shooting device can move with the movement of the movable robot, and the lens of the shooting device can take photos of different places during the movement of the movable robot. If the top of the movable robot body can be rotated, the photographing apparatus can also rotate with the rotation of the top of the fuselage, and the rotation of the top of the fuselage includes horizontal rotation and vertical rotation.
  • the lens of the photographing device can be at different azimuth angles, and the movable robot controls the shots to take photographs separately at different azimuth angles, and the shots are in multiple Azimuth-photographed photos are synthesized into super wide-angle photos, and the synthesis process of super wide-angle photos It can be performed by the photographing device or by an image processor within the movable robot.
  • the lens by acquiring the parameter information of the lens, according to the parameter information of the lens, calculating a plurality of azimuth angles of the photographed photograph of the lens, specifically controlling the number of rotations of the lens in the horizontal direction, the angle of rotation in the horizontal direction each time, and controlling the lens
  • the picture effect is in the normal range of human eye vision, and will not Problems such as the distortion of the fisheye lens occur, and the quality of the super wide-angle photograph is improved.
  • Embodiment 2 of the present invention provides a wide-angle photo shooting method.
  • the embodiment is based on the technical solution provided in the first embodiment.
  • the parameter information of the lens is specifically the angle of view of the lens, and the processor or the MCU in the platform 20 can calculate the rotation angle and the number of rotations of the platform 20 according to the angle of view.
  • FIG. 5 is a flowchart of a wide-angle photo shooting method according to Embodiment 2 of the present invention. As shown in FIG. 5, the method in this embodiment may include the following steps:
  • Step S201 Acquire a perspective of the lens.
  • Step S202 Calculate a rotation angle of the pan/tilt according to a viewing angle of the lens and a preset viewing angle of an adjacent two photo overlap regions.
  • the rotation angle of the pan/tilt includes an angular interval in which the gimbal rotates in the horizontal direction and an angular interval in which the gimbal rotates in the vertical direction.
  • the viewing angle of the lens includes a first horizontal viewing angle and a first vertical viewing angle; the preset viewing angle of the adjacent two photo overlapping regions includes a second horizontal viewing angle and a second vertical viewing angle;
  • the angle of view that the ultra wide-angle photo is expected to achieve includes a third horizontal viewing angle and a third vertical viewing angle.
  • the first horizontal viewing angle is the horizontal viewing angle ⁇ hor of the single photograph taken by the lens 22
  • the first vertical viewing angle is the vertical viewing angle ⁇ ver of the single photograph taken by the lens 22
  • the second horizontal viewing angle is ⁇ hor
  • the two vertical viewing angles are ⁇ ver
  • the third horizontal viewing angle is ⁇ HOR
  • the third vertical viewing angle is ⁇ VER .
  • the processor or MCU in the pan/tilt 20 can calculate the angular interval of the pan-tilt rotation in the horizontal direction according to the first horizontal viewing angle ⁇ hor and the second horizontal viewing angle ⁇ hor .
  • the pan/tilt can be calculated according to formula (1).
  • Angle interval for rotation in the horizontal direction :
  • the processor or the MCU in the pan/tilt 20 can calculate the angular interval of the pan-tilt rotation in the vertical direction according to the first vertical viewing angle ⁇ ver and the second vertical viewing angle ⁇ ver . Specifically, according to the formula (2) ) Calculate the angular separation of the pan/tilt in the vertical direction:
  • Step S203 Calculate the number of rotations of the pan/tilt according to the angle of view of the lens, the preset viewing angle of the adjacent two photo overlap regions, and the angle of view that the super wide-angle photo is expected to reach.
  • the number of rotations of the gimbal includes the number of rotations of the gimbal in the horizontal direction and the number of rotations of the gimbal in the vertical direction.
  • the processor or MCU in the pan/tilt 20 calculates the number of rotations of the gimbal in the horizontal direction according to the first horizontal viewing angle ⁇ hor , the second horizontal viewing angle ⁇ hor , and the third horizontal viewing angle ⁇ HOR , specifically, according to the formula (3) ) Calculate the number of times the gimbal rotates in the horizontal direction N:
  • N [( ⁇ HOR - ⁇ hor )/( ⁇ hor - ⁇ hor )] (3)
  • the processor or the MCU in the pan/tilt 20 can also calculate the number of rotations of the gimbal in the vertical direction according to the first vertical viewing angle ⁇ ver , the second vertical viewing angle ⁇ ver , and the third vertical viewing angle ⁇ VER .
  • the number of times the pan/tilt is rotated in the vertical direction can be calculated according to formula (4):
  • Step S204 an angular interval according to the pan head rotating in a horizontal direction, an angular interval in which the pan/tilt is rotated in a vertical direction, a number of times the pan/tilt is rotated in a horizontal direction, and the pan/tilt is rotated in a vertical direction.
  • the angle of view of the lens may be different depending on the photographing device 21, and the angle of view of the lens may be different depending on the focal length for the same photographing device.
  • the preset horizontal angle of view and the preset vertical angle of view of the adjacent two photo overlap regions are not limited.
  • the horizontal and vertical viewing angles that can be achieved by the final spliced super wide-angle photographs are not limited.
  • the angle of view of the lens 22 is 84 ⁇ 66°, which means that the horizontal angle of view of the single photo taken by the lens 22 is 84°, and the vertical angle of view of the single photo taken by the lens 22 is 66°, and the preset position of the adjacent two photos is overlapped.
  • the horizontal viewing angle is 39°, and the preset vertical viewing angle of the coincident region is 36°.
  • the horizontal angle of view of the super-wide-angle photo that is finally stitched is 174°, and the vertical viewing angle is 126°; according to the above specific values, formula (1) is used.
  • the angular interval of the pan/tilt in the horizontal direction is 84°-39° or 45°; according to formula (2), the pan/tilt can be calculated to rotate in the vertical direction.
  • the angular separation of the motion is 66°-36° or 30°.
  • the lens can also be in the horizontal direction and the vertical direction.
  • the pan/tilt needs to be rotated 3 times in the horizontal direction and 3 times in the vertical direction, so the lens needs to take 3*3 photos, that is, 3 lines in the horizontal direction and 3 pictures in each line.
  • Step S205 Control the lens to take a photo at each azimuth angle.
  • FIG. 6 is a schematic diagram of a photograph taken by a lens according to Embodiment 2 of the present invention.
  • the lens is photographed in nine different azimuths in order from left to right and top to bottom, and each azimuth is photographed. For photos, get 9 photos at different angles, and the two adjacent photos have a certain overlap area.
  • the lens when the lens is at different azimuth angles, it means that the lens is in different postures.
  • the pan/tilt is also in different postures, and the lens or the pan/tilt is in the order from left to right and top to bottom.
  • the gestures are labeled to obtain 9 different poses for the lens or pan/tilt.
  • the azimuth angle when the lens captures each photo includes a pitch angle, a heading angle, and a roll angle, wherein the pitch angle is represented by pitch, the heading angle is represented by yaw, the roll angle is represented by roll, and the pitch is pitched.
  • the angle indicates the angle of rotation of the lens or the pan/tilt in the vertical direction, that is, the Y-axis.
  • the heading angle indicates the angle of rotation of the lens or the pan-tilt in the horizontal direction, that is, the X-axis.
  • the roll angle indicates the angle of rotation of the lens or the pan-tilt in the Z-axis. In the embodiment, the angle of rotation of the lens or the pan/tilt on the Z axis is negligible.
  • Table 1 shows the correspondence between the heading angle and the pitch angle of the lens or the pan/tilt when the lens or the pan/tilt is in each posture:
  • the embodiment does not limit the number of photographs taken by the lens, for example, the lens can also take 4*4 photos, or 5*5 photos.
  • the number of photographs taken by the lens may also change when the angle of view of the lens, the angle of view of the overlapping areas of the two adjacent photographs, and the angle of view that the final stitched super wide-angle photograph is expected to reach.
  • the photograph having the posture number of 5 and the other eight photographs have overlapping regions, that is, the number of coincident regions of the photograph having the posture number of 5 and the surrounding photographs is large, and the posture number is 1.
  • the number of coincident areas of photos 3, 7, and 9 is small, and the number of coincident areas of photos 2, 4, 6, and 8 with the surrounding photos is centered, and the heading angle of the lens or pan/tilt is visible.
  • the pitch angle is different, the number of coincident areas of the photo taken by the lens and the photos around it is different.
  • Step S206 synthesizing the photographs taken by the lens at a plurality of azimuth angles into super wide-angle photographs.
  • the method for synthesizing the photographs taken by the lens in a plurality of azimuth angles into a super wide-angle photograph is specifically implemented as: selecting a photograph with the pose number of 1 as a reference map, and the lens or the pan/tilt
  • the pitch angle is 30°
  • the yaw angle is -45°
  • the rol l angle is negated to 0.
  • the reference image is projected in the equictangular manner.
  • the projected spherical radius is the focal length of the camera in pixels.
  • FIG. 7A is a photograph of the pitch angle of 30° and the yaw angle of -45° provided in the second embodiment
  • FIG. 7B is the pitch angle provided in the second embodiment.
  • the image is spliced to obtain a spliced image formed by splicing two projection images, and a photo with a coincident region with the spliced image is selected from the remaining photos according to a preset combination manner, and the third projection image of the photo is spliced to
  • the image has been stitched to form a new mosaic
  • the photos taken by the lens 22 at each azimuth are stitched together to form the final super wide-angle photo.
  • FIG. 8A is a photograph of the pitch angle of 0° and the yaw angle of 0° provided by the second embodiment.
  • 8B is a projection image of a photograph having a pitch angle of 0° and a yaw angle of 0° provided in the second embodiment.
  • 9A is a photograph of a pitch angle of -30° and a yaw angle of 45° according to the second embodiment
  • FIG. 9B is a projection image of a photograph having a pitch angle of -30° and a yaw angle of 45° according to the second embodiment. .
  • the focal length of the lens can be adjusted.
  • the essence of adjusting the focal length of the lens is to adjust ⁇ ver and ⁇ hor in equations (1) and (2), and also to adjust the formula.
  • ⁇ hor , ⁇ ver in (3) and (4) which can change the angular interval of the pan and tilt in the horizontal direction, the angular interval of the vertical rotation, the number of times the gimbal rotates in the horizontal direction, and the vertical The number of times the direction is rotated.
  • M and N in equations (3) and (4) can be adjusted so that there are enough coincident regions between adjacent two photos.
  • the pan/tilt calculates the number of rotations of the gimbal in the horizontal direction according to the angle of view of the lens, the angular interval of each rotation in the horizontal direction, and the number of rotations of the gimbal in the vertical direction, each time in the vertical direction.
  • the gimbal controls the lens at different azimuth angles according to the number of rotations and the rotation angle, which improves the control precision of the pan/tilt to the lens.
  • Embodiment 3 of the present invention provides a method for synthesizing photographs taken by a lens at a plurality of azimuth angles into super wide-angle photographs.
  • This embodiment is based on the technical solution provided by any of the above embodiments, and provides a method for synthesizing photographs taken by the lens at a plurality of azimuth angles into super wide-angle photographs.
  • FIG. 10 is a flowchart of a wide-angle photo shooting method according to Embodiment 3 of the present invention. As shown in FIG. 10, the method for synthesizing a photograph taken by the lens at a plurality of azimuth angles into a super wide-angle photograph provided by the embodiment may include the following steps:
  • Step S301 Acquire a pitch angle, a heading angle, and a roll angle of the lens when the lens sensed by the attitude sensor in the pan/tilt.
  • a motor is arranged in the gimbal, and the motor can precisely control the gimbal to reach a specified angle, thereby Control the lens to maintain the same attitude as the pan/tilt.
  • the lens rotates during the shooting process, so that the actual photo taken by the lens is not taken at the angle specified by the pan/tilt.
  • the pan/tilt specified lens has a pitch angle of 30°.
  • the first picture was taken with a yaw angle of -45°, but the first picture actually taken by the lens may be taken at a pitch angle of 29.5° and a yaw angle of -44.5°, that is, the angle specified by the gimbal. There may be an error between the angle actually shot with the lens.
  • Step S302 correct a pitch angle, a heading angle, and a roll angle of the lens when each lens is photographed by the lens sensed by the attitude sensor, and correct a pitch angle of the pan/tilt when the lens takes each photo, Heading angle and roll angle.
  • an attitude sensor is disposed in the pan/tilt, and the attitude sensor can sense the pitch angle of the lens when the lens captures each photo, The heading angle and the roll angle, that is, each time a lens is taken, the attitude sensor senses the elevation angle, the heading angle, and the roll angle when the lens takes the picture, and shoots each lens according to the lens sensed by the attitude sensor.
  • the attitude sensor senses the pitch angle, heading angle and roll angle of the lens when taking each picture, and the attitude sensor can accurately obtain the pitch angle, heading angle and roll angle of the lens when taking each picture. After accurately obtaining the angle information of the lens (pitch, yaw, roll), the projection accuracy can be improved when the image is projected in an equictangular manner for each photo.
  • Step S303 Select a photo from the photograph taken by the lens in a plurality of azimuth angles as a reference image.
  • Step S304 according to the azimuth of the lens and the internal parameter matrix of the lens when the lens is taken by the lens, projecting the reference image to generate a first projection image, and using the first projection image as a splicing image.
  • Step S305 traversing the remaining photos, using a preset combination manner, acquiring a photo having a coincident region with the stitched image, and stitching the second projected image of the photo to the stitching image.
  • step S303-step S305 is consistent with the principle of step S206, and details are not described herein again.
  • the obtained projection image is related to the angle information of the photo taken by the lens, and the angle information of the photo taken when the photo is projected and when the photo is actually taken by the lens.
  • the more consistent the angle information the more accurate the resulting projected image will be. Therefore, the projection angle, heading angle and roll angle of the lens when each lens is photographed by the attitude sensor in the pan/tilt can improve the projection of each photo. The accuracy of the image.
  • Embodiment 4 of the present invention provides a method of synthesizing photographs taken by a lens at a plurality of azimuth angles into super wide-angle photographs.
  • This embodiment is based on the technical solution provided by any of the above embodiments, and provides a method for synthesizing photographs taken by the lens at a plurality of azimuth angles into super wide-angle photographs.
  • FIG. 11 is a flowchart of a wide-angle photo shooting method according to Embodiment 4 of the present invention. As shown in FIG. 11 , the method for synthesizing the photograph taken by the lens in a plurality of azimuth angles into a super wide-angle photograph provided by the embodiment may include the following steps:
  • Step S401 Select a photo from the photograph taken by the lens in a plurality of azimuth angles as a reference image.
  • the reference map selected from the photographs taken by the lens at a plurality of azimuth angles may not be the first map shot by the lens.
  • this embodiment does not limit the specific selection method of the reference map.
  • Step S402 according to the azimuth of the lens and the internal parameter matrix of the lens when the lens is taken by the lens, projecting the reference image to generate a first projection image, and using the first projection image as a splicing image.
  • the execution body of the embodiment may be a processor or an MCU in the pan/tilt 20, or may be a photographing device 21.
  • an MCU in the pan/tilt 20 is taken as an example, and the MCU in the pan/tilt 20 captures the reference map according to the lens.
  • the azimuth of the time and the inner parameter matrix of the lens, the reference image is projected to generate a first projection image, and the azimuth of the lens when the lens is captured may be angle information specified by the gimbal, which is the first embodiment.
  • the projected image is used as a stitched image.
  • Step S403 traversing the remaining photos, using a preset combination manner, obtaining and stitching
  • the image has a photograph of the coincident area, and a pitch angle, a heading angle, and a roll angle of the pan/tilt when the photograph is taken by the lens.
  • Traversing the remaining photos taken by the lens using a preset combination to obtain a photo with a coincident region of the stitched image, for example, selecting an adjacent photo of the reference image, and obtaining a pitch angle, a heading angle, and a corresponding head angle of the adjacent photo.
  • the roll angle, the pitch angle, the heading angle, and the roll angle when the lens takes the adjacent photo may be the angle information specified by the pan/tilt.
  • Step S404 performing correction processing on the pitch angle, the heading angle, and the roll angle of the pan/tilt when the photograph is taken by the lens, obtaining a correction angle of the pitch angle of the pan/tilt, a correction angle of the heading angle and a correction angle of the roll angle.
  • the present embodiment provides a difference from the third embodiment.
  • the method for sensing the azimuth angle of the attitude sensor is shown in FIG. 12 is a flowchart of a method for correcting the azimuth angle according to the fourth embodiment of the present invention. As shown in FIG. 12, the method of correcting the pitch angle, the heading angle, and the roll angle of the pan/tilt when the photograph is taken by the lens may include the following steps S501-S507:
  • Step S501 Determine, according to the preset search step and the first search step, a plurality of first angles that are within a first preset range from the heading angle.
  • Step S502 Determine, according to the preset search step and the second search step, a plurality of second angles that are within a second preset range from the pitch angle.
  • Step S503 Determine, according to the preset search step and the third search step, a plurality of third angles that are out of the roll angle in the third preset range.
  • the heading angle corresponding to the adjacent photo is denoted by ⁇ i
  • the pitch angle corresponding to the adjacent photo is denoted as ⁇ i
  • the corresponding photo corresponds to the roll
  • the angle is ⁇ i
  • the embodiment searches for the heading angle when the lens actually captures the adjacent photo around ⁇ i
  • the search step sizes of the heading angle, the pitch angle, and the roll angle are all set to ⁇
  • the number of search steps of the heading angle is set to n1
  • the number of search steps of the pitch angle is set to n2
  • the search step of the roll angle is The number is set to n3.
  • the search range is the heading angle ⁇ i ⁇ n1 ⁇ , ⁇ i ⁇ n1 ⁇ angle within the range referred to as a first angle, the first angle range ⁇ i ⁇ n1 ⁇ has n1 + 1 th.
  • Search range of pitch angle is ⁇ i ⁇ n2 ⁇ , ⁇ i ⁇ n2 ⁇ angle within the range referred to as the second angle, the second angle ⁇ i ⁇ n2 ⁇ range has n2 + 1 th.
  • Roll angle search range is ⁇ i ⁇ n3 ⁇ , ⁇ i ⁇ n3 ⁇ angle within the range referred to as a third angle, the third angle ⁇ i ⁇ n3 ⁇ range has n3 + 1 th.
  • Step S504 determining a plurality of to-be-measured angles according to the plurality of first angles, the plurality of second angles, and the plurality of third angles, each of the to-be-measured angles including a first angle and a second angle And a third angle.
  • n1+1 first angles, n2+1 second angles, and n3+1 third angles (n1+1)*(n2+1)*(n3+1) azimuth angles may be combined, (n1+1)*(n2+1)*(n3+1) kinds of azimuth angles are to be measured angles, and each of the to-be-measured angles includes a first angle, a second angle, and a third angle.
  • Step S505 Traverse each of the to-be-measured angles, and project the photo according to the to-be-measured angle and the internal parameter matrix of the lens to generate a projection image to be tested.
  • Step S506 Calculate a similarity between the projected image to be tested and the stitched image.
  • the similarity between the projected image to be tested and the stitched image is calculated according to an existing similarity algorithm.
  • Step S507 determining a correction angle of the pitch angle, a correction angle of the heading angle, and a correction angle of the roll angle according to the similarity.
  • the first angle included in the to-be-measured angle corresponding to the largest similarity is determined as the correction angle of the elevation angle of the pan/tilt; and the second angle included in the to-be-measured angle corresponding to the largest similarity is determined as a correction angle of the heading angle of the pan/tilt; determining a third angle included in the angle to be measured corresponding to the maximum degree of similarity as a correction angle of the roll angle of the pan/tilt head.
  • each projection image to be tested corresponds to a similarity degree, according to the similarity degree, a projection image to be measured corresponding to the maximum degree of similarity can be determined, and when the projection image to be tested is obtained, there is a corresponding angle to be measured, and the to-be-tested
  • the first angle corresponding to the angle is determined as a correction angle of the pitch angle of the pan/tilt, and the second angle corresponding to the angle to be measured is determined as the
  • the correction angle of the heading angle determines the third angle corresponding to the angle to be measured as the correction angle of the roll angle of the pan/tilt.
  • Step S405 Projecting the photo to generate the second projection image according to the correction angle of the pitch angle of the pan/tilt, the correction angle of the heading angle, and the correction angle of the roll angle.
  • Step S406 splicing the second projected image to the stitched image.
  • the second projection image of one adjacent photo of the reference image is spliced with the first projection image of the reference image to obtain a spliced image.
  • FIG. 13 is a schematic diagram of the projection image stitching provided in the fourth embodiment. As shown in FIG. 13 , the upper left corner is the first projected image of the reference image, the upper right corner is the second projected image of one adjacent photo of the reference image, and the stitching image of the first projected image and the second projected image is directly below. .
  • step S406 the process returns to the step S403, and the photograph of the overlapped area with the stitched image in the remaining photos is continued, and the pitch angle, the heading angle and the roll angle of the pan/tilt when the photograph is taken by the lens, Performing the correction processing of steps S501-S507 of the pitch angle, the heading angle, and the roll angle of the pan/tilt when the lens photographs the photograph, and performing the photograph according to the pitch angle, the heading angle, and the roll angle after the correction processing Projection, splicing the projected image of the photo with the spliced image shown in FIG. 13, and repeating steps S402-S406 until the projected images of the photos taken by the lens at different azimuth angles are spliced together.
  • FIG. 14 is a schematic diagram of the projection image stitching provided in the fourth embodiment. As shown in FIG. 14 , on the basis of FIG. 13 , the subsequent photos that have been stitched together with the projected image are continued, and the photos used in this embodiment are shown in Table 1. When the lens is located at different azimuth angles, the lens is photographed. 3*3 photos, the splicing method is consistent with the previous method, and the splicing process and results are specifically shown in FIG. 14.
  • FIG. 15 is a schematic diagram showing the cropping of the projected image obtained by the splicing according to the fourth embodiment. As shown in Figure 15, the photo on the right is the resulting super wide-angle photo.
  • the angle around the corner, the angle around the roll angle, and the angle around the pitch angle, the angle around the heading angle, and the angle around the roll angle are the closest to the angle information when the lens actually takes the picture to be stitched.
  • the angle further improves the accuracy of the projected image of each photo, and also improves the quality of the resulting ultra-wide-angle photo.
  • Embodiment 5 of the present invention provides a lens control device.
  • 16 is a structural diagram of a lens control device according to Embodiment 5 of the present invention.
  • the lens control device 50 includes: one or more processors 51, and one or more processors 51 may be used individually or collectively.
  • the processor 51 is configured to: control the lens to take photos in a plurality of azimuth angles, the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, and m is greater than or equal to 1.
  • An integer; a photo taken at multiple azimuths of the lens is synthesized into a super wide-angle photo.
  • the parameter information of the lens includes at least one of: a viewing angle of the lens, a pixel of the lens, an aperture of the lens, and a focal length of the lens.
  • the processor 51 is further configured to acquire parameter information of the lens; and calculate, according to the parameter information, the plurality of azimuths for controlling the photograph taken by the lens.
  • the focal length of the lens is variable; or the focal length of the lens is fixed.
  • the lens control device 50 further includes an image sensor 52 communicatively coupled to the processor 51 for capturing image information and transmitting the image information to the processor 51.
  • the lens control device 50 further includes a hardware interface 53 or a wireless transceiver 54 communicatively coupled to the processor 51, and the hardware interface 53 or the wireless transceiver 54 is configured to receive the lens transmitted by the photographing device. Parameter information.
  • the lens by acquiring the parameter information of the lens, according to the parameter information of the lens, calculating a plurality of azimuth angles of the photographed photograph of the lens, specifically controlling the number of rotations of the lens in the horizontal direction, the angle of rotation in the horizontal direction each time, and controlling the lens
  • the picture effect is in the normal range of the human eye vision, and the distortion problem of the fisheye lens is not caused, for example, and the quality of the super wide-angle photo is improved.
  • Embodiment 6 of the present invention provides a lens control device.
  • the parameter information is a viewing angle;
  • the processor 51 calculates the pan/tilt according to the perspective of the lens and the preset viewing angle of the adjacent two photo overlap regions. Rotation angle; calculating the number of rotations of the gimbal according to the angle of view of the lens, the preset viewing angle of the adjacent two photo overlap regions, and the angle of view that the super wide-angle photo is expected to reach.
  • the viewing angle of the lens includes a first horizontal viewing angle and a first vertical viewing angle; the preset viewing angles of the adjacent two photo overlapping regions include a second horizontal viewing angle and a second vertical viewing angle;
  • the perspective that is expected to be achieved includes a third horizontal viewing angle and a third vertical viewing angle.
  • the rotation angle of the pan/tilt includes an angular interval of the pan-tilt rotating in the horizontal direction and an angular interval of the pan-tilt rotating in the vertical direction;
  • the processor 51 is specifically according to the first horizontal viewing angle and Calculating an angular interval of the pan head rotating in a horizontal direction according to the second horizontal viewing angle; and calculating an angular interval of the pan head rotating in a vertical direction according to the first vertical viewing angle and the second vertical viewing angle.
  • the number of rotations of the pan/tilt includes the number of times the pan/tilt is rotated in the horizontal direction and the number of times the pan/tilt is rotated in the vertical direction; the processor 51 is specifically according to the first horizontal viewing angle, the first Calculating the number of times the pan/tilt is rotated in the horizontal direction according to the two horizontal viewing angles and the third horizontal viewing angle; calculating the pan/tilt according to the first horizontal viewing angle, the second horizontal viewing angle, and the third horizontal viewing angle The number of rotations in the horizontal direction.
  • the processor 51 is specifically configured according to an angular interval in which the pan-tilt is rotated in a horizontal direction, an angular interval in which the pan-tilt is rotated in a vertical direction, a number of times the pan-tilt is rotated in a horizontal direction, and the cloud
  • the number of times the table is rotated in the vertical direction controls the lens to be at different azimuth angles; the lens is controlled to take photos at various azimuth angles.
  • the pan/tilt calculates the number of rotations of the gimbal in the horizontal direction according to the angle of view of the lens, the angular interval of each rotation in the horizontal direction, and the number of rotations of the gimbal in the vertical direction, each time in the vertical direction.
  • the angular interval of rotation, the pan/tilt rotates according to the number of rotations
  • the angle control lens is located at different azimuth angles, which improves the control precision of the pan/tilt to the lens.
  • Embodiment 7 of the present invention provides a lens control device.
  • the processor 51 specifically selects a photo from the photographs taken by the lens in a plurality of azimuth angles as a reference image; and when the reference image is taken according to the lens Azimuth of the lens and an inner parameter matrix of the lens, projecting the reference image to generate a first projection image, using the first projection image as a mosaic image; traversing the remaining photos, using a preset combination manner, acquiring A photo of the coincident region with the stitched image, and stitching the second projected image of the photograph to the stitched image.
  • the azimuth angle of the lens when taking each photo includes a pitch angle, a heading angle, and a roll angle.
  • the lens control device 50 further includes: an attitude sensor 55 communicatively coupled to the processor 51, and an attitude sensor 55 for sensing a pitch angle, a heading angle, and a roll angle of the lens when the lens captures each photo; the processor 51 is further configured to: when the camera is photographed according to the lens sensed by the attitude sensor The pitch angle, the heading angle and the roll angle are corrected for the pitch angle, heading angle and roll angle of the pan/tilt when the lens takes each picture.
  • the obtained projection image is related to the angle information of the photo taken by the lens, and the angle information of the photo taken when the photo is projected and when the photo is actually taken by the lens.
  • the more consistent the angle information the more accurate the resulting projected image will be. Therefore, the projection angle, heading angle and roll angle of the lens when each lens is photographed by the attitude sensor in the pan/tilt can improve the projection of each photo. The accuracy of the image.
  • Embodiment 8 of the present invention provides a lens control device.
  • the processor 51 specifically acquires a photo of a region of coincidence with the stitched image, and a pitch angle, a heading angle of the pan/tilt when the lens takes the photo a roll angle; correcting the pitch angle, the heading angle, and the roll angle of the pan/tilt when the photograph is taken by the lens, and obtaining a correction angle of the pitch angle of the pan/tilt And a correction angle of the heading angle and a correction angle of the roll angle; a correction angle of the pitch angle of the pan/tilt, a correction angle of the heading angle, and a correction angle of the roll angle,
  • the photo is projected to generate the second projected image; the second projected image is stitched to the stitched image.
  • the processor 51 determines, according to the preset search step and the first search step, a plurality of first angles that are within a first preset range from the pitch angle; according to a preset search step Determining a deviation from the roll angle according to a preset search step and a third search step according to the second search step a plurality of third angles within the three preset ranges; determining a plurality of to-be-measured angles according to the plurality of first angles, the plurality of second angles, and the plurality of third angles, each of the to-be-measured angles a first angle, a second angle, and a third angle; traversing each angle to be measured, and projecting the photo to generate a projection image to be tested according to the angle to be measured and an inner parameter matrix of the lens; a similarity between the projected image to be measured and the stitched image; determining, according to the similarity, a corrected angle of the pitch angle of the pan/tilt, a corrected angle of the heading angle, and a correction of
  • the processor 51 specifically determines a first angle included in the to-be-measured angle corresponding to the maximum similarity as a correction angle of the pitch angle of the pan/tilt; and the to-be-measured angle corresponding to the largest similarity includes The second angle is determined as a correction angle of the heading angle of the pan/tilt; the third angle included in the to-be-measured angle corresponding to the maximum similarity is determined as a correction angle of the roll angle of the pan/tilt.
  • Embodiment 9 of the present invention provides a pan/tilt.
  • FIG. 18 is a structural diagram of a pan/tilt head according to Embodiment 9 of the present invention. As shown in FIG. 18, the pan/tilt head 70 includes a motor 60 and a lens control device 50, and a lens The control device 50 is electrically connected to the motor 60 for controlling the rotation of the pan/tilt head 70.
  • the lens control device 50 is for controlling the lens photographing; the lens control device 50 includes a 51 or a plurality of processors 51 for controlling the photographing of the lens in a plurality of azimuth angles, wherein the plurality of azimuth angles include n latitude information And m longitude information, n is an integer greater than or equal to 2, m is an integer greater than or equal to 1; the photograph taken at the plurality of azimuths of the lens is synthesized into a super wide-angle photograph.
  • the processor 51 is further configured to acquire parameter information of the lens; and calculate, according to the parameter information, the plurality of azimuths that control the photo taken by the lens.
  • the parameter information of the lens includes at least one of a view angle of the lens, a pixel of the lens, an aperture of the lens, and a focal length of the lens.
  • the focal length of the lens is variable; or the focal length of the lens is fixed.
  • the lens control device 50 further includes an image sensor 52 communicatively coupled to the processor 51 for capturing image information and transmitting the image information to the processor 51.
  • the platform 70 further includes a carrying member 61 electrically connected to the motor 60 for carrying a photographing device to which the photographing device is mounted.
  • the platform 70 is also provided with a mobile phone holder 62.
  • the mobile phone holder 62 is electrically connected to the motor 60 for carrying a mobile phone, and the mobile phone is equipped with the lens.
  • the lens control device 50 further includes: a hardware interface 53 or a wireless transceiver 54 communicatively coupled to the processor 51, the hardware interface 53 or the wireless transceiver 54 is configured to receive the sending by the photographing device The parameter information of the lens.
  • the parameter information is a viewing angle
  • the processor 51 calculates a rotation angle of the pan/tilt according to a viewing angle of the lens and a preset viewing angle of an adjacent two photo overlapping regions; according to the perspective of the lens The preset viewing angle of the adjacent two photo overlap regions and the angle of view that the super wide-angle photo is expected to reach, and the number of rotations of the pan/tilt is calculated.
  • the motor 60 controls the pan/tilt rotation according to the rotation angle of the pan/tilt head and the number of rotations of the pan/tilt head.
  • the parameter information of the lens is acquired by the pan/tilt, and a plurality of azimuth angles of the photographed photograph of the lens are calculated according to the parameter information of the lens, specifically, the number of rotations of the lens in the horizontal direction, the angle of rotation in the horizontal direction, and Control the rotation of the lens in the vertical direction Number, each time the angle is rotated in the vertical direction, when the lens is rotated in the horizontal direction and the vertical direction, the lens can be located in a plurality of azimuth angles, and photographed separately in a plurality of azimuth angles, and finally the lens is photographed at each azimuth angle
  • the photo is combined into a super wide-angle photo, which realizes the shooting method of super wide-angle photos.
  • the picture effect is in the normal range of human eye vision, and there is no distortion such as fisheye lens. The problem, while improving the quality of super wide-angle photos.
  • FIG. 19 is a structural diagram of a pan/tilt head according to Embodiment 10 of the present invention. As shown in FIG. 19, on the basis of the technical solution provided in Embodiment 9, the pan/tilt head 70 further includes a stabilizer 63, a stabilizer 63 and the motor. 60 electrical connections for controlling the gimbal 70 to be stably balanced during rotation.
  • pan/tilt head 70 also controls a switch 64, and the control switch 64 is coupled to the lens control device 50 for controlling the lens to initiate photographing.
  • the platform 70 further includes a handle 65 on which the control switch 64 is disposed.
  • pan/tilt head 70 further includes a focus button 66 that is coupled to the lens control device 50 for adjusting the focal length of the lens.
  • the stability of the gimbal during the rotation process is improved, and the lens can be prevented from being shaken during shooting;
  • a control switch on the handle of the pan/tilt the photographer can be pressed without pressing.
  • the shutter of the shooting device or the camera button of the mobile phone the photographer can control the shooting device to start shooting by pressing the control switch on the handle, thereby improving the convenience of the user operation.
  • Embodiment 11 of the present invention provides an unmanned aerial vehicle.
  • FIG. 20 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 11 of the present invention.
  • the unmanned aerial vehicle in this embodiment may include: a fuselage, a motor 1001, a propeller 1002, an attitude sensor (IMU), a flight controller, an electronic governor 1003, and a pan/tilt head 1004;
  • the device 1003 is connected to the flight controller for controlling the rotation of the motor 1001 according to the throttle control signal sent by the flight controller;
  • the motor 1001 is coupled to the propeller 1002 to drive the propeller 1002 to rotate under the control of the electronic governor;
  • the attitude sensor is integrated in the flight controller for sensing
  • the pan/tilt head 1004 is electrically connected to the motor 1001, the motor 1001 is also used to control the rotation of the pan/tilt head 1004;
  • the pan/tilt head 1004 includes the lens control device 50 described in the above
  • the processor 51 is further configured to acquire parameter information of the lens; and calculate, according to the parameter information, the plurality of azimuths that control the photo taken by the lens.
  • the parameter information of the lens includes at least one of a view angle of the lens, a pixel of the lens, an aperture of the lens, and a focal length of the lens.
  • the focal length of the lens is variable; or the focal length of the lens is fixed.
  • the pan/tilt 1004 further includes a carrying member 61 electrically connected to the motor 1001 for carrying a photographing device to which the photographing device is mounted.
  • the lens control device 50 further includes: a hardware interface 53 or a wireless transceiver 54 communicatively coupled to the processor 51, the hardware interface 53 or the wireless transceiver 54 is configured to receive the lens sent by the photographing device Parameter information.
  • the parameter information is a viewing angle
  • the processor 51 calculates a rotation angle of the pan/tilt according to a viewing angle of the lens and a preset viewing angle of an adjacent two photo overlapping regions; according to the perspective of the lens The preset viewing angle of the adjacent two photo overlap regions and the angle of view that the super wide-angle photo is expected to reach, and the number of rotations of the pan/tilt is calculated.
  • the motor 1001 controls the pan/tilt rotation according to the rotation angle of the pan/tilt head and the number of rotations of the pan/tilt head.
  • the pan/tilt head 1004 further includes a stabilizer 63 electrically connected to the motor 1001 for controlling the pan/tilt head 1004 to be stably balanced during rotation.
  • the shooting angle of the photographing device is controlled by the pan/tilt of the unmanned aerial vehicle, and the photographing device respectively takes photographs at a plurality of azimuth angles designated by the pan/tilt, and finally combines the photographs taken by the lens in each azimuth into a super wide-angle photograph.
  • the aerial photography method of the super wide-angle photo is realized. Compared with the fisheye lens in the prior art, the picture effect is in the normal range of the human eye vision, and the distortion problem of the fisheye lens does not occur, for example, and the super wide-angle photo is improved. quality.
  • Embodiment 12 of the present invention provides an unmanned aerial vehicle.
  • the unmanned aerial vehicle in this embodiment may include: a fuselage, a motor 1001, a propeller 1002, an attitude sensor (IMU), a flight controller, an electronic governor 1003, and a fixing device 1004;
  • the device 1003 is connected to the flight controller for controlling the rotation of the motor 1001 according to the throttle control signal sent by the flight controller;
  • the motor 1001 is coupled to the propeller 1002 to drive the propeller 1002 to rotate under the control of the electronic governor;
  • An integrated sensor (IMU) is integrated in the flight controller for sensing a posture of the unmanned aerial vehicle;
  • a fixing device 1004 is electrically connected to the body, and a fixing device 1004 is used to fix the photographing device 1005;
  • the flight controller includes One or more MCUs for: controlling the lens to take a picture at a plurality of azimuth angles, the plurality of azimuth angles comprising n latitude information and m longitude information, n being
  • the MCU is further configured to acquire parameter information of the lens; and calculate, according to the parameter information, the plurality of azimuths that control the photograph taken by the lens.
  • the MCU transmits the plurality of azimuths to the motor 1001, and the motor 1001 controls the attitude of the unmanned aerial vehicle according to the plurality of azimuth angles.
  • the flight controller further includes: a hardware interface 53 or a wireless transceiver 54 communicatively coupled to the MCU, the hardware interface 53 or the wireless transceiver 54 is configured to receive the lens sent by the photographing device Parameter information.
  • the parameter information is a viewing angle; the MCU calculates, according to the angle of view of the lens, a preset viewing angle of an adjacent two photo overlap regions, and an angle of view that the super wide-angle photo is expected to reach, Multiple azimuths.
  • the unmanned aerial vehicle is controlled by the motor of the unmanned aerial vehicle at different attitude angles, and the photographing device separately takes photographs when the unmanned aerial vehicle is at a plurality of posture angles, and finally combines the photographs taken by the lens at each posture angle into one.
  • Zhang Chao wide-angle photo the aerial photography method of super wide-angle photos is realized.
  • the picture effect is in the normal range of the human eye vision, and the distortion problem of the fisheye lens, for example, does not occur, and the image is improved.
  • the quality of super wide-angle photos is provided.
  • Embodiment 13 of the present invention provides a robot.
  • FIG. 21 is a schematic structural diagram of a robot according to Embodiment 13 of the present invention.
  • the robot includes a body 2003, a mobile device 2001, a photographing device 2002, and a lens control device, and the mobile device 2001 is connected to the body 2003 for providing power for moving the body 2003;
  • the photographing device 2002 Mounted in the body 2003, the photographing device 2002 is provided with a lens 2005;
  • the lens control device is connected to the photographing device 2002 for controlling the photographing of the lens 2005;
  • the lens control device comprises one or more processors for: controlling The lens 2005 photographs at a plurality of azimuth angles, the plurality of azimuth angles include n latitude information and m longitude information, n is an integer greater than or equal to 2, and m is an integer greater than or equal to 1; Photos taken in multiple azimuths are combined into super wide-angle photos.
  • the processor is further configured to: acquire parameter information of the lens; and calculate, according to the parameter information, the plurality of azimuths that control the photo taken by the lens.
  • the photographing apparatus 2002 is installed at the top 2004 of the body 2003.
  • the lens control device is further configured to control the top portion 2004 of the body 2003 to rotate in a horizontal direction and/or a vertical direction according to the plurality of azimuth angles.
  • the photographing device is disposed on the body of the movable robot, and the photographing device can move along with the movement of the movable robot. If the top of the movable robot body can be rotated, the photographing device can also follow the top of the fuselage Rotating and rotating, the rotation of the top of the fuselage includes horizontal rotation and vertical rotation.
  • the lens of the photographing device can be at different azimuth angles, and when the azimuth of the lens coincides with the angle information for controlling the photograph taken by the lens, the movable robot control station
  • the lens is photographed at the azimuth angle, and the photograph taken by the lens in a plurality of azimuth angles is synthesized into a super wide-angle photograph, thereby realizing an aerial photographing method of the super wide-angle photograph, compared with the fisheye lens in the prior art, the screen effect
  • the distortion of the fisheye lens does not occur, and the quality of the super wide-angle photograph is improved.
  • the embodiment of the present invention calculates the plurality of azimuth angles of the photographed photograph of the lens according to the parameter information of the lens, and specifically controls the number of rotations of the lens in the horizontal direction, and rotates in the horizontal direction each time. Angle, and control the number of rotations of the lens in the vertical direction, each time the angle is rotated in the vertical direction, the lens is horizontal and vertical When rotating, the lens can be located at multiple azimuth angles, and photographed in multiple azimuth angles. Finally, the photographs taken at each azimuth angle are combined into a super wide-angle photograph, which realizes the shooting method of super wide-angle photos. Compared with the fisheye lens in the prior art, the picture effect is in the normal range of the human eye vision, and the distortion problem of the fisheye lens, for example, does not occur, and the quality of the super wide-angle photograph is improved.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

La présente invention concerne un procédé permettant de prendre des photos à grand angle, un dispositif, des têtes à berceau (20, 70, 1004), un véhicule aérien sans pilote et un robot. Un procédé permettant d'acquérir des photos à grand angle consiste : à commander des lentilles (22, 1005, 2005) pour prendre des photos à une pluralité d'angles d'azimut, la pluralité d'angles d'azimut comprenant n informations de latitude et m information(s) de longitude, n étant un nombre entier supérieur ou égal à 2, m étant un nombre entier supérieur ou égal à 1 ; et, à la pluralité d'angles d'azimut, à combiner les photos prises par les lentilles (22, 1005, 2005) afin d'obtenir une photo à angle ultra-large. Au moyen de la commande desdites lentilles (22, 1005, 2005) pour prendre des photos à une pluralité d'angles d'azimut, et de la combinaison des photos prises par ces lentilles (22, 1005, 2005) aux angles d'azimut pour obtenir une photo à angle ultra-large, la présente invention permet de prendre une photo à angle ultra-large, sans le problème de la distorsion d'un objectif ultra-grand-angulaire par exemple, ce qui améliore la qualité des photos à angle ultra-large.
PCT/CN2016/096594 2016-08-24 2016-08-24 Procédé permettant de prendre des photos à grand angle, dispositif, têtes à berceau, véhicule aérien sans pilote et robot Ceased WO2018035764A1 (fr)

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CN201680003183.XA CN107079104B (zh) 2016-08-24 2016-08-24 广角照片拍摄方法、装置、云台、无人飞行器及机器人
PCT/CN2016/096594 WO2018035764A1 (fr) 2016-08-24 2016-08-24 Procédé permettant de prendre des photos à grand angle, dispositif, têtes à berceau, véhicule aérien sans pilote et robot

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