CN-224233762-U - Movable platform

CN224233762UCN 224233762 UCN224233762 UCN 224233762UCN-224233762-U

Abstract

The utility model discloses a movable platform which comprises a load, a rotating shaft driving assembly and a rotating shaft driving assembly, wherein the load at least comprises a first image sensor and a second image sensor, the rotating shaft driving assembly is used for driving the load to rotate around a rotating shaft, the rotating shaft driving assembly can drive the load to be in a first posture or a second posture, the first image sensor is used for acquiring a first image, the second image sensor is used for acquiring a second image, the first image and the second image are used for generating panoramic images, the first image sensor is used for acquiring a third image, and the second image sensor is used for stopping acquiring images when the rotating shaft driving assembly drives the load to be in the second posture, and the first posture and the second posture are different.

Inventors

XIAO XIANG
DU KAI
LIU YIFEN
GAO WENLIANG

Assignees

深圳市闪至科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250415
Priority Date: 20240529

Claims (12)

1. A movable platform, comprising: A load comprising at least a first image sensor for sensing information of a first field of view range and a second image sensor for sensing information of a second field of view range, wherein the first field of view range and the second field of view range are different and at least partially overlap, and a set of the first field of view range and the second field of view range at least covers a panoramic field of view range; The rotary shaft driving assembly is used for driving the load to rotate around a rotary shaft; The rotary shaft driving assembly can drive the load to be in a first posture or a second posture, the first image sensor is used for acquiring a first image, the second image sensor is used for acquiring a second image, and the first image and the second image are used for generating a panoramic image under the condition that the rotary shaft driving assembly drives the load to be in the first posture; The first image sensor is configured to acquire a third image and the second image sensor stops acquiring images when the rotation axis driving assembly drives the load in a second posture, wherein the first posture and the second posture are different.
2. A movable platform capable of mounting a load comprising at least a first image sensor for sensing information of a first field of view range and a second image sensor for sensing information of a second field of view range, wherein the first field of view range and the second field of view range are different and at least partially overlap and a set of the first field of view range and the second field of view range at least covers a panoramic field of view range, the movable platform comprising: The rotary shaft driving assembly is used for driving the load to rotate around a rotary shaft; The rotary shaft driving assembly can drive the load to be in a first posture or a second posture, the first image sensor is used for acquiring a first image, the second image sensor is used for acquiring a second image, and the first image and the second image are used for generating a panoramic image under the condition that the rotary shaft driving assembly drives the load to be in the first posture; The first image sensor is configured to acquire a third image and the second image sensor stops acquiring images when the rotation axis driving assembly drives the load in a second posture, wherein the first posture and the second posture are different.
3. A movable platform is characterized in that the movable platform is capable of mounting a load and a rotation axis driving assembly, the load at least comprises a first image sensor and a second image sensor, the first image sensor is used for sensing information of a first view field range, the second image sensor is used for sensing information of a second view field range, the first view field range and the second view field range are different and at least partially overlap, a set of the first view field range and the second view field range at least covers a panoramic view field range, the rotation axis driving assembly is used for driving the load to rotate around a rotation axis, the rotation axis driving assembly is capable of driving the load to be in a first posture or a second posture, The first image sensor is used for acquiring a first image, the second image sensor is used for acquiring a second image, and the first image and the second image are used for generating a panoramic image under the condition that the rotating shaft driving assembly drives the load to be in a first posture; The first image sensor is configured to acquire a third image and the second image sensor stops acquiring images when the rotation axis driving assembly drives the load in a second posture, wherein the first posture and the second posture are different.
4. A movable platform according to any one of claims 1 to 3, wherein the optical axis of the first image sensor and the optical axis of the second image sensor are parallel to each other and the main sensing direction of the first image sensor and the main sensing direction of the second image sensor are opposite, and/or, The optical axis of the first image sensor and the optical axis of the second image sensor are collinear, and/or, The first image sensor has a field of view of 180 degrees or more, the second image sensor has a field of view of 180 degrees or more, the panoramic image comprises a 360 degree panorama, and/or, The first image sensor is configured to acquire an image above the movable platform and the second image sensor is configured to acquire an image below the movable platform, or the first image sensor is configured to acquire an image below the movable platform and the second image sensor is configured to acquire an image above the movable platform, with the first image sensor having a vertical field of view range of 180 degrees or more and a horizontal field of view range of 360 degrees or more, the second image sensor having a vertical field of view range of 180 degrees or more and a horizontal field of view range of 360 degrees or more, the panoramic image including a horizontal 360 degree panorama and a vertical 360 degree panorama, and/or, The first image sensor is used for acquiring an image on the left of the movable platform and the second image sensor is used for acquiring an image on the right of the movable platform, or the first image sensor is used for acquiring an image on the right of the movable platform and the second image sensor is used for acquiring an image on the left of the movable platform, or the first image sensor is used for acquiring an image in front of the movable platform and the second image sensor is used for acquiring an image behind the movable platform, or the first image sensor is used for acquiring an image behind the movable platform and the second image sensor is used for acquiring an image in front of the movable platform, wherein the horizontal view field range of the first image sensor is greater than or equal to 180 degrees and the vertical view field range is greater than or equal to 360 degrees, the horizontal view field range of the second image sensor is greater than or equal to 180 degrees and the vertical view field range is greater than or equal to 360 degrees, the horizontal panoramic view range comprises 360 degrees and vertical panoramic view range, The first image sensor and the second image sensor are fish-eye lenses.
5. The movable platform of any one of claims 1 to 3, wherein the first image sensor is configured to acquire a third image, comprising the first image sensor being configured to acquire a third image of a direction of movement of the movable platform or the first image sensor being configured to acquire a third image of a direction of interest.
6. A moveable platform according to any one of claims 1 to 3, wherein the rotation axis drive assembly comprises a pitch axis drive assembly.
7. A movable platform according to any one of claims 1 to 3, wherein the optical axis of the first image sensor and the optical axis of the second image sensor are substantially vertical when the load is in the first attitude, or In the case that the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a first included angle with the vertical direction, or The optical axis of the first image sensor and the optical axis of the second image sensor are parallel to the vertical direction of the body of the movable platform when the load is in the first posture, or In the case that the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a second included angle with the vertical direction of the body of the movable platform, or The optical axis of the first image sensor and the optical axis of the second image sensor are in a substantially horizontal direction when the load is in the second attitude, or In the case that the load is in the second posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a third included angle with the horizontal direction, or The optical axis of the first image sensor and the optical axis of the second image sensor are parallel to the horizontal direction of the body of the movable platform when the load is in the second posture, or The optical axis of the first image sensor and the optical axis of the second image sensor are parallel to the moving direction of the movable platform when the load is in the second posture, or With the load in the second attitude, the optical axes of the first and second image sensors are parallel to the direction of interest of the movable platform, or And under the condition that the load is in the second posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a fourth included angle with the horizontal direction of the body of the movable platform.
8. A movable platform according to claim 1 to 3, wherein the rotation axis driving assembly drives the load in the first attitude in a case where the movable platform enters a panoramic photographing mode, and/or, In the event that the movable platform exits panoramic photography mode, the rotational axis drive assembly drives the load out of the first attitude, and/or, In the case where the movable platform is in a take-off phase or a landing phase, the rotation axis drive assembly drives the load in a second attitude, and/or, In the case where the movable platform is in either aerial or FPV mode, the rotational axis drive assembly drives the load in a second attitude, and/or, In the case that the movable platform is in the storage mode, the rotation shaft driving assembly drives the load to be in the first posture, and the first image sensor and the second image sensor stop working, and/or, The movable platform includes a plurality of different modes in which the corresponding second poses are different, and/or, The movable platform includes one or more of a panoramic photography mode, an FPV mode, an aerial photography mode, a landing mode, a takeoff mode, or a storage mode.
9. A movable platform according to any one of claims 1 to 3, wherein the rotation axis driving unit drives the load to rotate by an angle within a predetermined range, and/or, The axis of rotation of the rotary shaft drive assembly passes through the center of the load, or the axis of rotation of the rotary shaft drive assembly is offset from the center of the load, and/or, The rotation shaft driving assembly is arranged at the head part of the movable platform, and/or, The movable platform itself is not present in the panoramic image.
10. A mobile platform according to any one of claims 1 to 3, further comprising a vision sensor for acquiring environmental information around the mobile platform and/or, The visual sensor comprises a binocular visual sensor comprising a first visual sensor and a second visual sensor, and/or, The vision sensor is disposed on the head of the movable platform and/or, The vision sensor may collect environmental information forward of and/or below the movable platform, and/or, The vision sensor is obliquely arranged on the head of the movable platform, and/or, The vision sensor is disposed obliquely downward on the head of the movable platform, and/or, The vision sensor may collect environmental information both forward and below the movable platform, and/or, The optical axis of the vision sensor forms a set angle with the horizontal direction of the body of the movable platform, and/or, The visual sensor has a field of view range greater than or equal to 180 degrees, and/or, The vision sensor is used for assisting the movable platform to realize obstacle avoidance and/or positioning.
11. A mobile platform according to any one of claims 1 to 3, wherein the mobile platform comprises an aircraft, a mobile robot, a mobile cart, a boat or a hand-held product.
12. A movable platform, comprising: A body; A load comprising at least a first image sensor for sensing information of a first field of view range and a second image sensor for sensing information of a second field of view range, wherein the first field of view range and the second field of view range are different and at least partially overlap, and a set of the first field of view range and the second field of view range at least covers a panoramic field of view range; The single-shaft driving assembly comprises a pitching shaft driving assembly, and one end of the pitching shaft driving assembly is connected with the load and used for driving the load to rotate around a pitching shaft; Wherein, under the condition that the pitching axis driving assembly drives the load to be in a first posture, the first image sensor is used for acquiring a first image above the movable platform, the second image sensor is used for acquiring a second image below the movable platform, and the first image and the second image are used for generating a panoramic image, wherein the movable platform is not present in the panoramic image.

Description

Movable platform The present application claims priority from the international office filed at month 29 of 2024, application number PCT/CN2024/096165, entitled "removable platform control method, apparatus, removable platform, and computer readable storage medium", the entire contents of which are incorporated herein by reference. Technical Field The application relates to the technical field of aerial photography, in particular to a movable platform. Background Currently, panoramic cameras can use two fisheye lenses for image stitching to synthesize panoramic images, but there is still some room for improvement. Disclosure of utility model Based on the above, the application provides a photographing apparatus to achieve an improvement in photographing effect or usability of a panoramic camera. In a first aspect, the present application provides a photographing apparatus, comprising: A load comprising at least a first image sensor for sensing information of a first field of view range and a second image sensor for sensing information of a second field of view range, wherein the first field of view range and the second field of view range are different and at least partially overlap, and a set of the first field of view range and the second field of view range at least covers a panoramic field of view range; The rotary shaft driving assembly is used for driving the load to rotate around a rotary shaft; The first image sensor is used for acquiring a first image and the second image sensor is used for acquiring a second image when the rotating shaft driving assembly drives the load to be in a first posture, the first image and the second image are used for generating a panoramic image, wherein the field of view range of the first image sensor comprises a first central field of view range and a first edge field of view range, the first edge field of view range at least covers a target field of view range when the load is in the first posture, and the shooting device is in a panoramic shooting mode when the load is in the first posture; The first image sensor is used for acquiring a third image under the condition that the rotating shaft driving assembly drives the load to be in a second posture, wherein the first posture and the second posture are different, the first central view field range at least covers the target view field range when the load is in the second posture, and the shooting equipment is in a non-panoramic shooting mode under the condition that the load is in the second posture. In a second aspect, the present application also provides a photographing apparatus, including: A load comprising at least a first image sensor for sensing information of a first field of view range and a second image sensor for sensing information of a second field of view range, wherein the first field of view range and the second field of view range are different and at least partially overlap, and a set of the first field of view range and the second field of view range at least covers a panoramic field of view range; The rotary shaft driving assembly is used for driving the load to rotate around a rotary shaft; The first image sensor is used for acquiring a first image and the second image sensor is used for acquiring a second image under the condition that the rotating shaft driving assembly drives the load to be in a first posture, and the first image and the second image are used for generating panoramic images, wherein the shooting equipment is in a panoramic shooting mode under the condition that the load is in the first posture; The first image sensor is used for acquiring a third image under the condition that the rotating shaft driving assembly drives the load to be in a second posture, wherein the first posture and the second posture are different, the image quality of an image of a target field of view range acquired by the first image sensor when the load is in the second posture is higher than the image quality of an image of the target field of view range acquired by the first image sensor when the load is in the first posture, and the shooting device is in a non-panoramic shooting mode under the condition that the load is in the second posture. In a third aspect, the present application also provides a photographing apparatus, including: A load comprising at least a first image sensor for sensing information of a first field of view range and a second image sensor for sensing information of a second field of view range, wherein the first field of view range and the second field of view range are different and at least partially overlap, and a set of the first field of view range and the second field of view range at least covers a panoramic field of view range; The rotary shaft driving assembly is used for driving the load to rotate around a rotary shaft; The first image sensor is used for acquiring a first image and the second image sensor is used for acquiring a second image under the condition tha