US 12,456,161 B2
Panoramic photographing apparatus, panoramic photographing system, photographing method, and aircraft
Qijiang Wu, Shenzhen (CN); Jingkang Liu, Shenzhen (CN); and Kehui He, Shenzhen (CN)
Assigned to ARASHI VISION INC., Shenzhen (CN)
Appl. No. 17/790,984
Filed by ARASHI VISION INC., Shenzhen (CN)
PCT Filed Jan. 7, 2021, PCT No. PCT/CN2021/070707
§ 371(c)(1), (2) Date Jul. 6, 2022,
PCT Pub. No. WO2021/139732, PCT Pub. Date Jul. 15, 2021.
Claims priority of application No. 202010015141.6 (CN), filed on Jan. 7, 2020.
Prior Publication US 2023/0043497 A1, Feb. 9, 2023
Int. Cl. G06T 3/4038 (2024.01); B64D 47/08 (2006.01); B64U 10/14 (2023.01); G06T 7/174 (2017.01); H04N 23/951 (2023.01); H04N 23/957 (2023.01); B64U 101/30 (2023.01)
CPC G06T 3/4038 (2013.01) [B64D 47/08 (2013.01); B64U 10/14 (2023.01); G06T 7/174 (2017.01); H04N 23/951 (2023.01); H04N 23/957 (2023.01); B64U 2101/30 (2023.01)] 18 Claims
OG exemplary drawing
 
1. A panoramic photographing device, comprising:
a bracket for being connected with an aircraft body;
a photographing structure mounted on the bracket, the photographing structure comprising a first photographing structure disposed towards a first direction and a second photographing structure disposed towards a second direction, the first direction being opposite to the second direction, and a line of sight corresponding to the maximum viewing angle of the first photographing structure intersecting with a line of sight corresponding to the maximum viewing angle of the second photographing structure,
wherein each of the first photographing structure and the second photographing structure comprises at least one fisheye camera, and the maximum viewing angle of the fisheye camera is greater than 180 degrees,
a position of the first photographing structure satisfies the following condition: H1>LI/tanα1,
wherein the line of sight corresponding to the maximum viewing angle of the first photographing structure has an intersection point with the aircraft, the intersection point is a first farthest point, L1 is a vertical line segment from the first farthest point to the central axis of the lens of the first photographing structure, and the first farthest point has a first foot of a perpendicular with the central axis of the lens of the first photographing structure, al is an angle included between the line of sight corresponding to the maximum viewing angle of the first photographing structure and the central axis of the lens, and α1=0.5*(360-X1), X1 is the maximum viewing angle of the first photographing. and H1 is a distance between the central point of the lens of the first photographing structure and the first foot of a perpendicular; and
a position of the second photographing structure satisfies the following condition: H2>L2/tanα2,
wherein the position of the second photographing structure satisfies the following condition: H2>L2/tanα2, wherein the line of sight corresponding to the maximum viewing angle of the second photographing structure has other intersection point with the aircraft, the intersection point is a second farthest point, L2 is a vertical line segment from the second farthest point to the central axis of the lens of the second photographing structure, and the second farthest point has a second foot of a perpendicular with the central axis of the lens of the second photographing structure, α2 is an angle included between the line of sight corresponding to the maximum viewing angle of the second photographing structure and the central axis of the lens, and α2=0.5*(360-X2), X2 is the maximum viewing angle of the first photographing, and H2 is a distance between the central point of the lens of the second photographing structure and the second foot of a perpendicular.