CN111650967A - Unmanned aerial vehicle for film and television shooting and holder control system - Google Patents
Unmanned aerial vehicle for film and television shooting and holder control system Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle for film and television shooting and a holder control system, wherein the system comprises an airborne part and a ground control terminal, the airborne part comprises a flight controller of the unmanned aerial vehicle, a GPS positioning module, an image processing module and a first wireless data transmission module, and the ground control terminal comprises a human-computer interaction module, a monitoring computer and a second wireless data transmission module; the image processing module can collect images and send the images to the monitoring computer to realize video recording, or push video streams to a network to realize live video broadcasting, the attitude directions of the unmanned aerial vehicle and the holder are always consistent with the relevant structures in the human-computer interaction module, and during use, the unmanned aerial vehicle can be manually controlled to fly and the visual angle of the camera can be adjusted through the human-computer interaction module, or the automatic follow-up shooting mode is set to enable the unmanned aerial vehicle to automatically track the target designated by the monitoring computer to shoot. The control system reduces the operation difficulty of unmanned aerial vehicle shooting and improves the shooting flexibility.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle for movie shooting and a holder control system.
Background
In the current movie and television industry, shooting methods for various visual effects are changing day by day, so that various shooting equipment is continuously updated. However, the method breaks through the airspace limit completely, and the long-lens picture brings qualitative leap, and the unmanned aerial vehicle is also applied to movie and television shooting. Because unmanned aerial vehicle has overcome the not enough of someone aircraft, it can furthest the super low-altitude flight or hover and approach the target object, accomplishes quick lift for the view is more direct, and the image is more clear, can also accomplish the shooting of equipment such as rocking arm can not shoot height and angle, is particularly suitable for complicated topography landform picture.
Although the technology of unmanned aerial vehicle aerial photography has been mature at present, can take out stable, comparatively ideal picture and video, extensively be used for fields such as movie & TV, military affairs, monitoring, still have a very important problem to be solved, this is that the nature controlled when shooing and flexibility still are not ideal enough. In the movie & TV shooting process, utilize traditional mode of controlling, small unmanned aerial vehicle often needs two people to cooperate, and large unmanned aerial vehicle then needs four people, the flying hand, the cloud platform hand, focus control and assistant. The operation and the control are difficult to be matched, the desired shooting effect cannot be achieved, and the shooting efficiency is low.
At present, patent documents propose an unmanned aerial vehicle control method easy to control, such as patent documents entitled "unmanned aerial vehicle control method, device and system based on gestures and eye movements" (publication number is CN 110412996A). hand-wearing equipment is used for acquiring gesture signals, head-wearing equipment is used for acquiring eye movement signals, and corresponding control instructions are obtained based on the combination of gestures and eye movements, so that the unmanned aerial vehicle control method is simplified, and multi-mode unmanned aerial vehicle control is realized. The control method has the defects that the signal source of the control instruction is not easy to collect and is unstable, misoperation is easy to occur, and the control precision is not high enough. The patent document named "pedal is controlled to unmanned aerial vehicle" (CN 110109507A) proposes a device that controls unmanned aerial vehicle through both feet, tramples the dynamics that two pedals are different through the control, controls the rotational speed of two left and right engines of unmanned aerial vehicle respectively, and then inclines and turns to the operation to unmanned aerial vehicle. The control precision of the method is high, but the method is still not flexible enough. Above two kinds of modes of controlling all are just to the improvement of controlling in the aspect of unmanned aerial vehicle, and can't realize controlling nimble the turning to of cloud platform camera when unmanned aerial vehicle.
Disclosure of Invention
In view of the above problems, the invention provides an unmanned aerial vehicle for film and television shooting and a holder control system, which can enable the attitude directions of the unmanned aerial vehicle and the holder to be always consistent with the interactive controller, so as to control the motion of the unmanned aerial vehicle, or select the unmanned aerial vehicle to automatically track the target for shooting, so that the camera view angle can be flexibly switched while the unmanned aerial vehicle is controlled to fly.
The invention has the technical scheme that the unmanned aerial vehicle and the holder control system for film and television shooting are characterized by comprising an airborne part and a ground control terminal; the airborne part comprises a flight controller, a GPS positioning module, an image processing module and a first wireless data transmission module; the ground control terminal comprises a human-computer interaction module, a monitoring computer and a second wireless data transmission module; the flight controller acquires a control instruction of the ground control terminal received by the first wireless data transmission module or a target coordinate sequence provided by the image processing module to control the attitude and the flight of the unmanned aerial vehicle; the GPS positioning module acquires horizontal position and altitude information to obtain the actual space position of the airplane body and sends the actual space position to the flight controller; the image processing module collects images and sends the images to a monitoring computer or pushes a video stream to a network, receives a control instruction from a ground control terminal, adjusts the view angle of the image, calculates to obtain a coordinate sequence of a tracking target in the images and provides the coordinate sequence to the flight controller; the first wireless data transmission module and the second wireless data transmission module carry out data wireless communication, a control instruction of the ground control terminal is transmitted to the flight controller, and meanwhile the real-time state of the unmanned aerial vehicle is fed back to the ground control terminal; the human-computer interaction module is used for controlling the flight state, the flight mode, the image transmission mode and the information display of the unmanned aerial vehicle; the monitoring computer is used for receiving and displaying the image sent by the image processing module, recording or intercepting the content of the picture, and meanwhile, the designated target in the picture can be framed and selected to enable the unmanned aerial vehicle to automatically track the target to fly.
Preferably, the image processing module consists of a microcomputer, a camera module and a holder; the camera module is fixed on the holder and used for collecting imagesTransmitting to a microcomputer; the microcomputer is connected with the flight controller by wire and is used for sending images to the monitoring computer or pushing video streams to the network and acquiring image sequences which are arranged according to time sequence and are acquired by the camera module
Is subjected to a treatment in which
For the number of acquired images, the position selected by the monitoring computer is selected from the image sequence
Determining the coordinates of the tracked target, and generating a target coordinate sequence
And connecting the target coordinate sequence
Providing the sequence to a flight controller, and controlling the unmanned aerial vehicle to track the target according to the sequence by the flight controller; the cloud platform is fixed in under the unmanned aerial vehicle fuselage and with flight controller wired connection for the visual angle of adjustment camera.
Preferably, the microcomputer is provided with a communication module, the screen can be sent to the ground control terminal, meanwhile, the video stream live broadcast screen can be pushed to the network selectively, and a networking user can log in a specified website to watch the screen in real time.
Preferably, the human-computer interaction module consists of a three-dimensional steering wheel, a tripod head operating lever and an interaction controller; the three-dimensional steering wheel and the tripod head operating lever can freely rotate in three dimensions; the holder operating lever is connected with the interactive controller and is used for controlling the airborne holder to rotate; the interaction controller is fixed on the three-dimensional steering wheel.
Preferably, the interaction controller can acquire the three-axis angle of the three-dimensional steering wheel, simultaneously receives the three-axis angle data of the holder joystick and sends the three-axis angle data to the flight controller through the second wireless data transmission module, the flight of the unmanned aerial vehicle and the rotation of the holder are controlled, the heading angles of the unmanned aerial vehicle and the three-dimensional steering wheel are always kept consistent to control the head orientation of the unmanned aerial vehicle, and the pitch angle and the roll angle of the unmanned aerial vehicle are in a certain proportional relation to control the flight direction of the unmanned aerial vehicle.
Preferably, the interactive controller is provided with a key, a knob and a display screen; the key is used for selecting whether an image transmission mode is used for pushing a video stream to a network or not, and the selected flight mode is automatic target tracking flight or manual control flight; the knob is used for controlling the flight height and the shifting speed of the unmanned aerial vehicle; the display screen is used for displaying real-time height, course angle, transverse moving speed gear and electric quantity of the unmanned aerial vehicle.
The system has the advantages that the system can collect pictures shot by the unmanned aerial vehicle and send the pictures to the control end to realize video recording, or push video streams to the network to realize video live broadcast, the attitude directions of the unmanned aerial vehicle and the cradle head are always consistent with the related structure of the control end, and the flight direction of the unmanned aerial vehicle is determined by the self attitude, so that the flight state of the unmanned aerial vehicle can be controlled by the interactive controller in real time, and meanwhile, the visual angle of the camera can be flexibly adjusted, or the unmanned aerial vehicle can automatically track the appointed target to shoot by being set to an automatic follow shooting mode. This kind of control system greatly reduced the operation degree of difficulty that unmanned aerial vehicle shot, improved the flexibility when shooing, can one-man operation, make unmanned aerial vehicle take photo by plane can be used to more professional movie & TV and shoot the scene.
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FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a top view of the human-machine interaction module of the present invention;
fig. 3 is a perspective view of the man-machine interaction module according to the present invention.
Description of reference numerals: 1. the system comprises a flight controller, 2, a GPS positioning module, 3, an image processing module, 4, a microcomputer, 5, a camera module, 6, a tripod head, 7, a first wireless data transmission module, 8, a monitoring computer, 9, a second wireless data transmission module, 10, a man-machine interaction module, 11, a tripod head control lever, 12, an interaction controller, 13, a three-dimensional steering wheel, 14, a display screen, 15, a key, 16, a knob, 17, an airborne part, 18 and a ground control terminal.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
As shown in fig. 1, an unmanned aerial vehicle and pan/tilt head control system for movie shooting comprises an airborne part 17 and a ground control terminal 18, wherein the airborne part 17 comprises an unmanned aerial vehicle flight controller 1, a GPS positioning module 2, an image processing module 3 and a first wireless data transmission module 7. The ground control terminal 18 comprises a human-computer interaction module 10, a monitoring computer 8 and a second wireless data transmission module 9.
Flight controller 1 can adopt arbitrary open source flight control panel based on FPGA or singlechip, also can independently design for control four rotor unmanned aerial vehicle's flight, and provide stable platform when shooing the picture for unmanned aerial vehicle. The GPS positioning module 2 is any device that can be used to obtain position information, is connected to the flight controller 1, and is used to obtain the actual spatial position of the drone and send the actual spatial position to the flight controller 1. The image processing module 3 is used for collecting, processing and transmitting images and switching visual angles, and comprises a microcomputer 4, a camera module 5 and a cloud deck 6. The camera module 5 is fixed on the pan/tilt head 6, is in wired connection with the microcomputer 4, and can adopt a common monocular camera for collecting images and transmitting the images to the microcomputer 4. The microcomputer 4 can be any card-type computer or other edge device capable of performing calculation processing, which is convenient to move and install, but must be provided with a communication module for connecting with a network, sending images to the monitoring computer 8 or pushing video streams to the network, and collecting a chronological image sequence collected by the camera module 5
Is subjected to a treatment in which
For the number of acquired images, the position selected by the monitoring computer 8 is selected from the image sequence
Determining the coordinates of the tracked target, and generating a target coordinate sequence
And connecting the target coordinate sequence
The sequence is provided to the flight controller 1, and the flight controller 1 controls the unmanned aerial vehicle to track the target according to the sequence. The cloud platform 6 is fixed under the fuselage and is connected with the flight controller 1 through wires, and is used for adjusting the visual angle of the camera.
The first wireless data transmission module 7 and the second wireless data transmission module 9 can use any wireless transceiver module capable of two-way communication, and can be a wireless transceiver or other mobile communication device. The two are used for data wireless communication, and the control instruction of the ground control terminal 18 is transmitted to the flight controller 1, and the real-time state of the unmanned aerial vehicle is fed back to the ground control terminal 18.
The monitoring computer 8 is a computer connected to the network, and may be a common notebook computer or a desktop computer, and is configured to receive and display the image sent by the image processing module 3, record or intercept the content of the screen, select a designated target in the screen in a frame, and send target position information to the microcomputer 4 through the network, so that the unmanned aerial vehicle automatically tracks the target to fly.
As shown in fig. 2 and 3, the human-computer interaction module 10 is used for controlling a flight state, a flight mode, an image transmission mode, and information display of the unmanned aerial vehicle, and includes a three-dimensional steering wheel 13, a pan-tilt joystick 11, and an interaction controller 12. The three-dimensional steering wheel 13 and the tripod head operating lever 11 can freely rotate in three dimensions, and the tripod head operating lever 11 is connected with the interactive controller 12 and used for controlling the tripod head 6 to rotate. Interactive controller 12 is fixed on three-dimensional steering wheel 13, be equipped with button 15, knob 16, display screen 14, the gyroscope is still equipped with, can acquire three-dimensional steering wheel 13's triaxial angle, the triaxial angle data of receiving cloud platform control rod 11 simultaneously send for flight controller 1 through second wireless data transmission module 9, control unmanned aerial vehicle's flight and cloud platform 6 rotation, make unmanned aerial vehicle and three-dimensional steering wheel 13's course angle remain one all the time in order to control unmanned aerial vehicle's aircraft nose orientation, and pitch angle and roll angle between them are direct proportional relation in order to control unmanned aerial vehicle's flight direction. The key 15 is used for selecting whether an image transmission mode is used for pushing a video stream to a network, and selecting whether a flight mode is automatic target tracking flight or manual control flight; the knob 16 is used for controlling the flight height and the shifting speed of the unmanned aerial vehicle; the display screen 14 is used for displaying the real-time height, the course angle, the transverse moving speed gear and the electric quantity of the unmanned aerial vehicle.
In this embodiment, unmanned aerial vehicle chooses for use four rotor unmanned aerial vehicle, and flight controller 1 chooses for use the flight control panel of autonomic design, chooses for use the raspberry group as microcomputer 4, and it is equipped with 4G communication module, chooses for use ordinary camera as camera module 5, chooses for use the wireless transceiver module of NRF24L01-2.4G as first wireless data transmission module 7 and second wireless data transmission module 9, chooses for use the brushless cloud platform of triaxial as cloud platform 6.
The present embodiment is connected as follows: for the airborne part, the flight control panel is in wired connection with the GPS positioning module 2, the raspberry group, the three-axis brushless holder and the airborne NRF24L01-2.4G wireless transceiver module through serial ports, the raspberry group is connected with the common camera through an FPC (flexible printed circuit) flat cable, the three-axis brushless holder is fixed right below the machine body, and the common camera is fixed on the three-axis brushless holder; for the ground part, the interactive controller 12 is in wired connection with the tripod head joystick 11 and the ground NRF24L01-2.4G wireless transceiver module, and the interactive controller 12 is fixed on the three-dimensional steering wheel 13.
After the connection is completed, the system is used according to the following steps:
(1) after the operator operates the interactive controller 12 to enable the quad-rotor unmanned aerial vehicle to take off, the height of the quad-rotor unmanned aerial vehicle is controlled through the adjusting knob 16, the ordinary camera starts to acquire images, at the moment, the pictures shot by the ordinary camera can be received and displayed on the monitoring computer 8, and then video recording is carried out;
(2) if the operator sets the selected flight mode as an automatic tracking target flight mode through a key 15 on the interactive controller 12, the operator can frame select a target in an image window of the monitoring computer 8, the monitoring computer 8 sends frame selection information to a raspberry group, the raspberry group runs an image processing algorithm and outputs target position information to a flight control panel, so that the flight control panel controls the quad-rotor unmanned aerial vehicle to track the target, and automatic tracking target shooting is realized;
(3) if the operator sets the flight mode to be the manual control flight mode through the key 15, the interactive controller 12 sends the three-dimensional angles of the three-dimensional steering wheel 13 and the pan-tilt joystick 11 to the flight control panel through the NRF24L01-2.4G wireless transceiver module, and the flight control panel outputs control quantity to enable the postures of the quad-rotor unmanned aerial vehicle and the NRF24L01-2.4G wireless transceiver module to be respectively consistent with the three-dimensional steering wheel 13 and the pan-tilt joystick 11;
(4) the operator controls the three-dimensional steering wheel 13 to tilt forwards, backwards, leftwards and rightwards, and the four-rotor unmanned aerial vehicle correspondingly flies forwards, backwards, leftwards and rightwards; when the three-dimensional steering wheel 13 is horizontally rotated, the direction of the machine head of the quad-rotor unmanned aerial vehicle is changed, and the machine body rotates by the same angle; when the rocker of the tripod head operating lever 11 is pulled, the NRF24L01-2.4G wireless transceiver module correspondingly rotates, so that the shooting visual angle of the common camera is changed;
(5) the operator rotates the knob 16 to change the sensitivity of the interactive controller 12 during the inclination, so as to adjust the speed gear of the quad-rotor unmanned aerial vehicle during the transverse movement flight, and enable the quad-rotor unmanned aerial vehicle to shoot a high-speed lens and a slow fine-adjustment lens according to corresponding scenes during shooting;
(6) if the operator sets the image transmission mode to be the live broadcast mode through the key 15, the raspberry group pushes the picture shot by the common camera to an appointed website through the 4G network to send a video stream, and the networking user can log in the website to watch the picture in real time, so that the live broadcast function is realized.
The above description is a preferred embodiment of the present invention, but the present invention should not be limited to the disclosure of this embodiment and the accompanying drawings. Therefore, it is intended that all equivalents and modifications which do not depart from the spirit of the invention disclosed herein are deemed to be within the scope of the invention.
Claims (6)
1. The utility model provides an unmanned aerial vehicle and cloud platform control system for movie & TV are shot which characterized in that: the system comprises an airborne part and a ground control terminal; the airborne part comprises a flight controller, a GPS positioning module, an image processing module and a first wireless data transmission module; the ground control terminal comprises a human-computer interaction module, a monitoring computer and a second wireless data transmission module; the flight controller acquires a control instruction of the ground control terminal received by the first wireless data transmission module or a target coordinate sequence provided by the image processing module to control the attitude and the flight of the unmanned aerial vehicle; the GPS positioning module acquires horizontal position and altitude information to obtain the actual space position of the airplane body and sends the actual space position to the flight controller; the image processing module collects images and sends the images to a monitoring computer or pushes a video stream to a network, receives a control instruction from a ground control terminal, adjusts the view angle of the image, calculates to obtain a coordinate sequence of a tracking target in the images and provides the coordinate sequence to the flight controller; the first wireless data transmission module and the second wireless data transmission module carry out data wireless communication, a control instruction of the ground control terminal is transmitted to the flight controller, and meanwhile the real-time state of the unmanned aerial vehicle is fed back to the ground control terminal; the human-computer interaction module is used for controlling the flight state, the flight mode, the image transmission mode and the information display of the unmanned aerial vehicle; the monitoring computer is used for receiving and displaying the image sent by the image processing module, recording or intercepting the content of the picture, and meanwhile, the designated target in the picture can be framed and selected to enable the unmanned aerial vehicle to automatically track the target to fly.
2. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 1, characterized in that: the image processing module consists of a microcomputer, a camera module and a holder; the camera module is fixed on the holder and used for collecting images and transmitting the images to the microcomputer; the microcomputer is connected with the flight controller by wire and is used for sending images to the monitoring computer or pushing video streams to the network and acquiring image sequences which are arranged according to time sequence and are acquired by the camera module
Processing is carried out, wherein k is the number of the acquired images, and the images are selected from the image sequence according to the position selected by the monitoring computer frame
Determining the coordinates of the tracked target, and generating a target coordinate sequence
And connecting the target coordinate sequence
Providing the sequence to a flight controller, and controlling the unmanned aerial vehicle to track the target according to the sequence by the flight controller; the cloud platform is fixed in under the unmanned aerial vehicle fuselage and with flight controller wired connection for the visual angle of adjustment camera.
3. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 2, characterized in that: the microcomputer is provided with a communication module, the pictures are sent to the ground control terminal, meanwhile, the video stream live broadcast pictures can be selectively pushed to the network, and a networking user can log in a specified website to watch the pictures in real time.
4. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 1, characterized in that: the man-machine interaction module consists of a three-dimensional steering wheel, a tripod head operating lever and an interaction controller; the three-dimensional steering wheel and the tripod head operating lever can freely rotate in three dimensions; the holder operating lever is connected with the interactive controller and is used for controlling the airborne holder to rotate; the interaction controller is fixed on the three-dimensional steering wheel.
5. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 4, wherein: the interactive controller can acquire the triaxial angle of the three-dimensional steering wheel, receives the triaxial angle data of the holder control rod and sends the triaxial angle data to the flight controller through the second wireless data transmission module, controls the flight of the unmanned aerial vehicle and the rotation of the holder, enables the course angle of the unmanned aerial vehicle and the three-dimensional steering wheel to be always kept consistent so as to control the head orientation of the unmanned aerial vehicle, and the pitch angle and the roll angle of the unmanned aerial vehicle and the roll angle of the three-dimensional steering wheel are in a certain proportional relation so as to control the flight direction of the unmanned.
6. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 4, wherein: the interactive controller is provided with a key, a knob and a display screen; the key is used for selecting whether an image transmission mode is used for pushing a video stream to a network or not, and the selected flight mode is automatic target tracking flight or manual control flight; the knob is used for controlling the flight height and the shifting speed of the unmanned aerial vehicle; the display screen is used for displaying real-time height, course angle, transverse moving speed gear and electric quantity of the unmanned aerial vehicle.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114396575A (en) * | 2022-01-21 | 2022-04-26 | 深圳市乐惠光电科技有限公司 | Automatic following illumination system for emergency rescue fire truck and control method thereof |
| CN116389783A (en) * | 2023-06-05 | 2023-07-04 | 四川农业大学 | Live broadcast linkage control method, system, terminal and medium based on unmanned aerial vehicle |
| WO2023178670A1 (en) * | 2022-03-25 | 2023-09-28 | 深圳市大疆创新科技有限公司 | Image transmission method, aparatus, and device for movable platform |
| CN117156267A (en) * | 2023-09-07 | 2023-12-01 | 思翼科技（深圳）有限公司 | Cloud deck camera working mode switching method and system based on environment self-adaption |
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