CN106165388B - It takes photo by plane with burnt control system, take photo by plane with burnt control method and aircraft - Google Patents
It takes photo by plane with burnt control system, take photo by plane with burnt control method and aircraft Download PDFInfo
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- CN106165388B CN106165388B CN201580011418.5A CN201580011418A CN106165388B CN 106165388 B CN106165388 B CN 106165388B CN 201580011418 A CN201580011418 A CN 201580011418A CN 106165388 B CN106165388 B CN 106165388B
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- Prior art keywords
- aircraft
- burnt
- control system
- remote controler
- plane
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 119
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 53
- 238000005516 engineering process Methods 0.000 claims description 22
- 238000010295 mobile communication Methods 0.000 claims description 7
- 239000000571 coke Substances 0.000 description 10
- 230000008859 change Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
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- 238000000060 site-specific infrared dichroism spectroscopy Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
-
- 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
- H04N23/67—Focus control based on electronic image sensor signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- 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
Abstract
One kind is taken photo by plane with burnt control system, generates the Gen Jiao Away control devices (3) with burnt control instruction including being used for, described take photo by plane further includes with burnt control system：Aircraft remote controler (4), the aircraft remote controler (4) communicate to connect to receive the described with burnt control instruction of Gen Jiao Away control devices (3) transmission with Gen Jiao Away control devices (3)；Its dead end communication unit (18) comes from the described with burnt control instruction of the aircraft remote controler (4) for being communicated to connect with the aircraft remote controler (4) to receive；And control system, the camera lens of the filming apparatus (23) is driven to rotate with burnt control instruction control focus tracking motor (24) for what is received according to the day dead end communication unit (18).The present invention also provides one kind to take photo by plane with burnt method and a kind of aircraft (1).
Description
Technical field
The present invention relates to one kind to take photo by plane with burnt control system and method more particularly to a kind of taking photo by plane with coke based on unmanned plane
Control system and method and the aircraft using this method.
Background technology
Existing to generally comprise hand-held remote control end and motor receiving terminal with burnt system, hand-held remote control end gets rotatable handle
Behind position, motor receiving terminal is sent instructions to by wireless radio frequency modules, motor receiving terminal controls motor again after receiving instruction
Rotation so as to which camera lens be driven to rotate, realizes the change of lens focus or aperture.The existing remote control with burnt system and unmanned plane
And it receives system and is independent from each other.
However in application of taking photo by plane, the flying distance of unmanned plane has been more than the existing remote control distance with burnt system, and with
Distance becomes remote, can greatly to increase with the hand-held remote control end of burnt system and the communication delay of motor receiving terminal and interim card occurs,
Which results in can not be directly applied to unmanned plane field with burnt system by existing.
Invention content
In view of this, it is necessary to one kind be provided and taken photo by plane with burnt control system, method and aircraft.
One kind is taken photo by plane with burnt control system, and the Gen Jiao Away including being used to generating with burnt control instruction control device, it is described take photo by plane with
Burnt control system further includes：Aircraft remote controler, the aircraft remote controler communicate to connect to receive with Gen Jiao Away control devices
The Gen Jiao Away controls device transmits described with burnt control instruction；Its dead end communication unit, for leading to the aircraft remote controler
Letter connection with receive from described in the aircraft remote controler with burnt control instruction；And control system, for according to the day
The camera lens rotation that the filming apparatus is driven with burnt control instruction control focus tracking motor that dead end communication unit is received.
Further, the day dead end communication unit is rf receiver and transmitter.
Further, the rf receiver and transmitter is the application-specific integrated circuit for performing transmitting-receiving microwave signal, is transported
Line frequency is in the microwave range of 5.728GHz -5.85GHz.
Further, the day dead end communication unit is the communication unit set on the filming apparatus.
Further, described take photo by plane further includes terminal display screen with burnt control system, and the terminal display screen is for real-time
Show the image information captured by the filming apparatus.
Further,：The terminal display screen is aobvious independently of what is set on the terminal device of the aircraft remote controler
Display screen, the terminal device communicate to connect to receive the shooting by the aircraft remote controler with the aircraft remote controler
The image information of device shooting.
Further, the terminal display screen is wholely set with the aircraft remote controler.
Further, the terminal display screen is wholely set with described with burnt remote controler, it is described with burnt remote controler from described
Aircraft remote controler obtains described image information to show described image information in the terminal display screen.
Further, described image information is sent to the aircraft remote controler by the day dead end communication unit.
Further, the control system is flight control system, the flight control system and the filming apparatus
Described image information is sent to described fly by communication connection to receive described image information by the aircraft communication unit
Row device remote controler.
Further, the control system is cloud platform control system, and the cloud platform control system leads to the filming apparatus
Described image information is passed through the day dead end communication unit by letter connection for obtaining the image information of the filming apparatus shooting
Member is sent to the aircraft remote controler.
Further, the day dead end communication unit is arranged on the cloud platform control system.
Further, the control system be cloud platform control system, the cloud platform control system also with the aircraft control
System communication connection processed is described with burnt control instruction to receive.
Further, the cloud platform control system communicates to connect to transmit described image letter with the flight control system
Described image information is sent to the aircraft again and is remotely controlled by breath to the flight control system, the flight control system
Device.
Further, the aircraft remote controler further includes input unit, and the input unit is used for according to user's operation
Flight control instruction is generated to control the flight of the aircraft.
Further, it is described to pass through wired, bluetooth, infrared, WIFI, movement with burnt remote controler and the aircraft remote controler
One or more of which mode in communication network communicates to connect.
Further, the image information is encrypted in transmission using encryption technology.
Further,：The aircraft remote controler is equipped with holding part, and the Gen Jiao Away controls device can be removably accommodated in
In the holding part.
Further, the inner wall of the holding part is equipped with electrical connection section, and the Gen Jiao Away controls device is equipped with to be electrically connected with described
The corresponding connectivity port in portion, when Gen Jiao Away control devices are accommodated in the holding part, the connectivity port is electrically connected with described
Socket part is electrically connected.
Further, when the Gen Jiao Away controls device is detached from the holding part, connect with the aircraft remote controler wireless telecommunications
It connects.
One kind is taken photo by plane with burnt control method, applied to an aircraft, filming apparatus is provided on the aircraft and is used for
The focus tracking motor that the camera lens of the filming apparatus is driven to rotate, described take photo by plane include with burnt control method：With burnt remote controler base
It is generated in user's operation with burnt control instruction；It is described described with burnt control instruction to aircraft remote controler with the transmission of burnt remote controler；
The aircraft remote controler transmission is described with burnt control instruction to the aircraft；The aircraft refers to according to described with coke control
Enable the camera lens rotation that the focus tracking motor is controlled to drive the filming apparatus.
Further, the aircraft remote controler is sent to by twireless radio-frequency communication technology by described with burnt control instruction
The aircraft.
Further, the aircraft include flight control system, " according to it is described with burnt control instruction control described in
Burnt device motor drives the camera lens rotation of the filming apparatus " performed by the flight control system.
Further, the aircraft include cloud platform control system, " according to it is described with burnt control instruction control described in coke
Device motor drives the camera lens rotation of the filming apparatus " performed by the cloud platform control system.
Further, described take photo by plane further includes with burnt control method：The aircraft is obtained captured by the filming apparatus
Image information；The aircraft transmits described image information to the aircraft remote controler；And the aircraft remote controler passes
Described image information is sent to a terminal display screen to show described image information in the terminal display screen.
Further, described take photo by plane further includes with burnt control method：The aircraft is described carry-on from being arranged on
Sensor obtains the flying quality of the aircraft；The flying quality is transmitted to the aircraft remote controler；And the flight
Device remote controler transmits the flying quality to the terminal display screen to show described image information in the terminal display screen.
Further, described take photo by plane further includes with burnt control method：The aircraft remote controler is generated according to user's operation
Flight control instruction；And the aircraft remote controler transmits the flight control instruction to the aircraft to control the flight
The flight of device.
A kind of aircraft, including holder, for the holder for loading filming apparatus and focus tracking motor, the focus tracking is electric
Machine is used to that the camera lens of the filming apparatus to be driven to rotate, it is characterised in that：The aircraft further includes：Its dead end communication unit,
The day dead end communication unit is used to receive with burnt control instruction from an aircraft remote controler；And control system, the control system
System is used for according to the camera lens rotation for the focus tracking motor being controlled to drive the filming apparatus with burnt control instruction.
Further, the day dead end communication unit is aircraft communication unit, and the aircraft communication unit is wireless
RF transceiver.
Further, the aircraft communication unit is additionally operable to receive the flight control from the aircraft remote controler and refers to
It enables, the control system is additionally operable to control the flight of the aircraft according to the flight control instruction.
Further, the control system is additionally operable to obtain the image letter of the filming apparatus shooting from the filming apparatus
Breath, the day dead end communication unit are additionally operable to described image information being sent to the aircraft remote controler.
Further, the holder includes cloud platform control system, and the cloud platform control system is used to control the holder phase
The fuselage of the aircraft is rotated around multiaxis.
Further, the control system is cloud platform control system, and the cloud platform control system communicates with the day dead end
Unit communication connection is described with burnt telecommand to receive.
Further, the day dead end communication unit is arranged on the cloud platform control system.
Further, the day dead end communication unit is arranged on the filming apparatus.
Further, the image information captured by the filming apparatus is directly sent to by the day dead end communication unit
The aircraft remote controler.
Further, the aircraft further includes sensor, and the sensor is sensed during the aircraft flight
Flying quality, it is distant that the control system also by the flying quality is sent to the aircraft by the day dead end communication unit
Control device.
It is described to take photo by plane with burnt system and method, aircraft can will be sent to by aircraft remote controler with burnt control instruction,
It realizes and lens focus or aperture is controlled in the field of taking photo by plane, aerial photographing effect can be obviously improved.
Description of the drawings
Fig. 1 is a kind of structure diagram for unmanned plane that embodiment of the present invention provides.
Fig. 2 is a kind of module diagram for unmanned plane that embodiment of the present invention provides.
Fig. 3 is a kind of the taking photo by plane with the structure diagram of burnt system of embodiment of the present invention offer.
Fig. 4 is a kind of the taking photo by plane with the stereogram of burnt control system of embodiment of the present invention offer.
Fig. 5 is the module diagram taken photo by plane shown in Fig. 3 with burnt control system.
Fig. 6 is a kind of structure diagram for aircraft remote controler that figure embodiment of the present invention provides.
Fig. 7 is a kind of taking photo by plane with the flow chart of burnt method of providing of embodiment of the present invention.
What Fig. 8 was that another embodiment of the present invention provides a kind of takes photo by plane with the flow chart of burnt method.
Main element symbol description
Aircraft 1
Fuselage 10
Flight control system 12
Storage device 14
Sensor 16
First communication unit 18
Holder 2
Cloud platform control system 20
Bindiny mechanism 21
Supporting mechanism 22
Filming apparatus 23
Focus tracking motor 24
With burnt remote controler 3
Knob structure 30
Angular transducer 32
Controller 33,44
Second communication unit 34
Aircraft remote controler 4
Third communication unit 40
Input unit 42
Fourth communication unit 46
Fifth communication unit 48
Terminal display screen 5
Following specific embodiment will be further illustrated the present invention with reference to above-mentioned attached drawing.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
Can be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood meaning of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " including one or more phases
The arbitrary and all combination of the Listed Items of pass.
Please refer to Fig.1 and Fig. 2 shown in, embodiment of the present invention provides a kind of aircraft 1, and the aircraft 1 can be rotor
The aircraft that aircraft, Fixed Wing AirVehicle or fixed-wing are mixed with rotor.Wherein described rotor can be single rotor, DCB Specimen,
Three rotors, quadrotor, six rotors and eight rotors etc..In the present embodiment, the aircraft 1 is rotor unmanned aircraft
(Unmanned Aerial Vehicle,UAV)。
The aircraft 1 includes fuselage 10, flight control system 12, storage device 14, sensor 16, the first communication unit
Member 18 and holder 2.In present embodiment, the flight control system 12, storage device 14,16 and first communication unit of sensor
Member 18 is all disposed with holder 2 on the fuselage 10.It is understood that in other implementations, the sensor 16,
First communication unit 18 can be arranged on the other positions in addition to the fuselage 10 on the aircraft 1, for example, aircraft
On 1 horn (figure does not indicate).
The flight control system 12 is used to control the flight of the aircraft 1, including but not limited to, controls aircraft
1 flying speed, height, posture etc..In one embodiment, the number amount and type of the sensor 16 can be multiple, including
But it is not limited to, Inertial Measurement Unit, baroceptor, temperature sensor, acceleration transducer, position sensor etc..The biography
Sensor 16 and filming apparatus 23 are communicated to connect by wired or wireless mode and the flight control system 12, the flight
Device control system 12 can obtain the various flying qualities of the aircraft 1 from the sensor 16, including but not limited to, height,
Acceleration (pitching, rolling and yaw), posture, geographical location, speed, external air temperature and/or air pressure etc..The flight
Device control system 12 can obtain image that the filming apparatus 23 is shot etc. from filming apparatus 23.Acquired various flight numbers
According to can preserve into the storage device 14 of the aircraft 1.
First communication unit 18 is used to communicate to connect with an aircraft remote controler 4 (Fig. 3), for receiving from flight
The flight directive of device remote controler 4.The flight directive that the flight control system 12 is received according to first communication unit 18
Control the flight of aircraft, including take off and land, accelerate, slow down, particular course flight, given pose flight etc..Described
One communication unit 18 uses communication, such as can be a kind of rf receiver and transmitter.In the present embodiment, described
One communication unit 18 is additionally operable to receive from the aircraft remote controler 4 with burnt control command, described to be used with burnt control command
In the camera lens rotation for controlling the filming apparatus 23.The flight control system 12 is additionally operable to pass described with burnt control command
It send to the holder 2.
First communication unit 18 can be a rf receiver and transmitter, and illustratively, the rf receiver and transmitter can be by
Several element compositions, including radio frequency (Radio Frequency, RF) filter, the RF filters only allow specified signal wave
Section passes through.The rf receiver and transmitter may also include a RF front ends, and the RF front ends are an integrated circuits, for performing：Drop
Frequency converts the RF signals to intermediate frequency (Intermediate Frequency, IF) signal；Amplify the IF signals, using IF mistakes
Filter filters the signal and converts the signal to two numerical digit components using the analog-digital converter in chip：Label and amount
Grade.One phase-locked loop filter be used for using the down converter with as when base reference crystal together be built into the RF
Front end.The gain of the IF amplifiers of the RF front ends can pass through automatic growth control (Automatic gain control, AGC)
Signal controls.
In the described embodiment, the rf receiver and transmitter can be one for the special integrated of execution transmitting-receiving microwave signal
Circuit, running frequency can be in the microwave ranges of 5.728GHz -5.85GHz.The rf receiver and transmitter can be connect by antenna
Receive and transmit radio signal.
The holder 2 includes cloud platform control system 20, bindiny mechanism 21 and supporting mechanism 22.The cloud platform control system
20 are used to that the holder 2 to be controlled to rotate around multiaxis relative to the fuselage 10 of the aircraft 1.The cloud platform control system 20 is additionally operable to
It communicates to connect to receive from the flight control system 12 with burnt control command with the flight control system 12.Institute
Stating cloud platform control system 20 can communicate to connect by way of wirelessly or non-wirelessly with the flight control system 12, wired mode
It is connected including various ports, such as universal serial bus (universal serial bus, USB), controller LAN
(Inter- between (Controller area network, CAN), serial and/or other standards network connection, integrated circuit
Integrated Circuit, I2C) bus etc.；Wireless mode includes bluetooth, infrared ray, Wireless Fidelity (Wireless
Fidelity, WiFi) etc..
The supporting mechanism 22 is arranged on by bindiny mechanism 21 on fuselage 10, and for carrying filming apparatus 23 and with coke
Device motor 24.The bindiny mechanism 21 can be multi-spindle rotary mechanism so that the supporting mechanism 22 can be rotated around multiaxis and be become
Change the shooting direction and/or angle of the filming apparatus 23.The camera lens phase of the focus tracking motor 24 and the filming apparatus 23
Even, it is filled for the camera lens of the filming apparatus 23 to be driven to rotate under the control of cloud platform control system 20 so as to change the shooting
Put 23 lens focus or aperture effect.In the present embodiment, the focus tracking motor 24 passes through gear (not shown) and institute
The camera lens connection of filming apparatus 23 is stated, the focus tracking motor 24 rotates under the control of cloud platform control system 20, passes through gear
The camera lens of the filming apparatus 23 is transmitted power to, so that the camera lens rotation of the filming apparatus 23.In other embodiment party
In formula, the focus tracking motor 24 can also be connect by other suitable connection modes with the camera lens of the filming apparatus 23,
It can be rotated under the power drive of focus tracking motor 24 as long as the camera lens of the filming apparatus 23 can be driven, for example, belt connects
It connects.In the present embodiment, the focus tracking motor 24 is set independently of the filming apparatus 23, in other embodiments, institute
Stating focus tracking motor 24 can be wholely set with the filming apparatus 23.
It please refers to shown in Fig. 3, a kind of takes photo by plane for what embodiment of the present invention provided with the schematic diagram of burnt system.It is described to take photo by plane
With burnt system include flight control system 12, cloud platform control system 20, filming apparatus 23, focus tracking motor 24, with coke be remotely controlled
Device 3, aircraft remote controler 4 and terminal display screen 5.
It is described to be used to be generated with burnt control command according to user's operation with burnt remote controler 3, it is described with burnt control command to have
Line is wirelessly sent to the aircraft remote controler 4 from described with burnt remote controler 3；The aircraft remote controler 4 again will
It is described to be sent to the flight control system 12 by communications such as twireless radio-frequency communications with burnt control command, it is described
Flight control system 12 is resent to the cloud platform control system 20 by described with burnt control command.The focus tracking motor 24
Driving force is generated under the control of the cloud platform control system 20, the camera lens rotation for driving the filming apparatus 23 is described to change
The lens focus of filming apparatus 23 and/or aperture effect.
In an embodiment illustrated, the aircraft remote controler 4 can be equipped with holding part, it is described with burnt Away control device 3 can
It is removably accommodated in the holding part.The inner wall of the holding part is equipped with electrical connection section, Gen Jiao Away control device 3 be equipped with
The corresponding connectivity port of the electrical connection section, when Gen Jiao Away control devices 3 are accommodated in the holding part, the connectivity port
It is electrically connected with the electrical connection section.When the Gen Jiao Away controls device 3 is detached from the holding part, with the aircraft remote controler channel radio
News connection.
The terminal display screen 5 can be the aobvious of the handheld devices such as display or mobile phone, the tablet computer of a computer equipment
Display screen.In other embodiments, the terminal display screen 5 may alternatively be integrated within and fly on the aircraft remote controler 4 as described
A part for row device remote controler 4.In another alternative embodiments, the terminal display screen 5 can also be integrated in it is described with
Become the part with burnt remote controler 3 on burnt remote controler 3.It is described with burnt remote controler 3 in further alternate
Display screen is all connected with or be provided with the aircraft remote controler 4, is respectively used to show the image that the filming apparatus 23 is shot
And flying quality of the aircraft 1 in flight course.The terminal display screen 5 can be used for aircraft 1 described in real-time display
The figure of flying quality and/or the filming apparatus 23 captured by the flight course of the aircraft 1 in flight course
Picture.
It please refers to shown in Fig. 4 and Fig. 5, is provided for embodiment of the present invention a kind of with burnt remote controler 3.It is described to be remotely controlled with coke
Device 3 includes knob structure 30, angular transducer 32,33 and second communication unit 34 of controller.The knob structure 30 can be grasped
Make to rotate relative to the ontology with burnt remote controler 3.The angular transducer 32 is used to sense the rotation of the knob structure 30
Gyration information.The controller 33 is used to be generated according to the rotation angle information that the angular transducer 32 is sensed and be controlled with coke
System order.
Second communication unit 34 is used to communicate to connect with the aircraft remote controler 4 described with burnt control command to incite somebody to action
It is sent to the aircraft remote controler 4.Wired or wireless way can be used in second communication unit 34.The wired mode packet
It includes and is connected by communication port, such as USB interface etc..The wireless communication system of arbitrary classification, example can be used in the wireless mode
Such as, bluetooth, infrared ray, Wireless Fidelity (Wireless Fidelity, WiFi), cellular technology, satellite and broadcast.It is wherein described
Cellular technology may include the mobile communication technologies such as the second generation (2G), the third generation (3G), forth generation (4G) or the 5th generation (5G).It is described
3G and 4G technologies be based on meeting the International Telecommunication Union (International Telecommunications Union,
ITU) the mobile communication standard for the international standard promulgated.The 3G and 4G technologies can provide 200 kilobit per second to per second thousands of
Megabit the rate of information throughput so that it is widely used in using big bandwidth for transmission high-resolution image and video.3G
Technology typically refers to those and meets (the International Mobile Telecommunications of ternational Mobile Telecommunications 2000
2000, IMT-2000) technology of the reliability of standard and message transmission rate.Common business 3G technology includes, based on spread spectrum
The system and radio interface of radio transmission techniques, such as pass through third generation partner program (3rd Generation
Partnership Project, 3GPP) standardization UMTS system, W-CDMA radio interface, China propose TD-SCDMA
Radio interface, HSPA+UMTS publications, CDMA2000 systems and EV-DO.In addition, other technologies, such as EDGE, DECT and shifting
Dynamic WiMAX also complies with IMT-2000, thus also by ITU approvals as 3G standard.Correspondingly, " 3G " used herein this word packet
It includes, but is not limited to, any technology for meeting IMT-2000, including those technologies mentioned here.
In contrast, 4G technologies are construed broadly as those and meet Advanced International Mobile Communications
(International Mobile Telecommunications Advanced, IMT-Advanced) specification
It is required that maximum speed reaches 100 megabits per second when high mobility communicates, per second one is reached when Hypomobility communicates for technology
Gigabit.In October, 2010, the 4G standards of ITU approvals include enhancing LTE and enhancing wireless MAN (WirelessMAN-
Advanced).But the 4G services of some commercial operations quotient publication are not in full conformity with IMT-Advanced specifications, such as LTE,
Mobile WiMAX and TD-LTE.Correspondingly, " 4G " this word mentioned here includes, but are not limited to these later skills
Art, such as LTE, Mobile WiMAX and TD-LTE meet the technology of IMT-Advanced with those, including mentioned here
Those technologies.And 5G is the next generation mobile communication standard for surmounting current 4G/IMT-Advanced standards.
As shown in fig. 6, a kind of module map of aircraft remote controler 4 provided for embodiment of the present invention.The aircraft
Remote controler 4 includes, but are not limited to third communication unit 40, input unit 42, controller 44, fourth communication unit 46 and the 5th
Communication unit 48.The third communication unit 40 is corresponding with second communication unit 34, for second communication unit
34 communication with receive from it is described with burnt remote controler 3 with burnt control command.
Instruction inputting device of the input unit 42 for the aircraft remote controler 4, such as remote-control handle, touch screen
Deng for generating the flight for inputting and instructing to control aircraft 1 according to user's operation.
The controller 44 is used to generate flight control command according to the input instruction to control the flight of aircraft 1.
The controller 44 is additionally operable to send out what is received by third communication unit 40 by fourth communication unit 46 with burnt control command
It send to the flight control system 12.
The fourth communication unit 46 be with the 18 corresponding communication unit of the first communication unit, it is logical with described first
Believe that unit 18 uses identical communication, such as twireless radio-frequency communication.
The fifth communication unit 48 for being communicated to connect with the terminal display screen 5, with transmit the flying quality and/
Or captured image is to the terminal display screen 5.Wirelessly or non-wirelessly communication mode can be used in the fifth communication unit 48, packet
It includes but is not limited to, the wired mode connected by the various communication port such as USB, CAN, I2C；And bluetooth, infrared ray, WiFi, such as
The communications such as upper 2G, 3G, 4G or 5G mobile communications network.
As shown in fig. 7, it a kind of takes photo by plane for what embodiment of the present invention provided with the flow chart of burnt control method 600.According to
Different demands, the sequence of step can change in the flow chart, and certain steps can be omitted or merge.
Step 602, the controller 33 with burnt remote controler 3 receives the knob structure 30 from the angular transducer 32
Rotation angle information.
Step 604, the controller 33 with burnt remote controler 3 is converted to the angle information with burnt control command.
Step 606, the controller 33 with burnt remote controler 3 described will be controlled by affiliated second communication unit 34 with coke
Order is sent to the aircraft remote controler 4.Specifically, described be converted to burnt control command is suitable for by the controller 33
The control command that second communication unit 34 transmits, then passes through second communication unit by the control command after format conversion
Member 34 is transmitted to the third communication unit 40 of the aircraft remote controler 4.
Step 608, the aircraft remote controler 4 is sent to the aircraft 1 by described with burnt control command.Specifically,
The aircraft remote controler 4 is converted into what is received by the third communication unit 40 with burnt control command suitable for the described 4th
Then the form that communication unit 46 transmits is transmitted to the first communication of the aircraft 1 by the fourth communication unit 46 again
Unit 18.
Step 610, the flight control system 12 will be received by the third communication unit 40 described in coke control
System order is sent to the cloud platform control system 20.
Step 612, the control command is sent to the focus tracking motor 24 to control by the cloud platform control system 20
The focus tracking motor 24 rotates.
Step 614, the rotation of focus tracking motor 24 drives the camera lens rotation burnt to change the camera lens
Away from or aperture effect.
As shown in figure 8, it a kind of takes photo by plane for what another embodiment of the present invention provided with the flow chart of burnt control method 800.
According to different demands, the sequence of step can change in the flow chart, and certain steps can be omitted or merge.
Step 802, the cloud platform control system 20 obtains the image information that filming apparatus 23 is shot.
Step 804, acquired image information is sent to the flight control system by the cloud platform control system 20
12。
Step 806, described image information is sent to the aircraft remote controler 4 by the flight control system 12.
Step 808, described image information is sent to the terminal display screen 5 to show by the aircraft remote controler 4
State image information.According to shown image information, user can adjust vehicle teleoperation to adjust aircraft flight appearance
Gesture, position and angle etc. adjust the rotation angle with the knob structure 30 of burnt remote controler 3 to change with burnt control command etc..
It is appreciated that described can also be sent to first communication with burnt control command from the aircraft remote controler 4
After unit 18, the cloud platform control system 20 is directly communicated to connect with first communication unit 18 with from first communication unit
Member 18 obtains described with burnt control command.The cloud platform control system 20 can pass through the upper wired or wireless way and institute
The first communication unit 18 is stated to be communicatively coupled.
It is appreciated that described can also be sent to first communication with burnt control command from the aircraft remote controler 4
After unit 18, the flight control system 12 is conveyed directly to the focus tracking motor 24 with control by described with burnt control command
The focus tracking motor is made to be rotated with burnt control command according to described.
It is appreciated that described can also be sent to first communication with burnt control command from the aircraft remote controler 4
It, can be by an individual control system (for example, independently of the flight control system 12, cloud platform control system after unit 18
20) come according to the camera lens rotation that the focus tracking motor should be controlled to drive the filming apparatus 23 with burnt control command.
It is appreciated that the image information captured by the filming apparatus 23 can also directly be passed by the filming apparatus 23
It send to the flight control system 12, described image information is sent to aircraft remote control by the flight control system 12 again
Device 4.In this case, the flight control system 12 passes through the upper wired or wireless side with the filming apparatus 23
Formula direct communication connects to obtain the image information captured by the filming apparatus 23.
In other embodiments, the flight control system 12 can also directly transmit acquired image information
To the terminal display screen 5.In this case, the flight control system 12 can mode and the end by radio communication
End display screen 5 communicate to connect, the communication may include 2G, 3G, 4G or 5G mobile communication system as described above and
Radio communication.
It is appreciated that described can be used encryption with burnt control command and/or the flight control command in transmit process
Technology, in favor of securely transmitting with burnt control command and/or the flight control command.Suitable encryption method includes, but
It being not limited to, internet secret key exchanges, Internet security agreement (Internet Protocol Security, IPsec),
Kerberos, end-to-end protocol (Point-to-Point Protocol), safe transmission layer protocol (Transport Layer
Security), SSID, MAC ID filterings, STATIC IP ADDRESSING (Static IP Addressing), 802.11 safety are hidden
Property, Wired Equivalent Privacy (Wired Equivalent Privacy, WEP), wireless networking protection access (Wi-Fi
Protected Access, WPA), WPA2, temporary secret key integrity protocol (Temporal Key Integrity
Protocol, TKIP), Extensible Authentication Protocol (Extensible Authentication Protocol), lightweight can expand
Authentication protocol (Lightweight Extensible Authentication Protocol, LEAP) is opened up, it is shielded to expand
Open up authentication protocol (Protected Extensible Authentication Protocol, PEAP) and other it is commercially available plus
Secret skill is skilful.
It is appreciated that the aircraft remote controler 4 described can will be distinguished with burnt control command and the flight control command
Mark is distinguish, in order to the flight control system 12 distinguish it is described with burnt control command and the flight control life
It enables.
It is appreciated that the aircraft remote controler 4 can be not limited to communicate to connect with first communication unit 18, may be used also
To be connect with other day dead end communication unit communication, for example, in other embodiments, the cloud platform control system 20, shooting dress
The communication unit that can be provided on 23 and communicate with the aircraft remote controler 4 is put, the aircraft remote controler 4 can be direct
It is connect with the communication unit communication set on the cloud platform control system 20 or filming apparatus 23, directly transmission is described controls with coke
It orders to the cloud platform control system 20 or filming apparatus 23, then as the cloud platform control system 20 or filming apparatus 23 by described in
It is forwarded to burnt control command described with burnt motor 24.
In addition, it for those of ordinary skill in the art, can be made with technique according to the invention design other each
It is kind corresponding to change and deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention.
Claims (37)
1. one kind is taken photo by plane with burnt control system, including being used to generate with burnt control instruction with burnt remote controler, it is characterised in that：Institute
It states to take photo by plane and be further included with burnt control system：
Aircraft remote controler, the aircraft remote controler with it is described communicate to connect with burnt remote controler it is described with burnt remote controler to receive
That transmits is described with burnt control instruction；
Its dead end communication unit, for communicating to connect to receive from the aircraft remote controler with the aircraft remote controler
It is described with burnt control instruction；The day dead end communication unit is additionally operable to receive the flight directive from the flight remote controller；And
Control system drives for what is received according to the day dead end communication unit with burnt control instruction control focus tracking motor
The camera lens rotation of filming apparatus.
2. it takes photo by plane as described in claim 1 with burnt control system, it is characterised in that：The day dead end communication unit is aircraft
Communication unit, the aircraft communication unit are rf receiver and transmitter.
3. it takes photo by plane as claimed in claim 2 with burnt control system, it is characterised in that：The rf receiver and transmitter is for holding
The application-specific integrated circuit of row transmitting-receiving microwave signal, running frequency is in the microwave range of 5.728GHz -5.85GHz.
4. it takes photo by plane as described in claim 1 with burnt control system, it is characterised in that：The day dead end communication unit is the bat
Take the photograph the communication unit set on device.
5. it takes photo by plane as described in claim 1 with burnt control system, it is characterised in that：Described take photo by plane further includes with burnt control system
Terminal display screen, the terminal display screen is for the image information described in real-time display captured by filming apparatus.
6. it takes photo by plane as claimed in claim 5 with burnt control system, it is characterised in that：The terminal display screen is independently of described
The display screen set on the terminal device of aircraft remote controler, the terminal device and the aircraft remote controler communicate to connect with
The image information of the filming apparatus shooting is received by the aircraft remote controler.
7. it takes photo by plane as claimed in claim 5 with burnt control system, it is characterised in that：The terminal display screen and the aircraft
Remote controler is wholely set.
8. it takes photo by plane as claimed in claim 5 with burnt control system, it is characterised in that：The terminal display screen is with described with burnt distant
Control device is wholely set, described to obtain described image information from the aircraft remote controler with burnt remote controler to show that described image is believed
It ceases in the terminal display screen.
9. it takes photo by plane as claimed in claim 5 with burnt control system, it is characterised in that：Described image information passes through the day dead end
Communication unit is sent to the aircraft remote controler.
10. it takes photo by plane as claimed in claim 9 with burnt control system, it is characterised in that：The control system is flying vehicles control
System, which communicates to connect with the filming apparatus to receive described image information, and described image is believed
Breath is sent to the aircraft remote controler by the day dead end communication unit.
11. it takes photo by plane as claimed in claim 9 with burnt control system, it is characterised in that：The control system is cradle head control system
System, the cloud platform control system communicate to connect the image information for obtaining the filming apparatus shooting with the filming apparatus,
And described image information is sent to the aircraft remote controler by the day dead end communication unit.
12. it takes photo by plane as claimed in claim 11 with burnt control system, it is characterised in that：The day dead end communication unit is arranged on
On the cloud platform control system.
13. it takes photo by plane as claimed in claim 9 with burnt control system, it is characterised in that：The control system is cradle head control system
System, the cloud platform control system also communicate to connect described with burnt control instruction to receive with flight control system.
14. it takes photo by plane as claimed in claim 13 with burnt control system, it is characterised in that：The cloud platform control system flies with described
Row device control system communicates to connect to transmit described image information to the flight control system, the flight control system
Described image information is sent to the aircraft remote controler again.
15. it takes photo by plane as described in claim 1 with burnt control system, it is characterised in that：The aircraft remote controler further includes defeated
Enter unit, the input unit is used to generate flight control instruction according to user's operation to control the flight of the aircraft.
16. it takes photo by plane as described in claim 1 with burnt control system, it is characterised in that：It is described with burnt remote controler and the flight
Device remote controler is communicated to connect by the one or more of which mode in wired, bluetooth, infrared, WIFI, mobile communications network.
17. it takes photo by plane as claimed in claim 5 with burnt control system, it is characterised in that：Described image information is used in transmission
Encryption technology is encrypted.
18. it takes photo by plane as described in claim 1 with burnt control system, it is characterised in that：The aircraft remote controler is equipped with accommodating
Portion, it is described to be removably accommodated in the holding part with burnt remote controler.
19. it takes photo by plane as claimed in claim 18 with burnt control system, it is characterised in that：The inner wall of the holding part is equipped with and is electrically connected
Socket part, it is described to be equipped with connectivity port corresponding with the electrical connection section with burnt remote controler, when described institute is accommodated in burnt remote controler
When stating in holding part, the connectivity port is electrically connected with the electrical connection section.
20. it takes photo by plane as claimed in claim 19 with burnt control system, it is characterised in that：It is described to be detached from the appearance with burnt remote controler
When putting portion, it is connect with the aircraft remote controler wireless telecommunications.
21. one kind is taken photo by plane with burnt control method, applied to an aircraft, filming apparatus is provided on the aircraft and for driving
Move the focus tracking motor of the camera lens rotation of the filming apparatus, it is characterised in that：Described take photo by plane includes with burnt control method：
User's operation is based on burnt remote controler to generate with burnt control instruction；
It is described described with burnt control instruction to aircraft remote controler with the transmission of burnt remote controler；
The aircraft remote controler transmission is described with burnt control instruction to the aircraft；
The aircraft turns according to the camera lens for the focus tracking motor being controlled to drive the filming apparatus with burnt control instruction
It is dynamic.
22. it takes photo by plane as claimed in claim 21 with burnt control method, it is characterised in that：The aircraft remote controler passes through wireless
Technology for radio frequency is sent to the aircraft by described with burnt control instruction.
23. it takes photo by plane as claimed in claim 21 with burnt control method, it is characterised in that：The aircraft includes flying vehicles control
System, " being rotated according to the camera lens for the focus tracking motor being controlled to drive the filming apparatus with burnt control instruction " is described
Performed by flight control system.
24. it takes photo by plane as claimed in claim 21 with burnt control method, it is characterised in that：The aircraft includes cradle head control system
System, " being rotated according to the camera lens for the focus tracking motor being controlled to drive the filming apparatus with burnt control instruction " is the cloud
Performed by bench control system.
25. it takes photo by plane as claimed in claim 21 with burnt control method, it is characterised in that：Described take photo by plane also is wrapped with burnt control method
It includes：
The aircraft obtains the image information captured by the filming apparatus；
The aircraft transmits described image information to the aircraft remote controler；And
The aircraft remote controler transmits described image information to a terminal display screen to show described image information in the end
Hold display screen.
26. it takes photo by plane as claimed in claim 25 with burnt control method, it is characterised in that：Described take photo by plane also is wrapped with burnt control method
It includes：
The aircraft obtains the flying quality of the aircraft from the carry-on sensor is arranged on；
The flying quality is transmitted to the aircraft remote controler；And
The aircraft remote controler transmits the flying quality to the terminal display screen, so that the flying quality is shown in institute
State terminal display screen.
27. it takes photo by plane as claimed in claim 21 with burnt control method, it is characterised in that：Described take photo by plane also is wrapped with burnt control method
It includes：
The aircraft remote controler generates flight control instruction according to user's operation；And
The aircraft remote controler transmits the flight control instruction to the aircraft to control the flight of the aircraft.
28. a kind of aircraft, including holder, for the holder for loading filming apparatus and focus tracking motor, the focus tracking is electric
Machine is used to that the camera lens of the filming apparatus to be driven to rotate, it is characterised in that：The aircraft further includes：
Its dead end communication unit, the day dead end communication unit are used to receive with burnt control instruction from an aircraft remote controler；Institute
A day dead end communication unit is stated to be additionally operable to receive the flight directive from the flight remote controller；And
Control system, the control system are used to the focus tracking motor be controlled to drive the bat with burnt control instruction according to described
Take the photograph the camera lens rotation of device.
29. aircraft as claimed in claim 28, it is characterised in that：The day dead end communication unit is aircraft communication list
Member, the aircraft communication unit are rf receiver and transmitter.
30. aircraft as claimed in claim 29, it is characterised in that：The aircraft communication unit is additionally operable to receive from institute
State the flight control instruction of aircraft remote controler, the control system is flight control system, the flight control system
For controlling the flight of the aircraft according to the flight control instruction.
31. aircraft as claimed in claim 28, it is characterised in that：The control system is additionally operable to obtain from the filming apparatus
The image information of the filming apparatus shooting is taken, the day dead end communication unit is additionally operable to described image information being sent to described
Aircraft remote controler.
32. aircraft as claimed in claim 28, it is characterised in that：The holder includes cloud platform control system, the holder
Control system is used to that the holder to be controlled to rotate around multiaxis relative to the fuselage of the aircraft.
33. aircraft as claimed in claim 32, it is characterised in that：The control system be the cloud platform control system, institute
State cloud platform control system connect with the day dead end communication unit communication it is described with burnt telecommand to receive.
34. aircraft as claimed in claim 33, it is characterised in that：The day dead end communication unit is arranged on the holder control
In system processed.
35. aircraft as claimed in claim 28, it is characterised in that：The day dead end communication unit is arranged on the shooting dress
It puts.
36. aircraft as claimed in claim 35, it is characterised in that：Image information captured by the filming apparatus is directly logical
It crosses the day dead end communication unit and is sent to the aircraft remote controler.
37. aircraft as claimed in claim 28, it is characterised in that：The aircraft further includes sensor, the sensor
The flying quality during the aircraft flight is sensed, the flying quality is also passed through the day dead end by the control system
Communication unit is sent to the aircraft remote controler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810238433.9A CN108377333B (en) | 2015-11-25 | 2015-11-25 | Focus following remote controller, aircraft remote controller, aerial photography focus following control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/095563 WO2017088130A1 (en) | 2015-11-25 | 2015-11-25 | Aerial photography focus following control system, aerial photography focus following control method and aircraft |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810238433.9A Division CN108377333B (en) | 2015-11-25 | 2015-11-25 | Focus following remote controller, aircraft remote controller, aerial photography focus following control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106165388A CN106165388A (en) | 2016-11-23 |
| CN106165388B true CN106165388B (en) | 2018-06-12 |
Family
ID=57348333
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580011418.5A Expired - Fee Related CN106165388B (en) | 2015-11-25 | 2015-11-25 | It takes photo by plane with burnt control system, take photo by plane with burnt control method and aircraft |
| CN201810238433.9A Active CN108377333B (en) | 2015-11-25 | 2015-11-25 | Focus following remote controller, aircraft remote controller, aerial photography focus following control system and method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810238433.9A Active CN108377333B (en) | 2015-11-25 | 2015-11-25 | Focus following remote controller, aircraft remote controller, aerial photography focus following control system and method |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN106165388B (en) |
| WO (1) | WO2017088130A1 (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206894795U (en) * | 2017-05-23 | 2018-01-16 | 深圳市道通智能航空技术有限公司 | A kind of remote control for realizing image procossing and unmanned flight's system |
| WO2019119318A1 (en) * | 2017-12-20 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Remote controller |
| CN108196534A (en) * | 2017-12-26 | 2018-06-22 | 广东工业大学 | A kind of multi-rotor unmanned aerial vehicle control terminal, flight control system and control method |
| CN108184067B (en) * | 2018-01-18 | 2019-05-24 | 桂林智神信息技术有限公司 | A kind of working method with burnt system |
| CN208337721U (en) * | 2018-06-28 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Adjust ginseng device and the holder with it |
| CN108958351A (en) * | 2018-09-30 | 2018-12-07 | 广州科易光电技术有限公司 | Unmanned controller |
| JP2022511543A (en) * | 2018-12-04 | 2022-01-31 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッド | Load control methods, mobile platforms, and computer-readable storage media |
| CN109375657A (en) * | 2018-12-17 | 2019-02-22 | 智卓（深圳）电子科技有限公司 | Hand-held holder remote controler, hand-held cradle head device and hand-held holder |
| CN110022460A (en) * | 2019-01-07 | 2019-07-16 | 深圳市道通智能航空技术有限公司 | A kind of image pickup method of aircraft, aircraft, terminal device and flight system |
| CN109819162A (en) * | 2019-01-22 | 2019-05-28 | 桂林飞宇科技股份有限公司 | A kind of shoot control system and method for camera cradle head system |
| CN114967737A (en) * | 2019-07-12 | 2022-08-30 | 深圳市道通智能航空技术股份有限公司 | Aircraft control method and aircraft |
| CN112154657B (en) * | 2019-07-16 | 2022-04-26 | 深圳市大疆创新科技有限公司 | Control method and device of shooting device, handheld cloud deck and storage medium |
| WO2022061534A1 (en) * | 2020-09-22 | 2022-03-31 | 深圳市大疆创新科技有限公司 | Photographing control method and apparatus, gimbal, follow focus electric motor, and storage medium |
| CN114788253A (en) * | 2020-12-31 | 2022-07-22 | 深圳市大疆创新科技有限公司 | Shooting device, control device, remote control device, mobile control system and wearable device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108377333B (en) | 2020-11-06 |
| CN106165388A (en) | 2016-11-23 |
| CN108377333A (en) | 2018-08-07 |
| WO2017088130A1 (en) | 2017-06-01 |
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