CN106292720A - A kind of intelligent multi-control flight capture apparatus and flight control method thereof - Google Patents
A kind of intelligent multi-control flight capture apparatus and flight control method thereof Download PDFInfo
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- CN106292720A CN106292720A CN201610838994.3A CN201610838994A CN106292720A CN 106292720 A CN106292720 A CN 106292720A CN 201610838994 A CN201610838994 A CN 201610838994A CN 106292720 A CN106292720 A CN 106292720A
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- capture apparatus
- flight
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- cloud terrace
- flight capture
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- 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
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- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Abstract
The invention discloses a kind of intelligent multi-control flight capture apparatus and flight control method thereof, belong to technical field of aerospace.This flight capture apparatus, including frame, aviation mechanism, filming apparatus and controlling organization, described controlling organization also includes flare maneuver controlling organization and The Cloud Terrace action control mechanism, wherein, under specific screening-mode, described flare maneuver controlling organization controls flight capture apparatus when implementing flare maneuver, and described The Cloud Terrace action control mechanism controls flight capture apparatus according to presupposed solution and automatically implements The Cloud Terrace action.The present invention can complete intelligent scene type shooting with abundant screening-mode, in the case of completely without artificial manipulation, it becomes possible to generates and has camera lens sense, the shooting achievement of shock effect.
Description
Technical field
The present invention relates to aviation and automatic control technology field, be specifically related to a kind of intelligent multi-control flight capture apparatus and
Its flight control method.
The present patent application is the divisional application of the Chinese invention patent application of parent application 201510198727.X.
Background technology
Unmanned plane Aerial photography, demonstration flight, take precautions against natural calamities recover, there is wide application in the field such as scientific investigation.Along with
Developing rapidly of electronic technology, small-sized, MAV has had the most prominent in Remote, cruising time, flight quality
Broken, become the General Aviation field focus risen in recent years, be generally considered that there is good development prospect.
Application No. 201310059457.5, invention entitled " the unmanned plane dynamic target tracking of a kind of view-based access control model with
Localization method " Chinese invention patent application disclose unmanned plane dynamic target tracking and the localization method of a kind of view-based access control model,
Described method includes Video processing, carries out detection and the image trace of dynamic object；The Cloud Terrace SERVO CONTROL；Set up target in image
With the corresponding relation of target in actual environment, measure the distance between video camera and dynamic object further, complete dynamic object
Be accurately positioned；System for flight control computer independently follows the tracks of ground dynamic object flight.The present invention completes moving target
Detection, image trace, deflect optical axis automatically, makes dynamic object be presented on imaging plane central authorities all the time, is obtaining unmanned plane height
Measure the distance between unmanned plane and dynamic object in real time according to the model set up on the basis of information, thus realize dynamic mesh
Target positions, and in this, as feedback signal, forms closed loop control, guides the tracking flight of unmanned plane.But the present invention can only be real
Now to destination object from motion tracking, it is impossible to complete on the basis of motion tracking to destination object intelligence shooting.
In Application No. 201410076366.7, invention entitled " a kind of no-manned plane three-dimensional aeroplane photography tree survey method "
State's invention patent application discloses a kind of no-manned plane three-dimensional aeroplane photography tree survey method.Many rotor wing unmanned aerial vehicles are used to put down as remote sensing
Platform, integrates 3D digital camera, differential GPS and gyropanel, utilizes digital photography, obtains high ground resolution, greatly
The unmanned remote sensing image in low latitude of scale, it is achieved the image data of acquisition is ageing by force, resolution is high.But present invention is only intended for
Fixing destination object shoots, and can not complete the intelligence shooting to destination object equally.
Existing flight capture apparatus can be combined by remote sensing technology, automatic positioning technology etc., realizes from motion tracking
Destination object, and the function persistently shot, but in prior art, the effect of automatic tracing destination object is single, the most just
It is in the preset height of wide object and angle, persistently shoots according to the translational speed suitable with target, so clap
Take the photograph the video display effect obtained single, shocking weak.
Summary of the invention
The goal of the invention of the present invention is to provide a kind of intelligent multi-control flight capture apparatus and flight control method thereof, for
The problems referred to above, in tradition automatically with clapping in the technical foundation of destination object, complete intelligent scene type with abundant screening-mode
Shooting, it is not necessary to destination object is manually handled, it becomes possible to generate and there is camera lens sense, the shooting achievement of shock effect.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is as follows:
The present invention provides a kind of flight capture apparatus, and described flight capture apparatus includes frame, aviation mechanism, filming apparatus
And controlling organization, described controlling organization also includes flare maneuver controlling organization and The Cloud Terrace action control mechanism,
Wherein, under specific screening-mode, it is dynamic that described flare maneuver controlling organization controls the enforcement flight of flight capture apparatus
When making, described The Cloud Terrace action control mechanism controls flight capture apparatus according to presupposed solution and automatically implements The Cloud Terrace action.
The yet another aspect of the present invention is, it is provided that a kind of flight capture apparatus, wherein said specific screening-mode includes: ring
Around screening-mode and/or follow the trail of adjustment modes and/or fixing set pattern pattern and/or panorama photographing mode.
In the such scheme of the present invention, described around screening-mode, tracking adjustment modes, fixing set pattern pattern and panorama
Screening-mode means the exemplary various flare maneuvers provided and The Cloud Terrace action phase interworking in the present patent application Instructions Page 7-8
Close the concrete intelligence screening-mode realized.
The yet another aspect of the present invention is, it is provided that a kind of flight capture apparatus, and wherein said The Cloud Terrace action control mechanism presses
Automatically the The Cloud Terrace action implemented according to presupposed solution control flight capture apparatus includes: compensate the action of the change that flare maneuver causes
And/or the action of change that change of flight action causes.
In the such scheme of the present invention, the action of the change that described compensation flare maneuver causes, it is typical that finger ring around
Under screening-mode, when flare maneuver exists the trend making destination object disengaging coverage, compensate this by The Cloud Terrace action
The action of the trend of kind；The action of the change that described change of flight action causes, it is typical that refer to that under fixing set pattern pattern, flight is dynamic
Make moving toward the direction when, The Cloud Terrace action according to preset strategy in another dimension unrelated with flare maneuver
Implement the process of auto-action.
The yet another aspect of the present invention is, it is provided that a kind of flight capture apparatus, does not the most comprise described The Cloud Terrace action control
Mechanism, the function of described The Cloud Terrace action control mechanism regulation capture apparatus angle controls flight via flare maneuver controlling organization and claps
The mode taking the photograph equipment flare maneuver realizes indirectly.
In the such scheme of the present invention, the described The Cloud Terrace action control mechanism that do not comprises is based on present specification the 8th
The elaboration of page part, takes photo by plane in solution do not design The Cloud Terrace, it is also possible to by change of flight action and flight attitude
Mode realizes the capture apparatus angle similar with The Cloud Terrace, posture regulating effect, and the most dumb, shooting effect is the poorest.
The yet another aspect of the present invention is, it is provided that a kind of flight capture apparatus, wherein described under screening-mode, and institute
The flare maneuver stating flight capture apparatus is the cincture flight of surrounding target object, and the The Cloud Terrace action of described flight capture apparatus is for protecting
Hold the shooting to destination object.
The yet another aspect of the present invention is, it is provided that a kind of flight capture apparatus, wherein under described tracking adjustment modes, and institute
State the flare maneuver of flight capture apparatus and The Cloud Terrace action is fitted to each other realization, on the basis of keeping destination object is followed the trail of,
Change of flight action and/or The Cloud Terrace action.
The yet another aspect of the present invention is, it is provided that a kind of flight capture apparatus, wherein under described fixing set pattern pattern, and institute
State the flare maneuver of flight capture apparatus and the The Cloud Terrace action of described flight capture apparatus is the assembled scheme pre-set.
The yet another aspect of the present invention is, it is provided that a kind of flight capture apparatus, wherein under described panorama photographing mode, and nothing
The flare maneuver of the described flight capture apparatus of opinion how, and the The Cloud Terrace action of described flight capture apparatus is to adjust to self side to clap
Take the photograph the shooting action of angle rotating 360 degrees.
Another aspect of the present invention is, it is provided that the flight control method of a kind of flight capture apparatus, comprises the following steps:
Step (1), confirmation perform specific screening-mode；
Step (2), control flight capture apparatus perform flare maneuver；
Step (3), according to preset strategy control flight capture apparatus perform The Cloud Terrace action simultaneously.
It addition, the present invention also provides for the flight control method of a kind of flight capture apparatus, wherein:
Described specific screening-mode includes: cincture screening-mode and/or tracking adjustment modes and/or fixing set pattern pattern
And/or panorama photographing mode；
The described The Cloud Terrace action simultaneously performed according to preset strategy control flight capture apparatus includes: compensates flare maneuver and leads
The action of the change that the action of the change caused and/or change of flight action cause.
Except summary, claim elements and the foregoing invention content part of this divisional application is for the explanation of claim
Part outside, this divisional application other guide is identical with female case content.
Described above is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention clearer
Understand, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to allow the present invention
Above and other objects, features and advantages can become apparent, illustrate with the detailed description of the invention of the present invention below
Explanation.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Figure of description is only used for illustrating the purpose of preferred implementation, and be not considered as right
The restriction of the present invention.It should be evident that drawings discussed below is only some embodiments of the present invention, common for this area
From the point of view of technical staff, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.And
In whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Fig. 1 shows the intelligent multi-control flight capture apparatus structured flowchart of according to embodiments of the present invention；
Fig. 2 shows the flight control method flow process of the intelligent multi-control flight capture apparatus of according to embodiments of the present invention two
Figure；
Fig. 3 shows the flight control method flow process of the intelligent multi-control flight capture apparatus of according to embodiments of the present invention three
Figure.
Detailed description of the invention
It is more fully described the specific embodiment of the present invention below with reference to accompanying drawings.Although accompanying drawing shows the present invention's
Specific embodiment, it being understood, however, that may be realized in various forms the present invention and should not limited by embodiments set forth here
System.On the contrary, it is provided that these embodiments are able to be best understood from the present invention, and can be complete by the scope of the present invention
Convey to those skilled in the art.
It should be noted that employ some vocabulary in the middle of description and claim to censure specific components.Ability
Field technique personnel it would be appreciated that, hardware manufacturer may call same assembly with different nouns.This specification and power
In the way of profit requires that difference by noun is not used as distinguishing assembly, but it is used as distinguishing with assembly difference functionally
Criterion." comprising " or " including " as mentioned by the middle of description and claim in the whole text is an open language, therefore should
It is construed to " comprise but be not limited to ".Description subsequent descriptions is to implement the better embodiment of the present invention, and right described description is
For the purpose of the rule of description, it is not limited to the scope of the present invention.Protection scope of the present invention is when regarding appended power
Profit requires that defined person is as the criterion.
For ease of the understanding to the embodiment of the present invention, do as a example by several specific embodiments further below in conjunction with accompanying drawing
Explanation, and each accompanying drawing is not intended that the restriction to the embodiment of the present invention.
Before the embodiment of the present invention is described in detail, first the intelligent multi-control flight capture apparatus in the present invention is carried out
One description.
Flight capture apparatus of the present invention illustrates as a example by unmanned plane, and UAV is called for short " unmanned plane ",
English abbreviation is " UAV ", is the most manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.From skill
The definition of art angle can be divided into: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, the unmanned umbrella wing
Machine etc..
In the embodiment of the present invention, preferred unmanned plane is many rotor wing unmanned aerial vehicles (or referred to as multi-rotor aerocraft), can be four
Rotor, six rotors and rotor quantity are more than six and be the unmanned plane of even number, and described many rotor wing unmanned aerial vehicles include in strip streamlined
Fuselage, fuselage substantially rectangular structure, its corner and corner are flowing transition, so that air is at the table of fuselage
The out-of-date laminar flow that shows as of surface current, thus reduce many rotor wing unmanned aerial vehicles resistance in flight course.Preferably, fuselage is by carbon fiber
Material is made, and on the premise of meeting higher use strength and stiffness, can significantly alleviate the weight of fuselage, thus reduce many rotors
The power demand of unmanned plane and improve the mobility of many rotor wing unmanned aerial vehicles.Certainly, in other embodiments of the invention, fuselage
Can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple flat relative to the symmetry in described fuselage
The slurry arm that face is symmetric, each slurry arm is provided with paddle components away from one end of described fuselage, and described paddle components includes
The motor being arranged on described slurry arm and the blade being connected on the output shaft of described motor, the rotation axis of every a piece of blade is equal
It is positioned on the same face of cylinder.
Certainly, the explanation of described many rotor wing unmanned aerial vehicles is a simple declaration, the most also includes other compositions many
Component, also also has other many kind unmanned plane types, may be incorporated for realizing the purpose of the present invention, do not repeat them here.
But, demand and user from consumer level market handle the development trend of convenience for flight shooting
Seeing, the flight capture apparatus of technical solution of the present invention is primarily referred to as many rotor wing unmanned aerial vehicles little, miniature, and this unmanned plane is because of volume
Little, low cost, flight stability are preferable, flight shooting low cost etc., have gradually captured the market of taking photo by plane of consumer level.
Embodiment one, a kind of intelligent multi-control flight capture apparatus.
Fig. 1 is the intelligent multi-control flight capture apparatus structured flowchart of the embodiment of the present invention one, and the embodiment of the present invention will knot
Conjunction Fig. 1 is specifically described.
As it is shown in figure 1, embodiments provide a kind of intelligent multi-control flight capture apparatus, described flight shooting sets
For including that frame 101, aviation mechanism 105, filming apparatus 103 and controlling organization 104, described controlling organization 104 also include automatically
Tracking module 102, shooting action arrange module 106 and shooting strategy setting module 107, wherein:
Described automatic tracking module 102 identifies destination object, according to described destination object by described filming apparatus 103
Motion track realizes tracks tracing, track shot；
Described shooting action arranges module 106 and predefines at least one shooting action of described flight capture apparatus；
Described shooting strategy setting module 107 shoots strategy accordingly according to pre-conditioned setting of described destination object,
Meet described pre-conditioned time, perform corresponding described shooting action.
In the embodiment of the present invention preferably, described flight capture apparatus is unmanned plane, and described unmanned plane is many rotor flyings
Device, is particularly suited for small-sized, Miniature multi-rotor aircraft.
In the embodiment of the present invention preferably, described aviation mechanism 105 includes electron speed regulator, motor and propeller, described
The outfan of electron speed regulator connects described motor, and described propeller is connected with described motor, and described motor controls described spiral
Oar rotates with different rotating speeds.
In the embodiment of the present invention preferably, described flight capture apparatus can also include cradle head mechanism, by described shooting dress
Put 103 to be arranged on described cradle head mechanism, such that it is able to realize the flexible motion of described filming apparatus 103 rather than be fixed on
On described flight capture apparatus, wherein said cradle head mechanism includes carry part, fixed support, motor, The Cloud Terrace frame, camera support
And camera.
Being illustrated with four rotor wing unmanned aerial vehicles below, described four rotor wing unmanned aerial vehicles include frame, aviation mechanism, The Cloud Terrace
Mechanism and controlling organization, frame stretches out four horns along its body, and it can be all light that underpart is provided with foot rest, horn and foot rest
Matter fixed structure or lightweight folding structure, aviation mechanism is arranged at the end of four horns, and cradle head mechanism is hung by carry bar
Being loaded in unmanned plane organism bottom, cradle head mechanism is provided with camera, cradle head mechanism is for regulating the shooting of camera optical axis and ground
Angle, controlling organization is used for controlling unmanned plane during flying to specified altitude assignment and regulation cradle head mechanism upset.This aviation mechanism includes electricity
Sub-speed regulator, motor and propeller, the outfan of electron speed regulator connects motor, and the bottom of propeller is provided with a Fast detachable unit,
Propeller is connected with motor activity by this Fast detachable unit, and motor controls propeller and rotates with different rotating speeds.Described cradle head mechanism bag
Including carry part, fixed support, X-axis motor, The Cloud Terrace frame, camera support, y-axis motor and camera, one end of described carry part sets
Being equipped with bayonet socket, carry part is sticked on carry bar by this bayonet socket, and the other end of carry part is connected with fixed support, fixed support
Bottom be connected X-axis motor, the output shaft of X-axis motor is connected with The Cloud Terrace frame, and X-axis motor controls The Cloud Terrace frame and rotates；Described
The Cloud Terrace frame is U-shape structure, and one end of this The Cloud Terrace frame is fixed with y-axis motor, and the other end of The Cloud Terrace frame is symmetrically arranged with and turns
Axle；Described camera support is also U-shape structure, and one end of this camera support is connected with the output shaft of y-axis motor, camera support another
One end is connected with rotating shaft, and y-axis motor controls camera support and rotates；Described camera is fixed on camera support.
Described cradle head mechanism also includes gyroscope, X-axis electron speed regulator and Y-axis electron speed regulator, described gyroscope defeated
Entering end to be connected with described receiver, this gyroscope controls described X-axis electron speed regulator respectively and described Y-axis electron speed regulator moves
Making, described X-axis electron speed regulator connects described X-axis motor, and described Y-axis electron speed regulator connects described y-axis motor.
In the embodiment of the present invention preferably, described controlling organization 104 also includes master controller, battery, GPS navigator, IMU
Module (Inertial measurement unit, Inertial Measurement Unit) and receiver, the input of described master controller is respectively
Being connected with the outfan of described GPS navigator, described IMU module, the outfan of described master controller connects described electronic speed regulation
Device and described receiver, the outfan of described electron speed regulator connects described motor, and the outfan of described receiver connects described
Gyroscope, described battery is that unmanned plane action is powered.
Described frame, carry part, fixed support, The Cloud Terrace frame and camera support are carbon fibre materials, the little weight of volume
Gently.
Can be with the current geographical location information of accurate feedback by the location of described GPS navigator, by described IMU module
Then accurate feedback angular speed and acceleration information, flight attitude information then fed back by gyroscope, described master controller according to
Above-mentioned feedback information, automatically drives X-axis motor and the y-axis motor of cradle head mechanism, thus controls camera and exist in conjunction with the strategy preset
Move in X, Y both direction, make camera optical axis can be automatically adjusted according to anticipation with the shooting angle of Earth Surface, it is achieved
The various shooting action wanted.
Described camera is Canon's S120 digital camera.
In the embodiment of the present invention preferably, described shooting action includes that flare maneuver and/or The Cloud Terrace action and/or flight are dynamic
Make the combination with The Cloud Terrace action.
Concrete, described flare maneuver, i.e. by the control to described flight capture apparatus, it is achieved the regulation preset flies
Action is made, and such as includes that surrounding target object upwards flies while flight, tracking destination object, follows the trail of destination object
Simultaneously downwards flight, follow the trail of target while fly on the left of self, follow the trail of while destination object on the right side of self flight etc.；
Described The Cloud Terrace action, the The Cloud Terrace action i.e. preset by signal control realization, such as The Cloud Terrace adjust shooting angle, cloud upward
Platform adjusts downwards shooting angle, The Cloud Terrace and adjusts shooting angle, The Cloud Terrace on the left of self and adjust shooting angle etc. on the right side of self；
The combination of described flare maneuver and The Cloud Terrace action, i.e. same by the control realization flare maneuver to described flight capture apparatus
Time, The Cloud Terrace completes the action preset simultaneously, and both coordinate jointly, complete specific shooting effect.
Such as, when controlling the cincture flight of described flight capture apparatus surrounding target object, cradle head mechanism remains mesh
The steady shot of mark object；The most such as, controlling while described flight capture apparatus upwards flies, cradle head mechanism is on the left of self
Adjust shooting angle, rotating 360 degrees；For another example, also can control the direction that described flight capture apparatus advances towards target, surmount mesh
Mark object.
Utilize above-mentioned flare maneuver and/or the combination of The Cloud Terrace action, can be achieved with some specific scene type shoot functions.
If being basic screening-mode by following the trail of the pattern definition shot that flies, described basic screening-mode can be background
The screening-mode of automatically track target object described in technology, it is also possible to realize signal according to the signal source that destination object carries
Follow the trail of.It is possible to will be defined as around shooting contextual model around the function of destination object flight shooting；Can will rotate
The function of 360 degree of shootings is defined as pan-shot contextual model；In addition to this it is possible to have more flare maneuver and The Cloud Terrace action
Combination, such as limit rising edge follow the trail of destination object shooting, shooting of such as vacillating now to the left, now to the right, such as flight overshoot object, bat
Take the photograph destination object front etc..
In another embodiment of the present invention, described The Cloud Terrace action is not necessarily.During it is true that simplify for some
Under, such as in order to reduce equipment cost, part of functions can be sacrificed.Such as flight capture apparatus is not provided with The Cloud Terrace, shooting
Device uses substantially stationary mode, is fixed on described flight capture apparatus, now, again may be by flight capture apparatus
The control of flare maneuver, completes the shooting task enriched.Track up, zoom out the shooting that furthers, around shooting, around front shooting etc.,
All can be by the control of the flight speed of described flight capture apparatus, flying height, heading etc. be realized equally.
In the embodiment of the present invention preferably, the shooting strategy that described shooting strategy setting module is arranged includes scene strategy
And/or time parameter method.
In the embodiment of the present invention preferably, described flight capture apparatus also includes that arbitration mechanism performs module, it is adaptable to when
When described scene strategy and described time parameter method meet execution condition simultaneously, perform module by described arbitration mechanism and judge to work as
Front shooting action.
Described four rotor wing unmanned aerial vehicles above are further described with specific example, but example here merely to
The scope of application that is easier to understand rather than that be used for limiting the present invention is described.
Embodiment two, the flight control method of intelligent multi-control flight capture apparatus.
Unmanned plane is used for taking photo by plane and has found broad application, and has followed the tracks of the unmanned plane that destination object carries out shooting,
Its cardinal principle is to make use of visual pursuit's system, is judged and identify destination object by filming apparatus, and shooting described here fills
Putting can be photographic head, it is also possible to be camera, then according to the motion track identifying destination object, it is achieved tracks tracing, follows
Shooting.Additionally, also have a lot of other selection for the technology realized from motion tracking, such as set with tracked destination object
Putting signal projector, the signal that unmanned plane is sent according to this signal transmitter carries out target following etc..But existing with
Track chases after bat technology, only focuses on destination object and does not lose, and no matter target is how to move, and angle of taking photo by plane is substantially
The most fixing.Such mode is taken photo by plane, and its effect of the shot film finally given is single, lack presence.
It is true that if not using from the technique for taking of motion tracking, prior art also mainly by artificial remote control without
Man-machine realizing shooting process, this remote control process had both included the flight line of unmanned plane, also included picture pick-up device on unmanned plane
Shooting angle, rely on experienced manipulator, it is possible to realize cannot shooting on ground the angle obtained and combined effect.
Above two mode there is problems of, and both styles of shooting are respectively arranged with its feature, automatically with the convenience clapped and
Artistic feeling and motility that science and technology sense is clapped with artificial controlled can not get both.
Fig. 2 is the flight control method flow chart of the intelligent multi-control flight capture apparatus of the embodiment of the present invention two, including
Following steps:
Step S201: catch destination object by the filming apparatus being installed on described flight capture apparatus；
Step S202: judge to catch destination object the most successful；If it succeeds, perform next step；Otherwise, jump to step
Rapid S206；
Step S203: perform basic screening-mode after catching destination object success；
Step S204: whether real-time judge meets shoots strategy accordingly；If it is satisfied, then perform downwards；Otherwise, rebound
To step S203；
Step S205: control described flight capture apparatus and perform the corresponding shooting action of described shooting strategy；
Step S206: terminate.
In the embodiment of the present invention preferably, described shooting strategy includes scene strategy, i.e. by the scene of described destination object
Feature is pre-conditioned as described scene strategy, and when meeting a certain scene characteristic, described flight capture apparatus is according to presetting
Scene strategy implement corresponding shooting action.
In the embodiment of the present invention preferably, described scene characteristic can include the translational speed of destination object, moving direction,
Translational acceleration, obstacle situation and/or destination object quantity etc..
In the embodiment of the present invention preferably, described shooting strategy includes time parameter method, i.e. with the time shaft that presets as base
Plinth arranges corresponding shooting action.
In addition to being used alone above two shooting strategy, it is also possible to be used in combination above two shooting tactful, now,
Also should include an arbitration mechanism, i.e. when described scene strategy and described time parameter method meet execution condition simultaneously, by holding
Row arbitration mechanism judges current shooting action.
In the embodiment of the present invention preferably, described arbitration mechanism preferentially performs the shooting strategy being currently executing.Certainly,
In other embodiments, it is also possible to the described scene strategy of preferential execution or time parameter method are set.
The shooting of contextual model described in the embodiment of the present invention one, both can be pre-designed based on time shaft
Shooting strategy, it is also possible to be the intelligent shooting strategy that carries out judging of the concrete condition according to destination object, namely scene plan
Slightly.
About the time parameter method implemented according to time shaft, it is exemplified below:
The most pre-designed, under basic screening-mode, after following the trail of flight shooting 5 seconds, perform the cincture shooting of 10 seconds,
Then proceed to follow the trail of flight shooting 5 seconds, then perform 2 seconds wave shooting, then proceed to follow the trail of flight shooting 3 seconds, then hold
Row pan-shot, makes a return voyage after completing pan-shot.
Shoot tactful namely described scene strategy about intellectuality, be exemplified below:
Can preset corresponding shooting strategy using the translational speed of destination object, environmental aspect etc. as condition, flight is clapped
Equipment of taking the photograph implements corresponding shooting action according to the scene strategy preset.
Such as:
Under basic screening-mode, performing automatic tracing destination object shooting of task, flight speed is moved with destination object
Dynamic speed matches, and flying height is 5 meters；
When destination object translational speed is at more than 5m/s, performs basic screening-mode, i.e. follow the trail of flight shooting；
When destination object translational speed is in the range of 3-5m/s, and when continuing more than 5 seconds, perform flight and surmount mesh
Mark, and control The Cloud Terrace and remain " clapping positive face " pattern to destination object；
When destination object stops mobile holding more than 3 seconds, perform once around shooting；
When, after the shooting completing 5 non-basic screening-modes, perform to make a return voyage order.
By adjusting the design parameter of above-mentioned shooting strategy, it is possible to achieve different intelligent shootings, simplest, only
Simply basic screening-mode and the combination around pattern also can allow dull uninteresting track up effect improvement become one has rich
" large stretch of " of rich bandwagon effect.
Such as, it is only necessary to flight capture apparatus is simply provided the track up into performing basic screening-mode, works as target
After stopping mobile 5 seconds, implement around shooting, the working method then maked a return voyage.Then user allows flight capture apparatus start flight
Shooting, user only need to complete to jog 1 minute afterwards, and approach trestle arrives at island, then stops motionless motor process, then flies
Capture apparatus can be automatically performed track up on the way, and, after user arrives at island, user location is carried out cincture
The effect of shooting, under conditions of the easiest, it is possible to helps user to complete the shooting effect of design.
The most such as, detect, around the destination object currently shot, multiple and destination object occurs when described unmanned plane
Similar individual time, it is judged that for entering group photo screening-mode, now adjusting focal length and shooting angle, shooting distance, complete group photo
Shooting.
Adjustable strategy and parameter, determine the intelligence degree of this flight capture apparatus, and user can make according to it
Determine freely by familiarity, be simple direct shooting effect ingenious, or the full length shot shooting of specialty.No matter
For what kind of user, can the most fully experience the enjoyment of shooting.
These predefined contextual models, have different shooting and present effect.If during following the trail of target shooting,
It is used in combination these sight screening-modes, it is possible to realize, in the case of coordinating without professional, completing to have various rich
The user of rich shooting effect, from shooting the video, greatly reduces shooting cost, and also improves experience.
In the embodiment of the present invention preferably, shooting strategy based on time shaft and shooting strategy based on scene, it is also possible to
It is used in combination, it is only necessary to formulate suitable conflict ruling mechanism, can be achieved with coexisting of multiple strategy.It is true that it is most commonly seen
Mode, it is simply that there is conflict ruling mechanism, if ruling mechanism is effectively, then perform corresponding strategy according to ruling result, as
Really ruling mechanism failure, the then flight of the basic screening-mode of Predicated execution.
Although the shooting strategy that the embodiment of the present invention provides and shooting action are limited, relatively-stationary, but combine
The use of user and the situation of destination object, it is possible to derive the consumption market with unlimited demand.
In a word, the embodiment of the present invention proposes a kind of method, on the basis of automatic tracking technology, it is proposed that increase more
Abundant screening-mode, has shooting action and the shooting strategy of regularity, completely without the feelings of artificial manipulation by introducing
Under condition, also can realize splendid shooting effect.Once sense that destination object, within a scheduled time (such as 5 seconds), does not has
There is generation evolution, then proceed to the pattern of surrounding target object rotary taking；Or the translational speed of induction targets object subtracts
In the case of Ban, automatically proceed to the pattern around front shooting；So without manipulation manual to destination object, it becomes possible to generate and there is mirror
Head sense, the shooting effect of shock effect.
Embodiment three, the flight control method of intelligent multi-control flight capture apparatus.
Fig. 3 is the flight control method flow chart of the intelligent multi-control flight capture apparatus of the embodiment of the present invention three, including
Following steps:
Step S301: start；
Step S302: photographic attachment catches destination object；
Step S303: judge to catch destination object the most successful；If it succeeds, enter next step；Otherwise, jump to step
Rapid S315；
Step S304: obtain timing strategies, intervalometer is set；
Step S305: described intelligent multi-control flight capture apparatus performs accompanying flying pattern；
Step S306: judge whether described flight capture apparatus triggers intelligence screening-mode；If it is, enter next
Step；Otherwise, jump to step S311；
Step S307: judge the shooting action that will perform according to scene strategy whether with the existing strategy being carrying out
Shooting action is conflicted mutually；If there being conflict, then jump to step S309；Otherwise, enter next step；
Step S308: described flight capture apparatus performs the shooting action that scene strategy is preset；
Step S309: described flight capture apparatus performs arbitration mechanism；
Step S310: pre-set and preferably be carried out current strategies；
Step S311: judge whether intervalometer triggers；If it is, enter next step；Otherwise, jump to step 314；
Step S312: judge whether the time parameter method preset conflicts mutually with existing implementation strategy；If there being conflict, then rebound
To step S309；Otherwise, enter next step；
Step S313: perform the shooting action that time parameter method is preset；
Step S314: judge whether to terminate accompanying flying pattern；If it is, jump to step S316；Otherwise, jump back to step
S305 continues executing with accompanying flying pattern；
Step S315: prompting catches unsuccessfully；
Step S316: terminate.
In the method flow diagram shown in Fig. 3, it is divided into scene strategy (by the mobile speed of target described shooting strategy
Degree, environmental aspect etc. as condition, preset corresponding shooting strategy) and time parameter method (fix after being predefined in execution accompanying flying pattern
Strategy to be performed on time point), flight capture apparatus triggers scene by poll scene policy condition in flight course
The execution of strategy, carrys out the execution of triggered time strategy by intervalometer.(i.e. scene strategy and time parameter method exists when a collision occurs
The a certain moment is satisfied by execution condition), need to be judged by execution arbitration mechanism.Client can be arbitrated by customization
Strategy meets the demand of oneself (such as preferential scene strategy or the time parameter method of performing, the current executed strategy of preferential execution
Deng).Fig. 3 have employed the strategy preferentially performing to be currently executing as example.
In several embodiments provided by the present invention, it should be understood that disclosed equipment and method, can be passed through it
Its mode realizes.Such as, apparatus embodiments described above is only schematically, such as, and described module or unit
Dividing, be only a kind of logic function and divide, actual can have other dividing mode, the most multiple unit or assembly when realizing
Can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or
The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.Above-mentioned integrated list
Unit both can realize to use the form of hardware, it would however also be possible to employ the form of SFU software functional unit realizes.
If described integrated unit realizes and as independent production marketing or use using the form of SFU software functional unit
Time, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part that in other words prior art contributed or this technical scheme completely or partially can be with the form of software product
Embodying, this computer software product is stored in a storage medium, including some instructions with so that a computer
Equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) perform the present invention each
All or part of step of method described in embodiment.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD
Etc. the various media that can store program code.
The present invention can bring the technique effect that these are useful: intelligent multi-control flight disclosed in the embodiment of the present invention shoots
Equipment and flight control method thereof, on the basis of automatic tracking technology, preset shooting strategy and include scene strategy and time plan
Slightly, the translational speed of described destination object, environmental aspect is pre-conditioned as described scene strategy, and described flight shooting sets
Standby according to the countermeasures enforcement shooting preset, described time parameter method arranges corresponding bat based on the time shaft preset
Perturbation is made, and adds the screening-mode of relatively horn of plenty, is had shooting action and the shooting strategy of regularity by introducing, completely
In the case of artificial manipulation, also can realize splendid shooting effect.
One of ordinary skill in the art will appreciate that: accompanying drawing is the schematic diagram of an embodiment, module in accompanying drawing or
Flow process is not necessarily implemented necessary to the present invention.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant skills
Art field, is the most in like manner included in the scope of patent protection of the present invention.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a flight capture apparatus, described flight capture apparatus includes frame, aviation mechanism, filming apparatus and controlling organization,
It is characterized in that: described controlling organization also includes flare maneuver controlling organization and The Cloud Terrace action control mechanism,
Wherein, under specific screening-mode, when described flare maneuver controlling organization controls flight capture apparatus enforcement flare maneuver,
Described The Cloud Terrace action control mechanism controls flight capture apparatus according to presupposed solution and automatically implements The Cloud Terrace action.
Flight capture apparatus the most according to claim 1, it is characterised in that:
Described specific screening-mode includes: around screening-mode and/or follow the trail of adjustment modes and/or fixing set pattern pattern and/or
Panorama photographing mode.
Flight capture apparatus the most according to claim 1, it is characterised in that:
Described The Cloud Terrace action control mechanism controls, according to presupposed solution, the The Cloud Terrace action that flight capture apparatus implements automatically and includes: mend
Repay the action of the change that flare maneuver causes and/or the action of change that change of flight action causes.
Flight capture apparatus the most according to claim 1, it is characterised in that:
Do not comprise described The Cloud Terrace action control mechanism, the function of described The Cloud Terrace action control mechanism regulation capture apparatus angle via
Flare maneuver controlling organization controls the mode of flight capture apparatus flare maneuver and indirectly realizes.
Flight capture apparatus the most according to claim 2, it is characterised in that:
Described under screening-mode, the flare maneuver of described flight capture apparatus is that surrounding target object is around flight, institute
The The Cloud Terrace action stating flight capture apparatus is to keep the shooting to destination object.
Flight capture apparatus the most according to claim 2, it is characterised in that:
Under described tracking adjustment modes, the flare maneuver of described flight capture apparatus and The Cloud Terrace action are fitted to each other realization,
On the basis of keeping destination object is followed the trail of, change of flight action and/or The Cloud Terrace action.
Flight capture apparatus the most according to claim 2, it is characterised in that:
Under described fixing set pattern pattern, the flare maneuver of described flight capture apparatus and the The Cloud Terrace of described flight capture apparatus
Action is the assembled scheme pre-set.
Flight capture apparatus the most according to claim 2, it is characterised in that:
Under described panorama photographing mode, regardless of the flare maneuver of described flight capture apparatus, described flight capture apparatus
The Cloud Terrace action be to self side adjust shooting angle rotating 360 degrees shooting action.
9. a flight control method for flight capture apparatus, comprises the following steps:
Step (1), confirmation perform specific screening-mode；
Step (2), control flight capture apparatus perform flare maneuver；
Step (3), according to preset strategy control flight capture apparatus perform The Cloud Terrace action simultaneously.
The flight control method of flight capture apparatus the most according to claim 9, it is characterised in that:
Described specific screening-mode includes: around screening-mode and/or follow the trail of adjustment modes and/or fixing set pattern pattern and/or
Panorama photographing mode；
The described The Cloud Terrace action simultaneously performed according to preset strategy control flight capture apparatus includes: compensate what flare maneuver caused
The action of the change that the action of change and/or change of flight action cause.
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| CN201610838994.3A CN106292720A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
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| CN201610838994.3A CN106292720A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
| CN201510198727.XA CN104828256B (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
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| CN201610836975.7A Pending CN106155092A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
| CN201510198727.XA Active CN104828256B (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104828256A (en) | 2015-08-12 |
| CN106155092A (en) | 2016-11-23 |
| CN104828256B (en) | 2016-09-28 |
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