CN107336839A - Aircraft and the method that is shot using the aircraft for the video that pans - Google Patents
Aircraft and the method that is shot using the aircraft for the video that pans Download PDFInfo
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- CN107336839A CN107336839A CN201610286311.8A CN201610286311A CN107336839A CN 107336839 A CN107336839 A CN 107336839A CN 201610286311 A CN201610286311 A CN 201610286311A CN 107336839 A CN107336839 A CN 107336839A
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- mounting rod
- angle
- inclination
- aircraft
- camera
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 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 abstract description 10
- 238000013016 damping Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000004091 panning Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/121—Control of position or direction using feedback using synchromachines (selsyns)
- G05D3/124—Control of position or direction using feedback using synchromachines (selsyns) with modulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Studio Devices (AREA)
Abstract
Aircraft provided by the present invention for the video that pans and the method shot using the aircraft, pass through flight control system and obtain the current flight attitude of body；And the angle of inclination of bar is currently installed on by gyroscope detection；And adjustment signal in angle of inclination is obtained according to flight attitude and angle of inclination, angle of inclination adjustment signal includes the angle of inclination that mounting rod need to currently adjust；The steady part of increasing on mounting rod adjusts the angle of inclination of signal adjustment mounting rod according to angle of inclination.It is arranged such, the angle of inclination adjustment signal of output realizes the angle of inclination of active pre-adjustment and micro-adjustment mounting rod so that mounting rod is stable perpendicular to ground, and then the aerial panoramic video for shoot more is stablized, and does not shake.
Description
Technical field
The present invention relates to aircraft field, and in particular to a kind of aircraft for the video that pans
And the method shot using the aircraft.
Background technology
Panorama (Panorama) is by the one or more groups of photos or video of the 360 ° of shootings of camera ring, is spelled
It is connected into a distant view photograph or panoramic video.Distant view photograph has a following three feature, and first, complete, entirely
All views illustrated in the range of 360 ° of ball-types in orientation；Secondth, scape, outdoor scene, real scene,
Three-dimensional live is the image that split obtains on photo basis mostly, remains scene to greatest extent
Authenticity；Three, the 360 ° are looked around, although photo is all plane, by software processing it
The 360 ° of outdoor scenes obtained afterwards, it can but give the space sense of 3 D stereo, what 360 ° of formation was looked around
Effect, make beholder just as in wherein.Panoramic video is dynamic distant view photograph, but a whole set of bat
Take the photograph mode and post-processing mode is all more much bigger than distant view photograph difficulty, the Flow experience brought certainly
It is unprecedented.With reaching its maturity for virtual reality technology, panoramic video is can to show with virtual
The presentation content of real glasses perfect adaptation, unprecedented Flow experience, institute can be brought to beholder
Possess huge market prospects and potentiality with panoramic video.At present, distant view photograph technology has compared at present
It is more ripe, and panoramic video technology just starts to rise, and forms panoramic video firstly the need of to scenery
The 360 ° omni-directional stablized is shot without dead angle, to obtain the stable aerial panoramic video without dead angle.
Chinese patent literature CN204937526U, disclose a kind of 360 ° of panoramas take photo by plane photography and vedio recording without
It is man-machine, in the left side of aircraft, right side, head, tail in technical scheme disclosed in the patent document
Left and right side camera, head camera, tail camera are installed respectively, beyond fuselage radius, are used for
The picture of fuselage surrounding is shot with video-corder, top camera and bottom camera are respectively used to shoot with video-corder sky picture and ground
Picture.Design structure of the program using 6 cameras around aircraft, ensures that aircraft was flying
Cheng Zhong, 6 cameras are respectively aligned to 6 faces of spatial cuboids, avoid camera lens and fuselage shooting is entered,
Shot with video-corder using story board by the way of the later stage is spliced into sphere picture, constitute 360 ° without dead angle panoramic mosaic
Picture.Due to technical scheme disclosed in the patent document, the process of aircraft unobstructed shooting at 360 °
In, inevitably occur and rock, therefore the panoramic video picture taken is shaken and rocked,
And the picture shaken easily makes spectators produce irritated, fatigue and the sensation disliked；In addition, picture
Stability is well then easy to addition multilayer stunt in video post；Meanwhile float is added
Ripple of making an uproar is the formidable enemy of all compression algorithms.Therefore, it is although real in technical scheme disclosed in the patent document
360 ° of unobstructed shootings are showed, but practical application effect is unsatisfactory.
The content of the invention
Therefore, the technical problem to be solved in the present invention is to overcome unmanned plane of the prior art carrying out
Easily there is the defects of shake in the picture shot during shooting, a kind of complete for shooting so as to provide
The aircraft of scape video and the method shot using the aircraft.
Therefore, technical scheme is as follows：
A kind of aircraft for the video that pans, including body, in addition to：
Mounting rod, the unit for omnidirectional shooting is installed on the mounting rod；
At least a set of flight control system, the flight attitude current for obtaining the body；
Gyroscope, it is installed on the mounting rod, and the angle of inclination of bar is currently installed on for detecting；
Control module, it is used to obtain the mounting rod according to the flight attitude and the angle of inclination
Angle of inclination adjustment signal；
Increase steady part, it is installed on the mounting rod, for receiving inclining for the control module output
Rake angle adjusts signal, and the inclination angle of the signal adjustment mounting rod is adjusted according to the angle of inclination
Degree.
Preferably, the unit includes top camera, bottom camera and for carrying out all standing to surrounding
The circular unit of shooting.
Preferably, the circular unit includes：Left camera, right camera, anterior camera, rear portion
Camera.
Preferably, the mounting rod is arranged in the central point of the body vertically.
Preferably, the mounting rod extends from the body to upper and lower both sides；The upper end of the mounting rod
Portion is provided with the top camera；The bottom of the mounting rod is provided with the bottom camera；Institute
State the upper end of mounting rod and/or the bottom and be also equipped with the circular unit.
Preferably, the mounting rod includes upper mounting rod and lower mounting rod, wherein, the upper mounting rod
Upwardly extended from the central point of the body, the lower mounting rod is from the central point of the body to downward
Stretch.
Preferably, the bottom camera and the ring are installed in the lower elongated end of the lower mounting rod
Around unit.
Preferably, the upper elongated end of the upper mounting rod is also equipped with battery.
Preferably, the length of the lower mounting rod is obtained by such as drag：
Wherein,
N:The length of the lower mounting rod；
L：The body fuselage maximum gauge；
α：The bottom camera and described around the maximum field of view angle of unit.
Preferably, the length of the upper mounting rod is obtained by such as drag：
Wherein, M represents the length of the upper mounting rod；When upper mounting rod is fitted without
During battery, the W1Represent the weight of the top camera；When upper mounting rod is provided with battery, institute
State W1Represent the top camera and the weight sum of the battery；W2Represent the bottom camera and
The weight around unit.
Preferably, the gyroscope includes：
First gyroscope, the mounting rod is installed on the body position, it is current for detecting
The longitudinal inclination of mounting rod；
Second gyroscope, the mounting rod is installed on the body position, it is current for detecting
The lateral inclination angle of mounting rod.
Preferably, four angles of the body are respectively arranged with damping module.
A kind of method shot using above-mentioned aircraft, including：
Obtain the current flight attitude of body；
Obtain the angle of inclination for being currently installed on bar；
Angle of inclination adjustment signal, the inclination are obtained according to the flight attitude and the angle of inclination
Angle adjustment signal includes the angle of inclination that the mounting rod need to currently adjust；
The steady part of increasing installed on the mounting rod receives the angle of inclination adjustment signal, and according to institute
State the angle of inclination that angle of inclination adjustment signal adjusts the mounting rod.
Technical solution of the present invention, have the following advantages that：
1. the aircraft provided in an embodiment of the present invention for the video that pans, obtained by flight control system
Take the flight attitude that body is current；And the angle of inclination of bar is currently installed on by gyroscope detection；And root
Angle of inclination adjustment signal is obtained according to flight attitude and angle of inclination, angle of inclination adjustment signal includes
The angle of inclination that mounting rod need to currently adjust；The steady part of increasing on mounting rod adjusts according to angle of inclination to be believed
Number adjustment mounting rod angle of inclination.It is arranged such, the angle of inclination adjustment signal of output realizes master
Dynamic pre-adjustment and the angle of inclination of micro-adjustment mounting rod so that mounting rod is stable perpendicular to ground, and then
So that the aerial panoramic video shot is more stable, do not shake.
Be used for the aircraft of video of panning 2. provided in an embodiment of the present invention, mounting rod from body to
Upper and lower both sides extension；The upper end of mounting rod is provided with top camera；The bottom of mounting rod is provided with
Bottom camera；It is also equipped with being used to carry out all standing to surrounding in the upper end of mounting rod and/or bottom
The circular unit of shooting.By installing mounting rod additional on the body of aircraft, and installed additional on mounting rod
The mode of camera, the 360 ° omni-directional that realizing to stablize are shot without dead angle, stable without dead to obtain
The aerial panoramic video at angle.
3. the aircraft provided in an embodiment of the present invention for the video that pans, mounting rod includes upper peace
Bar and lower mounting rod are filled, wherein, upper mounting rod upwardly extends from the central point of body, and lower mounting rod is certainly
The central point of body extends downwardly.By the way that mounting rod is divided into removably upper mounting rod and lower mounting rod
It is easy to aircraft to carry out fast assembling-disassembling, convenience in transport.
4. the aircraft provided in an embodiment of the present invention for the video that pans, in the upper of upper mounting rod
Elongated end installation top camera, in the lower elongated end of lower mounting rod bottom camera is installed and around machine
Group, it is ensured that full visual angle is unobstructed during shooting, ensure that later image perfect can be spelled
Connect.Meanwhile the battery needed for aircraft flight is installed on to the upper elongated end of upper mounting rod, it is easy to contract
The length of short upper mounting rod, it is easy to use.
5. the method provided in an embodiment of the present invention shot using the aircraft for the video that pans,
The current flight attitude of body is obtained by flight control system；And bar is currently installed on by gyroscope detection
Angle of inclination；And angle of inclination adjustment signal, angle of inclination are obtained according to flight attitude and angle of inclination
Adjustment signal includes the angle of inclination that mounting rod need to currently adjust；The steady part of increasing on mounting rod according to
The angle of inclination of angle of inclination adjustment signal adjustment mounting rod.It is arranged such, the angle of inclination of output is adjusted
Entire signal realizes the angle of inclination of active pre-adjustment and micro-adjustment mounting rod so that mounting rod is stable to hang down
Directly in ground, and then the aerial panoramic video for shoot more is stablized, and does not shake.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, under
Face will be briefly described to the required accompanying drawing used in embodiment or description of the prior art,
It should be evident that drawings in the following description are some embodiments of the present invention, it is general for this area
For logical technical staff, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 be the embodiment of the present invention 1 in be used for pan video aircraft a specific example
Structural representation；
Fig. 2 is to be used to panning in the embodiment of the present invention 1 one of aircraft hollow structure of video
The structural representation of specific example；
Fig. 3 a and Fig. 3 b are for camera in the aircraft for the video that pans in the embodiment of the present invention 1
The structural representation of the specific example set；
Fig. 4 is for going up mounting rod in the aircraft for the video that pans with in the embodiment of the present invention 1
The structural representation of one specific example of pole length model is installed；
Fig. 5 a and Fig. 5 b are for damping in the aircraft for the video that pans in the embodiment of the present invention 1
The structural representation of one specific example of module；
Fig. 6 is that be used to panning in the embodiment of the present invention 1 another of aircraft of video specifically shows
The structural representation of example；
Fig. 7 is one shot in the embodiment of the present invention 2 using the aircraft for the video that pans
The flow chart of individual specific example；
Accompanying drawing example：1- mounting rods；2- units；3- batteries；4- damping modules；5- gyroscopes；6-
Increase steady part；21- top cameras；22- bottoms set modules.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that
Described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art are obtained under the premise of creative work is not made
Every other embodiment, belong to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", " left side ",
The orientation or position relationship of the instruction such as " right side ", " vertical ", " level ", " interior ", " outer " are based on attached
Orientation or position relationship shown in figure, it is for only for ease of the description present invention and simplifies description, rather than
Indicate or imply signified device or element must have specific orientation, with specific azimuth configuration and
Operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", "
Three " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, art
Language " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected,
Can also be detachably connected, or be integrally connected；Can be mechanical connection or electrical connection；
Can be joined directly together, can also be indirectly connected by intermediary, can also be two element internals
Connection, can be wireless connection or wired connection.For the ordinary skill people of this area
For member, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments that
Conflict can is not formed between this to be combined with each other.
Embodiment 1
As shown in figures 1 to 6, the present embodiment provides a kind of aircraft for the video that pans, bag
Body is included, can also be included：
Mounting rod 1, the unit 2 for omnidirectional shooting is installed on mounting rod 1.Have as one kind
Body implementation, the unit for omnidirectional shooting can include top camera, bottom camera and use
In the circular unit that all standing shooting is carried out to surrounding.The circular unit can be separately provided, Huo Zheduo
Individual camera is integrally disposed, and all standing shooting is carried out to surrounding as long as can realize.Preferably, it surround
Unit can include：Left camera, right camera, anterior camera, rear portion camera.
At least a set of flight control system, the flight attitude current for obtaining body.Preferably, Ke Yishe
Two sets of flight control systems are put, it can be installed on mounting rod on body position, to improve accuracy.
Flight attitude can specifically refer to：Flying aircraft axis relative to ground Angle Position.Generally with three
Individual angle represents：1. the angle of the angle of pitch, the airframe longitudinal axis and horizontal plane；2. yaw angle, aircraft
Angle in the projection in the horizontal plane of the body longitudinal axis and the face between parameter line；3. roll angle, aircraft
The angle of symmetrical plane and the vertical interplanar by the airframe longitudinal axis.
Gyroscope 5, it is installed on mounting rod, and the angle of inclination of bar is currently installed on for detecting.As
A kind of specific implementation, gyroscope can include：First gyroscope, mounting rod is installed on close to machine
On body position, the longitudinal inclination of bar, i.e. pitch tilt angle are currently installed on for detecting；Second
Gyroscope, mounting rod is installed on body position, the lateral inclination of bar is currently installed on for detecting
Angle.
Control module, it is used to obtain the angle of inclination of mounting rod according to flight attitude and angle of inclination and adjusted
Entire signal.In specifically used, the control module can be integrated in flight control system, then flight control system knot
Three shaft angle degree offsets, control installation can be exported in real time according to above flight attitude data by closing gyroscope
The steady part of increasing of bar is (such as：Steering wheel) receive angle of inclination adjustment signal, i.e.,：Value signal is compensated, is adjusted
The whole mounting rod angle relative with airframe, so as to realize that mounting rod is vertical with ground holding in real time,
It is final to realize stable shooting effect.
Increase steady part 6, it is installed on mounting rod, and the angle of inclination for receive and control module output is adjusted
Entire signal, and according to the angle of inclination of angle of inclination adjustment signal adjustment mounting rod.As a kind of specific
Implementation, the steady part of the increasing can be steering wheel.
The angle of inclination adjustment signal of the control module output for the aircraft that the present embodiment provides realizes master
Dynamic pre-adjustment and the angle of inclination of micro-adjustment mounting rod so that mounting rod is stable perpendicular to ground, and then
So that the aerial panoramic video shot is more stable, do not shake.And pass through the machine in aircraft
Install mounting rod on body additional, and install the mode of camera additional on mounting rod, realize can stablize 360 °
Comprehensive no dead angle shooting, to obtain the stable aerial panoramic video without dead angle.
As a kind of specific implementation, as shown in Fig. 2 the fuselage of the body of aircraft can be set
For hollow structure, mounting rod 1 can be arranged in the central point of body vertically.
On the basis of such scheme, mounting rod can descend both sides to extend upwards from body；Mounting rod
Upper end can be provided with top camera；The bottom of mounting rod can be provided with bottom camera；Pacifying
The upper end and/or bottom for filling bar are also equipped with surrounding unit.
Preferably, mounting rod can include upper mounting rod and lower mounting rod, wherein, upper mounting rod is from machine
The central point of body upwardly extends；Lower mounting rod extends downwardly from the central point of body.As shown in Figure 3 a,
Top camera 21 and battery 3 can be removably installed in the upper elongated end of upper mounting rod；Such as Fig. 3 b
It is shown, bottom camera can be removably installed in the lower elongated end of lower mounting rod and surround unit,
Wherein, left camera, right camera, anterior camera, rear portion camera are integrated with around unit, had
When body is implemented, left camera, right camera, anterior camera, rear portion camera and bottom camera can be with
Bottom set modules 22 are further integrated into, in order to dismantle.By the way that mounting rod is divided into removably
Upper mounting rod and lower mounting rod be easy to aircraft carry out fast assembling-disassembling, convenience in transport, meanwhile, in upper peace
Dress bar upper elongated end installation top camera, lower mounting rod lower elongated end be provided with bottom camera with
And unit is surround, employ the method for salary distribution of 1 time 5 camera, it is ensured that during shooting
Full visual angle is unobstructed, ensure that later image perfect can be spliced.Meanwhile by needed for aircraft flight
Battery be installed on the upper elongated end of mounting rod, be easy to shorten the length of upper mounting rod, be easy to use.
As a kind of specific implementation, as shown in figure 4, the length of lower mounting rod can be by as follows
Model obtains：Wherein, N:The length of lower mounting rod；L：Body fuselage is most
Major diameter；α：Bottom camera and around the maximum field of view angle of unit.The length of upper mounting rod passes through such as
Drag obtains：Wherein, in M expressions mounting rod length；When upper mounting rod does not have
When battery is installed, W1Represent the weight of top camera；When upper mounting rod is provided with battery, W1Represent
The weight sum of top camera and the battery；W2Represent bottom camera and the weight around unit.
On the basis of such scheme, as shown in figure 5 a and 5b, the aircraft that the present embodiment provides
Four angles can be respectively arranged with damping module 4.As a kind of specific implementation, damping module is
Spring damping damping module, damping and the load (camera and mounting rod) of spring damping damping module
Weight it is related.As another specific implementation, damping module can also be shock-absorbing ball module.
It will be appreciated by those skilled in the art that, its root also possible using any damping modes
Flexibly set according to progress is needed.
Embodiment 2
As shown in fig. 7, the present embodiment provides what a kind of aircraft using in embodiment 1 was shot
Control method, including：
S1：Obtain the current flight attitude of body.Flight attitude can specifically refer to：Flying aircraft machine
Body axle relative to ground Angle Position.Generally represented with three angles：1. the angle of pitch, airframe is indulged
The angle of axle and horizontal plane；2. on yaw angle, the projection of the airframe longitudinal axis in the horizontal plane and the face
Angle between parameter line；3. roll angle, aircraft symmetrical plane and the vertical by the airframe longitudinal axis
The angle of interplanar.
S2：Obtain the angle of inclination for being currently installed on bar；
S3：Angle of inclination adjustment signal, angle of inclination adjustment are obtained according to flight attitude and angle of inclination
Signal includes the angle of inclination that mounting rod need to currently adjust.Flight control system combination flight attitude and inclination
Angle output angle of inclination adjustment signal, angle of inclination adjusts in signal and contains three shaft angle degree offsets.
S4：The steady part of increasing installed on mounting rod receives angle of inclination adjustment signal, and according to inclination angle
The angle of inclination of degree adjustment signal adjustment mounting rod.
Pass through step S1-S4 actives pre-adjustment and the angle of inclination of micro-adjustment mounting rod so that mounting rod
Stabilization is perpendicular to ground, and then to shoot more stablizes without the aerial panoramic video in dead angle, does not have
Shake.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system,
Or computer program product.Therefore, the present invention can use complete hardware embodiment, complete software to implement
The form of embodiment in terms of example or combination software and hardware.Moreover, the present invention can be used at one
Or multiple computer-usable storage mediums for wherein including computer usable program code are (including but not
Be limited to magnetic disk storage, CD-ROM, optical memory etc.) on the shape of computer program product implemented
Formula.
The present invention is with reference to method according to embodiments of the present invention, equipment (system) and computer program
The flow chart and/or block diagram of product describes.Flowed it should be understood that can be realized by computer program instructions
In each flow and/or square frame and flow chart and/or block diagram in journey figure and/or block diagram
Flow and/or square frame combination.Can provide these computer program instructions to all-purpose computer, specially
With the processor of computer, Embedded Processor or other programmable data processing devices to produce one
Machine so that produced by the instruction of computer or the computing device of other programmable data processing devices
It is raw to be used to realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple sides
The device for the function of being specified in frame.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable datas to handle
In the computer-readable memory that equipment works in a specific way so that be stored in this and computer-readable deposit
Instruction in reservoir, which produces, includes the manufacture of command device, and command device realization is in flow chart one
The function of being specified in flow or multiple flows and/or one square frame of block diagram or multiple square frames.
These computer program instructions can also be loaded into computer or other programmable data processing devices
On so that series of operation steps is performed on computer or other programmable devices to produce computer
The processing of realization, so as to which the instruction performed on computer or other programmable devices is provided for realizing
Specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames
The step of function.
Obviously, above-described embodiment is only intended to clearly illustrate example, and not to embodiment party
The restriction of formula.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no need and unable to give all embodiments
With exhaustion.And the obvious changes or variations thus extended out is still in the guarantor of the invention
Protect among scope.
Claims (13)
1. a kind of aircraft for the video that pans, including body, it is characterised in that also include：
Mounting rod, the unit for omnidirectional shooting is installed on the mounting rod；
At least a set of flight control system, the flight attitude current for obtaining the body；
Gyroscope, it is installed on the mounting rod, and the angle of inclination of bar is currently installed on for detecting；
Control module, it is used to obtain the mounting rod according to the flight attitude and the angle of inclination
Angle of inclination adjustment signal；
Increase steady part, it is installed on the mounting rod, for receiving inclining for the control module output
Rake angle adjusts signal, and the inclination angle of the signal adjustment mounting rod is adjusted according to the angle of inclination
Degree.
2. aircraft according to claim 1, the unit includes top camera, bottom camera
And for carrying out the circular unit of all standing shooting to surrounding.
3. aircraft according to claim 2, it is characterised in that the circular unit includes：
Left camera, right camera, anterior camera, rear portion camera.
4. according to any described aircraft of claim 1-3, it is characterised in that the mounting rod erects
Direct puncture is located at the central point of the body.
5. the aircraft according to Claims 2 or 3, it is characterised in that the mounting rod is from institute
Body is stated to upper and lower both sides to extend；The upper end of the mounting rod is provided with the top camera；It is described
The bottom of mounting rod is provided with the bottom camera；In the upper end of the mounting rod and/or institute
State bottom and be also equipped with the circular unit.
6. aircraft according to claim 5, it is characterised in that the mounting rod includes upper peace
Bar and lower mounting rod are filled, wherein, the central point of upper mounting rod from the body upwardly extends, institute
The central point for stating lower mounting rod from the body extends downwardly.
7. aircraft according to claim 6, it is characterised in that under the lower mounting rod
Elongated end is provided with the bottom camera and the circular unit.
8. aircraft according to claim 7, it is characterised in that prolong on the upper mounting rod
Stretch end and be also equipped with battery.
9. the aircraft according to claim 7 or 8, it is characterised in that the lower mounting rod
Length is obtained by such as drag：
Wherein,
N:The length of the lower mounting rod；
L：The body fuselage maximum gauge；
α：The bottom camera and described around the maximum field of view angle of unit.
10. aircraft according to claim 9, it is characterised in that the length of the upper mounting rod
Obtained by such as drag：
Wherein, M represents the length of the upper mounting rod；When upper mounting rod is fitted without
During battery, the W1Represent the weight of the top camera；When upper mounting rod is provided with battery, institute
State W1Represent the top camera and the weight sum of the battery；W2Represent the bottom camera and
The weight around unit.
11. according to any described aircraft of claim 1-10, it is characterised in that the gyroscope
Including：
First gyroscope, the mounting rod is installed on the body position, it is current for detecting
The longitudinal inclination of mounting rod；
Second gyroscope, the mounting rod is installed on the body position, it is current for detecting
The lateral inclination angle of mounting rod.
12. according to any described aircraft of claim 1-11, it is characterised in that the body
Four angles are respectively arranged with damping module.
13. a kind of method that usage right requires any described aircraft shootings of 1-12, its feature exist
In, including：
Obtain the current flight attitude of body；
Obtain the angle of inclination for being currently installed on bar；
Angle of inclination adjustment signal, the inclination are obtained according to the flight attitude and the angle of inclination
Angle adjustment signal includes the angle of inclination that the mounting rod need to currently adjust；
The steady part of increasing installed on the mounting rod receives the angle of inclination adjustment signal, and according to institute
State the angle of inclination that angle of inclination adjustment signal adjusts the mounting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610286311.8A CN107336839A (en) | 2016-05-03 | 2016-05-03 | Aircraft and the method that is shot using the aircraft for the video that pans |
Applications Claiming Priority (1)
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