CN107765709B - Method and device for realizing self-shooting based on aircraft - Google Patents

Method and device for realizing self-shooting based on aircraft Download PDF

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Publication number
CN107765709B
CN107765709B CN201610703209.3A CN201610703209A CN107765709B CN 107765709 B CN107765709 B CN 107765709B CN 201610703209 A CN201610703209 A CN 201610703209A CN 107765709 B CN107765709 B CN 107765709B
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aircraft
shooting
mode
controlling
surrounding
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CN107765709A (en
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陈皓东
郭尚进
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Guangzhou Ehang Intelligent Technology Co Ltd
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Guangzhou Ehang Intelligent Technology Co Ltd
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Priority to PCT/CN2017/091874 priority patent/WO2018036285A1/en
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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
    • G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • 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
    • 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
    • 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
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes

Abstract

The invention relates to a method and a device for realizing self-shooting based on an aircraft. The method comprises the following steps: receiving a mode selection instruction, wherein the selected mode selection instruction comprises a selected shooting mode and initial position information corresponding to the shooting mode; controlling an aircraft to fly to a corresponding initial position, and adjusting the shooting direction of an airborne shooting device of the aircraft to face a shot object; and receiving a starting instruction, controlling the aircraft to fly according to a flight path corresponding to the shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft. By the method and the device, the user operation based on the self-timer of the aircraft can be simplified, and the shooting effect is improved.

Description

Method and device for realizing self-shooting based on aircraft
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method and a device for realizing self-shooting based on an aircraft.
Background
With the rapid development of the related technologies of unmanned aerial vehicles, the usage of unmanned aerial vehicles is greatly expanded, and the unmanned aerial vehicles can be divided into military use and civil use according to the application fields. Among them, in the civil field, it has been applied to fields such as aerial photography, agriculture, plant protection, self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, movie and television shooting at present.
The unmanned aerial vehicle with the image acquisition function carries a high-definition camera, shoots from the air under the condition of wireless remote control, and can realize high-definition real-time transmission of shot images; in addition, because the unmanned aerial vehicle is flexible and mobile, the height is as low as one meter and as high as four-five kilometers, shooting tasks such as aerial shooting, follow shooting, zooming, surrounding shooting and the like can be easily completed.
The current implementation mode of the zoom-out shooting function is as follows: the user uses the remote controller to simultaneously control the rudder amount of the ascending accelerator and the rudder amount in the retreating direction of the aircraft, and also needs to simultaneously control the pitching angle of the holder so as to enable the shot object to be positioned in the middle of the image. On the other hand, the realization mode of the eye surrounding shooting function is as follows: the user sets up the interest point of encircleing manually earlier, then controls unmanned aerial vehicle earlier and flies to the sky of interest point, clicks to confirm to start encircleing the shooting function, sets up by oneself again and encircles radius and encircleing angular velocity. Therefore, the existing operations of zoom-out shooting and surround shooting are complex, the requirement on the operation level of a user is high, and the problem of poor shooting effect caused by improper operation easily occurs to novice users.
Disclosure of Invention
Based on the above, the embodiment of the invention provides a method and a device for realizing self-shooting based on an aircraft, which can simplify the user operation based on the self-shooting of the aircraft and improve the shooting effect.
One aspect of the present invention provides a method for implementing self-timer based on an aircraft, comprising:
receiving a mode selection instruction, wherein the selected mode selection instruction comprises a selected shooting mode and initial position information corresponding to the shooting mode;
controlling an aircraft to fly to a corresponding initial position, and adjusting the shooting direction of an airborne shooting device of the aircraft to face a shot object;
and receiving a starting instruction, controlling the aircraft to fly according to the flight path corresponding to the shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft.
In another aspect, the present invention provides a method for controlling an aircraft to achieve self-timer shooting, including:
detecting operation information of a selected shooting mode, acquiring the selected shooting mode and initial position information corresponding to the selected shooting mode, and generating a corresponding mode selection instruction according to the selected shooting mode and the initial position information; transmitting the mode selection instruction to an aircraft;
detecting operation information for confirming the start, and generating a corresponding start instruction; and sending the starting instruction to the aircraft to enable the aircraft to fly according to the flight path corresponding to the selected shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft.
In another aspect, the present invention provides an apparatus for implementing self-timer based on an aircraft, including:
the shooting device comprises a mode acquisition module, a mode selection module and a shooting module, wherein the mode acquisition module is used for receiving a mode selection instruction, and the selected mode selection instruction comprises a selected shooting mode and initial position information corresponding to the shooting mode;
the initial position adjusting module is used for controlling the aircraft to fly to a corresponding initial position and adjusting the shooting direction of an airborne shooting device of the aircraft to face towards a shot object;
and the shooting control module is used for receiving a starting instruction, controlling the aircraft to fly according to the flight path corresponding to the shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft.
In another aspect, the present invention provides an apparatus for controlling an aircraft to achieve self-timer shooting, including:
the first detection and sending module is used for detecting the operation information of the selected shooting mode, acquiring the selected shooting mode and the corresponding initial position information thereof, and generating a corresponding mode selection instruction according to the selected shooting mode and the initial position information; transmitting the mode selection instruction to an aircraft;
the second detection and sending module is used for detecting the operation information for confirming the start and generating a corresponding start instruction; and sending the starting instruction to the aircraft to enable the aircraft to fly according to the flight path corresponding to the selected shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft.
According to the technical scheme, the mode selection instruction sent by the control terminal is received, and the selected mode selection instruction comprises the selected shooting mode and the initial position information corresponding to the shooting mode; controlling the aircraft to fly to a corresponding initial position, and adjusting the shooting direction of an airborne shooting device of the aircraft to face a shot object; and receiving a starting instruction sent by the control terminal, controlling the aircraft to fly according to a flight path corresponding to the shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards a shot object all the time in the flight process of the aircraft. Through the scheme of the embodiment of the invention, for the operation user of the control terminal, the self-shot image can be easily obtained based on the aircraft only by selecting the shooting mode without professional flight control operation skills, thereby simplifying the operation of the user and ensuring the shooting effect.
Drawings
FIG. 1 is a schematic flow chart diagram of a method for implementing self-timer shooting based on an aircraft, according to an embodiment;
FIG. 2 is a schematic flow chart diagram of a method of controlling an aircraft to implement self-timer shooting in another embodiment;
FIG. 3 is a schematic flow chart diagram of a method for implementing self-timer based on an aircraft according to another embodiment;
FIG. 4 is a schematic block diagram of an apparatus for implementing self-timer based on an aircraft according to an embodiment;
FIG. 5 is a schematic block diagram of an apparatus for implementing self-timer based on an aircraft according to another embodiment;
fig. 6 is a schematic structural diagram of an apparatus for implementing self-timer based on an aircraft according to another embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The system for realizing self-shooting based on the aircraft comprises the aircraft and a control terminal, wherein the aircraft and the control terminal are pre-established with communication connection and can receive and transmit information in a wireless mode. And the user operates the control terminal, and the control terminal communicates with the corresponding aircraft through the communication connection established in advance so as to control the aircraft. In the following embodiments of the present invention, the control terminal includes a mobile phone, a tablet and other devices having a wireless transceiving function; the aircraft includes unmanned planes, airplanes and the like.
FIG. 1 is a schematic flow chart diagram of a method for implementing self-timer shooting based on an aircraft, according to an embodiment; in this embodiment, the method is described as being applied to an aircraft end. As shown in fig. 1, the method for implementing self-timer shooting based on an aircraft in this embodiment includes the steps of:
s11, the aircraft control system receives a mode selection instruction, and the selected mode selection instruction comprises the selected shooting mode and the initial position information corresponding to the shooting mode;
in the embodiment of the invention, the aircraft receives the mode selection command sent by the control terminal. Preferably, the shooting mode includes a zoom-out mode and a surround mode. The zoom-out mode is a dynamic shooting process, and aims to achieve the effect that the proportion of a shot object in a shooting picture is gradually reduced; the surround mode is also a dynamic photographing process for the purpose of surround photographing a subject to be photographed.
S12, the aircraft control system controls the aircraft to fly to the corresponding initial position, and adjusts the shooting direction of the onboard shooting device of the aircraft to face the shot object;
in the embodiment of the invention, the shot object refers to a user who operates the control terminal, so that the position information of the control terminal can be used as the position information of the shot object. The mode selection instruction comprises shooting mode information selected by a control terminal user and initial position information corresponding to the selected shooting mode. After the aircraft receives the mode selection command, the selected shooting mode and the corresponding initial position information can be determined, and the position of the aircraft is adjusted according to the initial position information. For a control terminal user, the aircraft can be automatically adjusted to the corresponding initial position only by clicking the corresponding shooting mode option.
Preferably, if it is determined that the selected shooting mode is the zoom-out mode, the aircraft is adjusted to a first starting position corresponding to the zoom-out mode, where the first starting position is: the vertical distance between the shooting target and the ground is a first height value, and the linear distance between the shooting target and the ground is a first distance value; if the mode is the surrounding mode, adjusting the aircraft to a second starting position corresponding to the surrounding mode, wherein the second starting position is as follows: the vertical distance to the ground is a second height value, and the linear distance to the shot object is a second distance value. The method for controlling the aircraft to fly to the first starting position/the second starting position can be as follows: if the position of the control terminal is not changed, the aircraft can be adjusted to the first starting position/the second starting position according to the position information of the control terminal and the real-time position information of the aircraft. Preferably, in the embodiment of the present invention, the shot object is a GPS position, that is, the control terminal is a GPS position, and the real-time position information of the aircraft is also a GPS position, which can be obtained by the GPS of the aircraft.
Preferably, the first height value and/or the second height value can be set according to actual needs.
After the aircraft is adjusted to the corresponding initial position, the shooting direction of the onboard shooting device of the aircraft needs to be adjusted to be the direction towards the shot object. Since the shooting direction of the onboard shooting device usually coincides with the nose direction of the aircraft, it is also equivalent to adjust the nose direction of the aircraft to a direction pointing to the shot object in this case. For example, when shooting is performed based on the unmanned aerial vehicle, since the unmanned aerial vehicle carries the camera through the pan-tilt, after the unmanned aerial vehicle is adjusted to the corresponding initial position, the pan-tilt direction needs to be adjusted to the direction pointing to the position of the shot object. The purpose of adjusting the shooting direction of the onboard shooting device of the aircraft is to enable the shot object to be located in the central area of the shooting picture of the onboard shooting device so as to ensure the shooting effect.
And S13, the aircraft control system receives the starting instruction, controls the aircraft to fly according to the flight path corresponding to the shooting mode by taking the starting position as the starting point, and controls the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft.
For example, when the operating user of the control terminal clicks a preset start button, the aircraft will receive a start command sent by the control terminal. If the shooting mode is the zoom-out mode, controlling the aircraft to fly linearly in a direction far away from the shot object by taking the starting position as a starting point and keeping an included angle between the aircraft and a horizontal plane as a fixed angle; the included angle between the flight direction of the aircraft and the horizontal plane is equal to the included angle between the shooting direction of the airborne shooting device and the horizontal plane; and if the shooting mode is the surrounding mode, controlling the aircraft to perform surrounding flight by taking the initial position as a starting point, taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius. In addition, in the flying process of the aircraft, the airborne shooting device shoots the shot object according to a set time interval or records the shot object in real time; and storing the shot image data in a corresponding storage device of the aircraft.
Preferably, before the step of controlling the aircraft to fly along the flight path corresponding to the shooting mode with the start position as the start point, if a fine adjustment instruction is received, the start position of the aircraft/the shooting direction of the airborne shooting device is adjusted according to the fine adjustment instruction, so that the shot object is located in a central area of a shooting picture of the airborne shooting device. And then controlling the aircraft to fly linearly in a direction away from the control terminal until the zoom-out distance is reached by taking the finely adjusted starting position as a starting point or taking the finely adjusted shooting direction. Therefore, the shot object can be ensured to be always positioned in the central area of the shot picture of the airborne shooting device in the process of the remote flight of the aircraft.
Specifically, for the zoom-out mode, in order to enable the object to be shot to be located in the central area of the shot picture of the onboard shooting device, the operation user of the control terminal may further set a zoom-out angle and a zoom-out distance for the zoom-out flight, for example, input 20 °, 30 ° or 45 ° as the zoom-out angle, and send the zoom-out angle information and the mode selection instruction or the start instruction to the aircraft. After the aircraft receives the starting instruction, the aircraft adjusts the angle of the airborne shooting device according to the zoom-out angle information, so that the included angle between the shooting direction and the horizontal plane is equal to the zoom-out angle. So that the object to be photographed is in the central area of the screen.
Specifically, for the surround mode, in order to make the subject be in the central area of the shot picture of the onboard camera, the operation user of the control terminal may adjust the surround direction and the surround speed, for example, set the clockwise surround and the surround angular speed to 20 °/second, and send the surround direction and the surround speed to the aircraft together with the mode selection command or the start command. And after the aircraft receives the starting instruction, controlling the aircraft to perform surrounding flight by taking the initial position as a starting point and taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius according to the surrounding direction and the surrounding angular speed information. Therefore, the aircraft can fly around in a mode expected by a user, and surrounding self-shooting is further realized.
As another preferred embodiment, the aircraft control system starts a preset timer when receiving a start instruction, and controls the onboard shooting device to start shooting, but the aircraft does not immediately start to fly far away or surround; when the time (for example, 3 seconds) of the timer comes, the shooting mode takes the starting position as a starting point and flies according to the flight path corresponding to the shooting mode, so that the shooting effect is improved.
As another preferred embodiment, after the shooting is started, if the aircraft control system receives a stop instruction sent by the control terminal, the aircraft control system controls the onboard shooting device to stop shooting the shot object, and controls the aircraft to return or hover at the current position. The target position of the return journey can be an initial position corresponding to the shooting mode.
As another preferred embodiment, after the shooting is started, the aircraft control system controls the onboard shooting device to stop shooting the shot object and controls the aircraft to return if receiving a return command sent by the control terminal.
As another preferred embodiment, after the shooting is started, the aircraft control system controls the onboard shooting device to stop shooting the shot object and controls the aircraft to hover if receiving the hover instruction sent by the control terminal.
As another preferred embodiment, after the shooting is started, if the aircraft control system detects that the current electric quantity of the aircraft is less than the set electric quantity, the aircraft-mounted shooting device is controlled to stop shooting the shot object, and the aircraft is controlled to return.
Through the method for realizing self-shooting based on the aircraft of the embodiment, based on the mobile phone with the pre-set APP, when a user wants to perform one-key self-shooting, the APP of the mobile phone is opened, and a one-key self-shooting mode is entered, wherein the one-key self-shooting mode is provided with the following steps: a encircle auto heterodyne or zoom out auto heterodyne, the user clicks cell-phone APP's option, can go into the auto heterodyne mode of wanting for non-professional aerial photography flyer, little white user also can only realize that a key zooms out or encircles and shoot through this function. Need not professional flight control operating skill, just can be based on the light of aircraft and obtain the auto heterodyne image, simplified user's operation, guarantee the shooting effect.
FIG. 2 is a schematic flow chart diagram of a method for implementing self-timer based on an aircraft according to another embodiment; in this embodiment, the method is described as being applied to a control terminal (for example, a smartphone) corresponding to an aircraft. As shown in fig. 2, the method for implementing self-timer shooting based on an aircraft in this embodiment includes the steps of:
s21, detecting the operation information of the selected shooting mode, obtaining the selected shooting mode and the corresponding initial position information, and generating a corresponding mode selection instruction according to the selected shooting mode and the initial position information; transmitting the mode selection instruction to an aircraft;
in the embodiment of the present invention, the shooting mode includes a zoom-out mode and a surround mode. The method comprises the steps that corresponding operation interfaces can be preset, wherein the operation interfaces comprise shooting mode options, a start button, a stop button and the like, and sub-options can be further included under each shooting mode option; sub-options under the zoom-out mode option: a zoom-out angle gear option (e.g., 20 °, 30 °, 45 °, etc.), a zoom-out distance gear option (e.g., 50 m, 100 m, 200 m, etc.), a start position setting option, and so on. Therefore, after the user selects the zoom-out mode option, the zoom-out angle, the zoom-out distance, and the initial position setting may be further set (of course, a preset default value may also be directly read, and the user does not need to set). Sub-options under the surround mode option may include: the surround direction option (clockwise, counterclockwise), the surround angular velocity option, and the surround total angle option (e.g., 360 °, 720 °, etc.), etc. Therefore, after the user selects the surround mode option, the surround direction, the surround angular velocity, and the surround total angle may be further set (similarly, the preset default value may also be directly read, and the user does not need to set). After the corresponding user operation information is detected through the preset operation options, a corresponding mode selection instruction can be generated according to the selected shooting mode and the related setting information.
S22, detecting the operation information for confirming the start, and generating a corresponding start command; and sending the starting instruction to the aircraft to enable the aircraft to fly according to the flight path corresponding to the selected shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft.
In the present embodiment, the subject refers to a user who operates the control terminal. After the control terminal sends the starting instruction to the aircraft, the method further comprises the following steps: and if the user operation information for confirming the stop is detected, generating a stop instruction, and sending the stop instruction to the aircraft so as to enable the airborne shooting device to stop shooting the shot object and enable the aircraft to hover or return. For example, when the user clicks a preset stop button, the onboard shooting device stops shooting the aircraft, and the aircraft hovers or navigates back.
Preferably, after the mode selection instruction is sent to the aircraft so that the aircraft flies to the corresponding starting position, the user can also adjust the starting position of the aircraft/the shooting direction of the onboard shooting device through a preset fine adjustment option. The specific mode can be as follows: if user operation information for adjusting the initial position of the aircraft/the shooting direction of the airborne shooting device is detected, a corresponding fine adjustment instruction is generated, and the fine adjustment instruction is sent to the aircraft, so that the shot object is located in the central area of a shooting picture of the airborne shooting device. For example, the starting position of the aircraft can be adjusted through a preset vertical height adjusting slider and a preset horizontal distance adjusting slider, the aircraft nose direction can also be adjusted through a yaw angle adjusting slider, the control terminal generates a corresponding fine adjustment instruction according to detected fine adjustment operation information, and the fine adjustment instruction is sent to the aircraft so as to correspondingly adjust the starting position of the aircraft.
Through the embodiment, the user selects the shooting mode and controls the start/stop of shooting through the buttons or the operation options of the control terminal, professional control skills are not needed, the user operation is simplified, and the shooting effect is good.
FIG. 3 is a schematic flow chart diagram of a method for implementing self-timer based on an aircraft according to another embodiment; in this embodiment, the remote mode is taken as an example, and the description is made in terms of the interaction process between the aircraft and the control terminal. In addition, the method further comprises the process of fine adjustment of the initial position of the aircraft, so that the shooting effect is improved. As shown in fig. 3, the method for implementing self-timer shooting based on an aircraft in this embodiment includes the steps of:
l1, detecting the operation information of the selected shooting mode, acquiring the selected shooting mode and the corresponding initial position information, and generating a corresponding mode selection instruction according to the selected shooting mode and the corresponding initial position information; and acquiring the position information of the control terminal, and sending the mode selection instruction and the position information thereof to the aircraft.
And L2, the aircraft receives the mode selection instruction sent by the control terminal, obtains the starting position information corresponding to the zoom-out mode and the selected shooting mode, and obtains the position information of the control terminal.
The aircraft obtains current position information of the aircraft; if the position of the control terminal is unchanged, controlling the aircraft to fly to a corresponding initial position according to the current position information, the position information of the control terminal and the initial position information corresponding to the zoom-out mode; after the starting position is reached, the direction of the aircraft nose of the aircraft needs to be adjusted to point to the position of the control terminal.
For example, the aircraft is controlled to fly to the starting position corresponding to the zoom-out mode, specifically: the vertical distance to the ground is 4 meters, and the linear distance to the control terminal is 2 meters. Preferably, the aircraft is maintained in the hovering state after flying to the corresponding starting position.
It should be noted that, in this embodiment, the default shooting direction of the onboard shooting device coincides with the nose direction of the aircraft. Therefore, when the aircraft nose direction points to the position of the control terminal, the shooting direction of the airborne shooting device faces to the position of the control terminal.
L3, if the control terminal detects operation information for adjusting the initial position/shooting direction of the aircraft by the user, generating a corresponding fine adjustment instruction according to the detected operation information, and sending the fine adjustment instruction to the aircraft to adjust the initial position/shooting direction of the aircraft-mounted shooting device, so that the object to be shot is located in a central area of a shooting picture of the aircraft-mounted shooting device.
For example, after the aircraft reaches the corresponding initial position, the user can finely adjust the initial position of the aircraft through the preset height adjusting slide block, the horizontal distance adjusting slide block, the yaw angle adjusting slide bar and the like without professional operation skills. By finely adjusting the start position, the shooting angle and the shooting distance can be adjusted to a state desired by the user.
L4, the aircraft receives the fine adjustment command, and the starting position/shooting direction of the onboard shooting device is adjusted according to the fine adjustment command.
It can be understood that, in the position/shooting direction adjustment process, the real-time position/shooting direction information of the aircraft needs to be acquired in real time, so as to perform adjustment according to the real-time position/shooting direction information of the aircraft.
L5, the control terminal detects the user operation information for confirming the start and generates the corresponding start command; transmitting the start instruction to the aircraft.
L6, the aircraft receives the starting command, takes the starting position as a starting point, keeps an included angle between the aircraft and a horizontal plane as a fixed angle, and flies in a straight line in a direction far away from the shot object; and the included angle between the flight direction of the aircraft and the horizontal plane is equal to the included angle between the shooting direction of the airborne shooting device and the horizontal plane.
In this embodiment, since the head direction is directed to the control terminal (i.e., directed to the object to be photographed) at the start position, the aircraft flies in a straight line in the tail direction, i.e., in a direction away from the object to be photographed.
As a preferred embodiment, before the aircraft starts the pull-away flight, the method further includes a process of checking a shooting angle of the onboard shooting device, specifically including: after the aircraft reaches the corresponding initial position, adjusting the angle of the airborne shooting device to enable the included angle between the shooting direction of the airborne shooting device and the horizontal plane to be equal to the corresponding zoom-out angle; if the shot object is not in the central area of the shooting picture (the range of the area can be set according to the actual situation in advance); and the user can finely adjust the initial position of the aircraft through a preset fine adjustment operation option, and the aircraft adjusts the initial position of the aircraft according to the fine adjustment instruction until the shot object is in the central area of the shot picture of the airborne shooting device. And then the aircraft takes the current starting position as a starting point, keeps an included angle with the horizontal plane as the zoom-out angle and flies linearly in a direction far away from the control terminal. Correspondingly, the control terminal further comprises a step of sending a corresponding fine adjustment instruction to the aircraft according to the detected user operation information.
And in the flying process of the aircraft, the airborne shooting device records the video of the operation user of the control terminal in real time and stores the video data. Simultaneously detecting whether the straight flying distance of the aircraft reaches a set remote distance (for example, 200 meters); if so, controlling the airborne shooting device to stop recording the video of the operation user of the control terminal, and controlling the aircraft to return to the starting position of the remote flight of the aircraft; if not, continuing to carry out zooming-out flight and shooting.
L7, the user clicks the stop button and the control terminal sends a stop command to the aircraft.
And L8, the aircraft receives the stop command, stops shooting and returns.
It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention.
Based on the same idea as the method for realizing self-timer based on the aircraft in the embodiment, the invention also provides a device for realizing self-timer based on the aircraft, and the device can be used for executing the method for realizing self-timer based on the aircraft. For convenience of explanation, in the schematic structural diagram of the embodiment of the apparatus for implementing self-timer based on an aircraft, only the part related to the embodiment of the present invention is shown, and those skilled in the art will understand that the illustrated structure does not constitute a limitation of the apparatus, and may include more or less components than those illustrated, or combine some components, or arrange different components.
FIG. 4 is a schematic block diagram of an apparatus for implementing self-timer based on an aircraft according to an embodiment of the present invention; as shown in fig. 4, the apparatus for implementing self-timer based on aircraft of this embodiment may be disposed at the aircraft end, and the aerial photography apparatus includes: a mode acquisition module 410, an initial position adjustment module 420 and a shooting control module 430, which are detailed as follows:
the mode obtaining module 410 is configured to receive a mode selection instruction, where the selected mode selection instruction includes a selected shooting mode and start position information corresponding to the shooting mode;
the initial position adjusting module 420 is configured to control the aircraft to fly to a corresponding initial position, and adjust a shooting direction of an onboard shooting device of the aircraft toward a shot object;
the shooting control module 430 is configured to receive a start instruction, control the aircraft to fly according to a flight path corresponding to the shooting mode with the start position as a start point, and control the airborne shooting device to shoot towards the shot object all the time during the flight of the aircraft.
Further, the shooting control module 430 is further configured to receive a stop instruction, control the onboard shooting device to stop shooting the shot object, and control the aircraft to return or hover at the current position.
In this embodiment, the shooting mode includes a zoom-out mode and a surround mode; accordingly, the photographing control module 410 may include: a first photographing control unit and a first photographing control unit.
The first shooting control unit is used for controlling the aircraft to fly linearly in a direction far away from the control terminal by taking the starting position as a starting point and keeping an included angle between the aircraft and a horizontal plane as a fixed angle if the first shooting control unit is in a zoom-out mode; the included angle between the flight direction of the aircraft and the horizontal plane is equal to the included angle between the shooting direction of the airborne shooting device and the horizontal plane; and the second shooting control unit is used for controlling the aircraft to carry out surrounding flight by taking the initial position as a starting point, taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius if the shooting mode is the surrounding mode.
As another preferred embodiment, the first shooting control unit may be further configured to detect whether a distance of the straight flight of the aircraft reaches a set zoom-out distance in the zoom-out mode; if yes, the airborne shooting device is controlled to stop shooting the shot object, and the aircraft is controlled to return. The second shooting control unit is also used for detecting whether the surrounding total angle of the aircraft reaches a set angle or not in a surrounding mode; if yes, the airborne shooting device is controlled to stop shooting the shot object, and the aircraft is controlled to return.
Accordingly, the initial position adjustment module 420 may include: a first position adjusting unit and a second position adjusting unit.
The first position adjusting unit is used for controlling the aircraft to fly to a first initial position if the remote mode is adopted, and the first initial position is as follows: the vertical distance between the shooting target and the ground is a first height value, and the linear distance between the shooting target and the ground is a first distance value; the second position adjusting unit is used for controlling the aircraft to fly to a second starting position if the aircraft is in the surrounding mode, and the second starting position is as follows: the vertical distance to the ground is a second height value, and the linear distance to the shot object is a second distance value. Preferably, the controlling the aircraft to fly to the first/second starting position includes: and acquiring the position information of the shot object and the real-time position information of the aircraft, and controlling the aircraft to adjust to a first starting position/a second starting position according to the position information of the shot object and the real-time position information of the aircraft.
As another preferred embodiment, the initial position adjusting module 420 further includes a fine-tuning unit, configured to, after the aircraft reaches the corresponding initial position, adjust the initial position of the aircraft according to a fine-tuning instruction sent by the control terminal if the fine-tuning instruction is received.
As another preferred embodiment, the shooting control module 430 may be specifically configured to receive a start instruction sent by the control terminal, start a preset timer, and control the onboard shooting device to start shooting; and when the time of the timer arrives, controlling the aircraft to fly according to the flight path corresponding to the shooting mode by taking the initial position as a starting point, and controlling the airborne shooting device to shoot the shot object facing to the position of the control terminal all the time in the flight process of the aircraft.
Through the aerial photographing device of the embodiment, the aircraft can be controlled to automatically fly to the corresponding initial position, and when the user confirms to start photographing, the aircraft flies and shoots in real time according to the corresponding mode.
FIG. 5 is a schematic block diagram of an apparatus for implementing self-timer based on an aircraft according to another embodiment; as shown in fig. 5, the apparatus for implementing self-timer based on aircraft of this embodiment may be disposed in a control terminal of an aircraft such as a mobile phone and a tablet, and the aerial photography apparatus may include: a first detection and transmission module 510 and a second detection and transmission module 520, each of which is described in detail below:
the first detecting and sending module 510 is configured to detect operation information of a selected shooting mode, obtain the selected shooting mode and start position information corresponding to the selected shooting mode, and generate a corresponding mode selection instruction according to the selected shooting mode and the start position information; transmitting the mode selection instruction to an aircraft;
the second detecting and sending module 520 is configured to detect operation information for confirming a start, and generate a corresponding start instruction; and sending the starting instruction to the aircraft to enable the aircraft to fly according to the flight path corresponding to the selected shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft.
In this embodiment, the shooting mode includes a zoom-out mode and a surround mode; accordingly, the first detecting and sending module 510 may include: a first setting detection unit and a second setting detection unit.
The first setting detection unit is used for acquiring setting information of a remote angle and a remote distance after detecting operation information of a remote mode, and sending the remote angle information and the remote distance information to the aircraft together with the starting instruction; the second setting detection unit is used for acquiring the setting information of the surrounding direction and the surrounding angular velocity after detecting the operation information of selecting the surrounding mode, and sending the surrounding direction information and the surrounding angular velocity information to the aircraft together with the starting instruction.
As another preferred embodiment, as shown in fig. 6, the apparatus for implementing self-timer shooting based on an aircraft may further include: the fine-tuning module 530 is configured to generate a corresponding fine-tuning instruction if operation information for adjusting the initial position of the aircraft/the shooting direction of the onboard shooting device is detected, and send the fine-tuning instruction to the aircraft to adjust the initial position of the aircraft/the shooting direction of the onboard shooting device, so that the shot object is located in a central area of a shooting picture of the onboard shooting device.
As another preferred embodiment, as shown in fig. 6, the apparatus for implementing self-timer shooting based on an aircraft may further include: the stop signal detection module 540 is configured to detect operation information for confirming a stop, generate a stop instruction, and send the stop instruction to the aircraft, so that the onboard shooting device stops shooting the shot object, and the aircraft returns or hovers at a current position.
It should be noted that, in the above embodiment of the device for implementing self-timer based on an aircraft, because the contents of information interaction, execution process, and the like between modules/units are based on the same concept as the foregoing method embodiment of the present invention, the technical effect brought by the embodiment is the same as the foregoing method embodiment of the present invention, and specific contents may refer to descriptions in the method embodiment of the present invention, and are not described herein again.
In addition, the above illustrated logical division of the functional modules is only an example, and in practical applications, the above described function distribution may be performed by different functional modules according to needs, for example, due to the configuration requirements of the corresponding hardware or the convenience of the implementation of software, that is, the internal structure of the aircraft-based self-timer device is divided into different functional modules to perform all or part of the above described functions. The functional modules can be realized in a hardware mode or a software functional module mode.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium and sold or used as a stand-alone product. The program, when executed, may perform all or a portion of the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. It will be understood that the terms "first," "second," and the like as used herein are used herein to distinguish one object from another, but the objects are not limited by these terms.
The above-described examples merely represent several embodiments of the present invention and should not be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method for realizing self-timer shooting based on an aircraft is characterized by comprising the following steps:
receiving a mode selection instruction, wherein the selected mode selection instruction comprises a selected shooting mode, shooting parameters corresponding to the shooting mode and initial position information corresponding to the shooting mode; the mode selection instruction is sent through an APP in the control terminal; the control terminal is used for controlling the aircraft; the shooting mode comprises a zoom-out mode and a surround mode; the shooting parameters include: the wrapping direction and wrapping angular velocity/zoom-out angle and zoom-out distance;
controlling an aircraft to fly to a corresponding initial position, adjusting the shooting direction of an onboard shooting device of the aircraft to face a shot object, and keeping a hovering state to receive a starting instruction; the shot object is a user for controlling the control terminal; the adjusting the shooting direction of the onboard shooting device of the aircraft towards the shot object comprises the following steps: acquiring precise satellite positioning of the control terminal, and adjusting the shooting direction of an onboard shooting device of the aircraft to face the shot object according to the precise satellite positioning; the direction of the airborne shooting device is consistent with that of the aircraft nose of the aircraft; the adjusting the shooting direction of the onboard shooting device of the aircraft towards the shot object according to the precise satellite positioning comprises the following steps: according to the precise satellite positioning, adjusting the aircraft nose direction of the aircraft to face the shot object; the step of controlling the aircraft to fly to the corresponding starting position comprises:
if the remote mode is adopted, the aircraft is controlled to fly to a first initial position;
if the mode is the surrounding mode, controlling the aircraft to fly to a second initial position;
the step of controlling the aircraft to fly to the first/second starting position comprises:
adjusting the aircraft to a first starting position/a second starting position according to the position information of the shot object and the real-time position information of the aircraft; the first/second start positions are determined based on a vertical distance to the ground and a linear distance to the subject;
if the shooting mode is the zooming-out mode, receiving a zooming-out angle and a zooming-out distance, or if the shooting mode is the surrounding mode, receiving a surrounding direction and a surrounding speed so as to enable the shot object to be located in a central area of a shooting picture of the airborne shooting device;
if a fine adjustment instruction is received, adjusting the starting position of the aircraft/the shooting direction of the airborne shooting device according to the fine adjustment instruction so as to enable the shot object to be located in the central area of the shooting picture of the airborne shooting device; the method comprises the following steps: acquiring fine adjustment operation information containing at least one of vertical height adjustment information, horizontal distance adjustment information and yaw angle adjustment information in the fine adjustment instruction, and adjusting the starting position of the aircraft/the shooting direction of the airborne shooting device according to the fine adjustment operation information; the fine adjustment operation information is obtained by adjusting a preset vertical height sliding block, a horizontal distance adjusting sliding block and a yaw angle adjusting sliding rod of an aircraft control interface in the APP according to a user;
receiving a starting instruction, controlling the aircraft to fly according to a flight path corresponding to the shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft;
the step of controlling the aircraft to fly according to the flight path corresponding to the shooting mode by taking the starting position as the starting point comprises the following steps:
if the shooting mode is a surrounding mode, controlling the aircraft to perform surrounding flight by taking the initial position as a starting point, taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius according to the corresponding surrounding direction and the surrounding angular speed until a corresponding surrounding total angle is reached;
if the shooting mode is the zoom-out mode, controlling the aircraft to fly linearly in a direction far away from the shot object by taking the starting position as a starting point and keeping an included angle between the aircraft and a horizontal plane as a fixed angle; the included angle between the flight direction of the aircraft and the horizontal plane is equal to the included angle between the shooting direction of the airborne shooting device and the horizontal plane;
further comprising:
in the remote mode, detecting whether the linear flight distance of the aircraft reaches a set remote distance; if so, controlling the airborne shooting device to stop shooting, and controlling the aircraft to return to the first starting position;
further comprising:
and receiving a stop instruction, controlling the airborne shooting device to stop shooting, and controlling the aircraft to return to the initial position corresponding to the shooting mode or hover at the current position.
2. The method for realizing self-timer shooting based on aircraft according to claim 1, wherein the step of controlling the aircraft to fly according to the flight path corresponding to the shooting mode with the starting position as the starting point comprises the following steps:
and if the shooting mode is the surrounding mode, controlling the aircraft to perform surrounding flight by taking the initial position as a starting point, taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius.
3. The aircraft-based self-timer method of claim 1,
the first starting position is: the vertical distance between the shooting target and the ground is a first height value, and the linear distance between the shooting target and the ground is a first distance value;
the second starting position is as follows: the vertical distance to the ground is a second height value, and the linear distance to the shot object is a second distance value.
4. The method for realizing self-timer shooting based on the aircraft as claimed in claim 1, wherein the step of controlling the aircraft to fly according to the flight path corresponding to the shooting mode with the starting position as the starting point after receiving the starting instruction comprises:
receiving a starting instruction, starting a preset timer, and controlling the airborne shooting device to start shooting;
and when the time of the timer arrives, controlling the aircraft to fly by taking the starting position as a starting point and according to a flight path corresponding to the shooting mode.
5. A method for controlling an aircraft to realize self-timer is characterized in that an APP applied to a control terminal comprises the following steps:
detecting operation information of a selected shooting mode through an APP, acquiring the selected shooting mode and initial position information corresponding to the selected shooting mode and shooting parameters corresponding to the shooting mode, and generating a corresponding mode selection instruction according to the selected shooting mode, the shooting parameters and the initial position information; sending the mode selection instruction to an aircraft to enable the aircraft to determine a corresponding starting position according to the mode selection instruction; the shooting mode comprises a zoom-out mode and a surround mode; the shooting parameters comprise a surrounding direction, a surrounding angular speed, a zoom-out angle and a zoom-out distance;
detecting operation information for adjusting the initial position of an aircraft/the shooting direction of an airborne shooting device, generating a corresponding fine adjustment instruction, and sending the fine adjustment instruction to the aircraft to adjust the initial position of the aircraft/the shooting direction of the airborne shooting device so that a shot object is located in the central area of a shooting picture of the airborne shooting device; the method comprises the following steps: acquiring at least one adjusting action of a user on a preset vertical height sliding block, a horizontal distance adjusting sliding block and a yaw angle sliding rod of an aircraft control interface in the APP, acquiring corresponding fine adjustment operation information, generating a corresponding fine adjustment instruction according to the fine adjustment operation information, and sending the fine adjustment instruction to the aircraft; the fine adjustment operation information comprises at least one of vertical height adjustment information, horizontal distance adjustment information and yaw angle adjustment information;
detecting operation information for confirming the start, and generating a corresponding start instruction; sending the starting instruction to the aircraft to enable the aircraft to fly according to the flight path corresponding to the selected shooting mode by taking the starting position as a starting point, and controlling an airborne shooting device to shoot towards a shot object all the time in the flight process of the aircraft; the shot object is a user for controlling the control terminal; the control terminal is used for controlling the aircraft;
the step that the aircraft takes the starting position as a starting point and flies according to the flight path corresponding to the selected shooting mode comprises the following steps:
if the shooting mode is a surrounding mode, controlling the aircraft to perform surrounding flight by taking the initial position as a starting point, taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius according to the corresponding surrounding direction and the surrounding angular speed until a corresponding surrounding total angle is reached;
if the shooting mode is the zoom-out mode, controlling the aircraft to fly linearly in a direction far away from the shot object by taking the starting position as a starting point and keeping an included angle between the aircraft and a horizontal plane as a fixed angle; the included angle between the flight direction of the aircraft and the horizontal plane is equal to the included angle between the shooting direction of the airborne shooting device and the horizontal plane;
further comprising:
in the remote mode, detecting whether the linear flight distance of the aircraft reaches a set remote distance; if so, controlling the airborne shooting device to stop shooting and controlling the aircraft to return;
after the operation information for selecting the zoom-out mode is detected, the method further comprises the following steps:
acquiring setting information of a remote angle and a remote distance, and sending the remote angle information and the remote distance information to the aircraft together with the starting instruction;
the method further comprises the following steps after the operation information for selecting the surround mode is detected:
acquiring the setting information of the surrounding direction and the surrounding angular velocity, and sending the surrounding direction information and the surrounding angular velocity information to the aircraft together with the starting instruction;
further comprising:
obtaining accurate satellite positioning of the control terminal; sending the precise satellite positioning to the aircraft so that the aircraft controls an onboard shooting device to shoot towards a shot object all the time according to the precise satellite positioning in the flight process of the aircraft; the direction of the airborne shooting device is consistent with that of the aircraft nose of the aircraft; the adjusting the shooting direction of the onboard shooting device of the aircraft towards the shot object according to the precise satellite positioning comprises the following steps: according to the precise satellite positioning, adjusting the aircraft nose direction of the aircraft to face the shot object;
the aircraft determining a corresponding starting position according to the mode selection command, including:
if the remote mode is adopted, the aircraft is controlled to fly to a first initial position;
if the mode is the surrounding mode, controlling the aircraft to fly to a second initial position; the first/second start positions are determined based on a vertical distance to the ground and a linear distance to the subject;
the step of controlling the aircraft to fly to the first/second starting position comprises:
adjusting the aircraft to a first starting position/a second starting position according to the position information of the shot object and the real-time position information of the aircraft;
further comprising:
detecting operation information for confirming stop, and generating a stop instruction; and sending the stop instruction to the aircraft to enable an onboard shooting device to stop shooting the shot object, and enabling the aircraft to return to the starting position corresponding to the shooting mode or hover at the current position.
6. The method of controlling an aircraft to achieve self-timer shooting according to claim 5, wherein the step of acquiring setting information of the zoom-out angle and the zoom-out distance comprises:
detecting operation information of selecting a preset angle gear option and a preset zoom-out distance option, and acquiring zoom-out angle information and zoom-out distance information corresponding to the selected angle gear option and the preset zoom-out distance option;
the step of acquiring the setting information of the surround direction and the surround angular velocity includes:
and detecting operation information of selecting the preset direction option and the preset angular speed gear option, and acquiring surrounding direction information and surrounding angular speed information corresponding to the selected direction option and the selected angular speed gear option.
7. An apparatus for realizing self-timer based on aircraft, comprising:
the shooting device comprises a mode acquisition module, a mode selection module and a control module, wherein the mode acquisition module is used for receiving a mode selection instruction, and the selected mode selection instruction comprises a selected shooting mode, shooting parameters corresponding to the shooting mode and initial position information corresponding to the shooting mode; the mode selection instruction is sent through an APP in the control terminal; the control terminal is used for controlling the aircraft; the shooting mode comprises a zoom-out mode and a surround mode; the shooting parameters include: the wrapping direction and wrapping angular velocity/zoom-out angle and zoom-out distance;
the initial position adjusting module is used for controlling the aircraft to fly to a corresponding initial position, adjusting the shooting direction of an airborne shooting device of the aircraft to face a shot object, and keeping a hovering state to receive a starting instruction; the shot object is a user for controlling the control terminal; the adjusting the shooting direction of the onboard shooting device of the aircraft towards the shot object comprises the following steps: acquiring precise satellite positioning of the control terminal, and adjusting the shooting direction of an onboard shooting device of the aircraft to face the shot object according to the precise satellite positioning; the direction of the airborne shooting device is consistent with that of the aircraft nose of the aircraft; the initial position adjustment module is further configured to: according to the precise satellite positioning, adjusting the aircraft nose direction of the aircraft to face the shot object; the initial position adjustment module is further configured to:
the first position adjusting unit is used for controlling the aircraft to fly to a first initial position if the remote mode is adopted;
the second position adjusting unit is used for controlling the aircraft to fly to a second initial position if the aircraft is in the surrounding mode;
controlling the aircraft to fly to the first/second starting position comprises:
adjusting the aircraft to a first starting position/a second starting position according to the position information of the shot object and the real-time position information of the aircraft; the first/second start positions are determined based on a vertical distance to the ground and a linear distance to the subject;
the first setting detection unit is used for receiving a zoom-out angle and a zoom-out distance if the shooting mode is the zoom-out mode so as to enable the shot object to be located in the central area of a shot picture of the airborne shooting device;
the second setting detection unit is used for receiving the surrounding direction and the surrounding speed if the vehicle-mounted shooting device is in the surrounding mode so as to enable the shot object to be located in the central area of a shot picture of the vehicle-mounted shooting device;
the fine adjustment module is used for adjusting the starting position of the aircraft/the shooting direction of the airborne shooting device according to the fine adjustment instruction if the fine adjustment instruction is received, so that the shot object is located in the central area of the shot picture of the airborne shooting device; the method comprises the following steps: acquiring fine adjustment operation information containing at least one of vertical height adjustment information, horizontal distance adjustment information and yaw angle adjustment information in the fine adjustment instruction, and adjusting the starting position of the aircraft/the shooting direction of the airborne shooting device according to the fine adjustment operation information; the fine adjustment operation information is obtained by adjusting a preset vertical height sliding block, a horizontal distance adjusting sliding block and a yaw angle adjusting sliding rod of an aircraft control interface in the APP according to a user;
the shooting control module is used for receiving a starting instruction, controlling the aircraft to fly according to a flight path corresponding to the shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft; the method is specifically used for: if the shooting mode is a surrounding mode, controlling the aircraft to perform surrounding flight by taking the initial position as a starting point, taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius according to the corresponding surrounding direction and the surrounding angular speed until a corresponding surrounding total angle is reached; if the shooting mode is the zoom-out mode, controlling the aircraft to fly linearly in a direction far away from the shot object by taking the starting position as a starting point and keeping an included angle between the aircraft and a horizontal plane as a fixed angle; the included angle between the flight direction of the aircraft and the horizontal plane is equal to the included angle between the shooting direction of the airborne shooting device and the horizontal plane;
the shooting control module includes: the first shooting control unit is used for detecting whether the linear flying distance of the aircraft reaches a set zoom-out distance or not in the zoom-out mode; if so, controlling the airborne shooting device to stop shooting, and controlling the aircraft to return to the first starting position;
the shooting control module is further used for receiving a stop instruction, controlling the airborne shooting device to stop shooting and controlling the aircraft to return to the starting position corresponding to the shooting mode.
8. The aircraft-based self-timer device of claim 7,
the photographing control module includes:
and the second shooting control unit is used for controlling the aircraft to carry out surrounding flight by taking the initial position as a starting point, taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius if the shooting mode is the surrounding mode.
9. The aircraft-based self-timer device according to claim 7, wherein the shooting control module is specifically configured to receive a start instruction, start a preset timer, and control the onboard shooting device to start shooting; and when the time of the timer arrives, controlling the aircraft to fly according to the flight path corresponding to the shooting mode by taking the starting position as a starting point, and controlling the airborne shooting device to shoot towards the shot object all the time in the flight process of the aircraft.
10. The utility model provides a device that control aircraft realized autodyne which characterized in that is applied to control terminal's APP, includes:
the device comprises a first detection and sending module, a second detection and sending module and a control module, wherein the first detection and sending module is used for detecting operation information of a selected shooting mode through an APP, acquiring the selected shooting mode, initial position information corresponding to the selected shooting mode and shooting parameters corresponding to the shooting mode, and generating a corresponding mode selection instruction according to the selected shooting mode, the shooting parameters and the initial position information; sending the mode selection instruction to an aircraft to enable the aircraft to determine a corresponding starting position according to the mode selection instruction; the shooting mode comprises a zoom-out mode and a surround mode; the shooting parameters comprise a surrounding direction, a surrounding angular speed, a zoom-out angle and a zoom-out distance;
the fine adjustment module is used for generating a corresponding fine adjustment instruction if operation information for adjusting the initial position of the aircraft/the shooting direction of the airborne shooting device is detected after the mode selection instruction is sent to the aircraft, and sending the fine adjustment instruction to the aircraft so as to adjust the initial position of the aircraft/the shooting direction of the airborne shooting device and enable a shot object to be located in the central area of a shooting picture of the airborne shooting device; the method is specifically used for: acquiring at least one adjusting action of a user on a preset vertical height sliding block, a horizontal distance adjusting sliding block and a yaw angle sliding rod of an aircraft control interface in the APP, acquiring corresponding fine adjustment operation information, generating a corresponding fine adjustment instruction according to the fine adjustment operation information, and sending the fine adjustment instruction to the aircraft; the fine adjustment operation information comprises at least one of vertical height adjustment information, horizontal distance adjustment information and yaw angle adjustment information;
the second detection and sending module is used for detecting the operation information for confirming the start and generating a corresponding start instruction; sending the starting instruction to the aircraft to enable the aircraft to fly according to the flight path corresponding to the selected shooting mode by taking the starting position as a starting point, and controlling an airborne shooting device to shoot towards a shot object all the time in the flight process of the aircraft; the shot object is a user for controlling the control terminal; the control terminal is used for controlling the aircraft; further comprising:
obtaining accurate satellite positioning of the control terminal; sending the precise satellite positioning to the aircraft so that the aircraft controls an onboard shooting device to shoot towards a shot object all the time according to the precise satellite positioning in the flight process of the aircraft; the direction of the airborne shooting device is consistent with that of the aircraft nose of the aircraft; the adjusting the shooting direction of the onboard shooting device of the aircraft towards the shot object according to the precise satellite positioning comprises the following steps: according to the precise satellite positioning, adjusting the aircraft nose direction of the aircraft to face the shot object;
the aircraft determining a corresponding starting position according to the mode selection command, including:
if the remote mode is adopted, the aircraft is controlled to fly to a first initial position;
if the mode is the surrounding mode, controlling the aircraft to fly to a second initial position; the first/second start positions are determined based on a vertical distance to the ground and a linear distance to the subject;
controlling the aircraft to fly to the first/second starting position comprises:
adjusting the aircraft to a first starting position/a second starting position according to the position information of the shot object and the real-time position information of the aircraft;
the second detection and sending module is further used for detecting the operation information for confirming the start and generating a corresponding start instruction; sending the starting instruction to the aircraft to enable the aircraft to control the aircraft to perform surrounding flight by taking the initial position as a starting point and taking the position of the shot object as a central point and taking the linear distance from the current position of the aircraft to the shot object as a surrounding radius until a corresponding surrounding total angle is reached according to the corresponding surrounding direction and surrounding angular speed in a surrounding mode; if the shooting mode is the zoom-out mode, controlling the aircraft to fly linearly in a direction far away from the shot object by taking the starting position as a starting point and keeping an included angle between the aircraft and a horizontal plane as a fixed angle; the included angle between the flight direction of the aircraft and the horizontal plane is equal to the included angle between the shooting direction of the airborne shooting device and the horizontal plane; in the remote mode, detecting whether the linear flight distance of the aircraft reaches a set remote distance; if so, controlling the airborne shooting device to stop shooting and controlling the aircraft to return;
the first detecting and transmitting module further comprises:
the first setting detection unit is used for acquiring setting information of a zoom-out angle and a zoom-out distance after detecting the operation information of the selection zoom-out mode, and sending the zoom-out angle information and the zoom-out distance information to the aircraft together with the starting instruction;
the second setting detection unit is used for acquiring the setting information of the surrounding direction and the surrounding angular velocity after detecting the operation information of the surrounding mode, and sending the information of the surrounding direction and the surrounding angular velocity together with the starting instruction to the aircraft;
and the stop signal detection module is used for detecting the operation information for confirming the stop, generating a stop instruction, sending the stop instruction to the aircraft to enable the airborne shooting device to stop shooting, and enabling the aircraft to return to the starting position corresponding to the shooting mode or hover at the current position.
CN201610703209.3A 2016-08-22 2016-08-22 Method and device for realizing self-shooting based on aircraft Active CN107765709B (en)

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