CN108366210B - Unmanned aerial vehicle and unmanned aerial vehicle control method - Google Patents
Unmanned aerial vehicle and unmanned aerial vehicle control method Download PDFInfo
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- CN108366210B CN108366210B CN201810135136.1A CN201810135136A CN108366210B CN 108366210 B CN108366210 B CN 108366210B CN 201810135136 A CN201810135136 A CN 201810135136A CN 108366210 B CN108366210 B CN 108366210B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The invention provides an unmanned aerial vehicle and a control method thereof, wherein the unmanned aerial vehicle comprises: the flight control device comprises a flight controller, an image shooting module, a lighting module, a first sensor for detecting light intensity and a second sensor for detecting whether an object moves in a target area, wherein the flight controller is electrically connected with the image shooting module, the lighting module, the first sensor and the second sensor respectively; when the first sensor detects that the light intensity is smaller than or equal to the preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends a lighting instruction to the lighting module, the image shooting module collects images in the target area according to the shooting instruction, and the lighting module lights the target area according to the lighting instruction. According to the unmanned aerial vehicle, in the process that the image shooting module collects the image, the illumination module can provide illumination to enable the image shooting module to collect a clear image.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and an unmanned aerial vehicle control method.
Background
Unmanned aerial vehicle can utilize the unmanned aerial vehicle of remote controller control flight state, and it has advantages such as small, light in weight, flexible operation and security height. Especially, unmanned aerial vehicle can carry on camera and image transmission controller, and image transmission controller transmits the image that the camera was shot to ground display device in real time to make ground user can observe the developments of the target object in the shooting region in real time, make unmanned aerial vehicle by the wide application in fields such as aerial photograph, detection, search and rescue and resource exploration.
However, the camera on present unmanned aerial vehicle is the camera that adopts single imaging function usually, it can gather clear image in the environment that light is sufficient daytime, and in the environment that light is not enough, especially night, when unmanned aerial vehicle controller machine carries the camera and shoots, it is unclear because light is not enough to lead to the image that machine carries the camera to shoot usually, can't see the target object in the image even, make the image that ground customer can't pass through image transmission controller conveying, clearly observe the developments of shooting regional interior target object, thereby make unmanned aerial vehicle use in the environment that light is not enough limited.
It is thus clear that current unmanned aerial vehicle exists because of the not enough problem that leads to using to be limited of light in the use.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle and an unmanned aerial vehicle control method, and aims to solve the problem that the use of the existing unmanned aerial vehicle is limited due to insufficient light in the use process.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including: the flight control device comprises a flight controller, an image shooting module, a lighting module, a first sensor for detecting light intensity and a second sensor for detecting whether an object moves in a target area, wherein the flight controller is electrically connected with the image shooting module, the lighting module, the first sensor and the second sensor respectively; when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends a lighting instruction to the lighting module, the image shooting module collects images in the target area according to the shooting instruction, and the lighting module lights the target area according to the lighting instruction.
Optionally, when the intensity of the light detected by the first sensor is less than or equal to a preset threshold, the flight controller sends a moving object detection instruction to the second sensor, and the second sensor detects whether an object moves in the target area according to the moving object detection instruction.
Optionally, the unmanned aerial vehicle further includes a distance sensor, the distance sensor is electrically connected to the flight controller, when the first sensor detects that the light intensity is less than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a distance detection instruction to the distance sensor, and the distance sensor measures a target distance between the unmanned aerial vehicle and the object in the target area according to the distance detection instruction and sends the target distance to the flight controller; the flight controller determines a target illumination intensity corresponding to the target distance, and sends an illumination instruction for illuminating with the target illumination intensity to the illumination module, and the illumination module illuminates the target area with the target illumination intensity according to the illumination instruction.
Optionally, if the second sensor detects that the moving object moves from the first position to the second position in the target area, the flight controller sends a focus point adjustment instruction to the image capturing module, and the image capturing module adjusts the focus point of the moving object from the first position to the second position according to the focus point adjustment instruction.
Optionally, the unmanned aerial vehicle further includes a driving module, the driving module is electrically connected to the flight controller, when the second sensor detects that the moving object in the target area is not located at the center of the target area, the flight controller sends a driving instruction to the driving module, and the driving module drives the image capturing module and the lighting module to move according to the driving instruction, so that the moving object is located at the center of the capturing area of the image capturing module, and the moving object is located at the center of the lighting area of the lighting module.
Optionally, the second sensor is an infrared pyroelectric sensor.
In a second aspect, an embodiment of the present invention further provides a method for controlling an unmanned aerial vehicle, where the unmanned aerial vehicle includes: the flight control device comprises a flight controller, an image shooting module, a lighting module, a first sensor for detecting light intensity and a second sensor for detecting whether an object moves in a target area, wherein the flight controller is electrically connected with the image shooting module, the lighting module, the first sensor and the second sensor respectively, and the control method comprises the following steps:
the first sensor detects whether the light intensity is smaller than or equal to a preset threshold value;
the second sensor detects whether an object moves in the target area;
when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends an illumination instruction to the illumination module;
the image shooting module collects images in the target area according to the shooting instruction; and
the illumination module illuminates the target area according to the illumination instruction.
Optionally, the step of detecting whether an object moves in the target area by the second sensor includes:
when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value, the flight controller sends a moving object detection instruction to the second sensor;
and the second sensor detects whether an object moves in the target area according to the moving object detection instruction.
Optionally, the unmanned aerial vehicle further includes a distance sensor, and when the first sensor detects that the light intensity is less than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends a lighting instruction to the lighting module, including:
when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a distance detection instruction to the distance sensor;
the distance sensor measures a target distance between the unmanned aerial vehicle and a moving object in the target area according to the distance detection instruction, and sends the target distance to the flight controller;
the flight controller determines a target illumination intensity corresponding to the target distance and sends a lighting instruction for lighting with the target illumination intensity to the lighting module;
the step of illuminating the target area by the illumination module according to the illumination instruction comprises the following steps:
and the illumination module illuminates the target area with the target illumination intensity according to the illumination instruction.
Optionally, after the step of illuminating the target area by the illumination module according to the illumination instruction, the method further includes:
if the second sensor detects that the moving object moves from the first position to the second position in the target area, the flight controller sends a focusing point adjusting instruction to the image shooting module;
and the image shooting module adjusts the focus point of the image shooting module from the first position to the second position according to the focus point adjusting instruction.
Optionally, the unmanned aerial vehicle further includes a driving module, and after the step of illuminating the target area by the illumination module according to the illumination instruction, the unmanned aerial vehicle further includes:
when the second sensor detects that a moving object in the target area is not located at the center position of the target area, the flight controller sends a driving instruction to the driving module;
the driving module drives the image shooting module and the illumination module to move according to the driving instruction, so that the moving object is located at the center of a shooting area of the image shooting module, and the moving object is located at the center of an illumination area of the illumination module.
In the embodiment of the invention, when the first sensor detects that the light intensity in the target area is less than or equal to the preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends a lighting instruction to the lighting module, the image shooting module collects images in the target area according to the shooting instruction, and the lighting module lights the target area according to the lighting instruction, so that the lighting module can provide light to enable the image shooting module to collect clear images in the process of collecting the images in the target area by the image shooting module of the unmanned aerial vehicle, and the limitation of the unmanned aerial vehicle caused by insufficient light is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another unmanned aerial vehicle provided in the embodiment of the present invention;
fig. 3 is a schematic flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of another control method for a drone according to an embodiment of the present invention;
reference numerals:
10-unmanned aerial vehicle; 11-a flight controller;
12-an image capture module; 13-a lighting module;
14-a first sensor; 15-a second sensor;
16-an image transfer controller; 17-a distance sensor;
18-drive module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, an unmanned aerial vehicle 10 includes: the flight control device comprises a flight controller 11, an image shooting module 12, an illumination module 13, a first sensor 14 for detecting light intensity and a second sensor 15 for detecting whether an object moves in a target area, wherein the flight controller 11 is electrically connected with the image shooting module 12, the illumination module 13, the first sensor 14 and the second sensor 15 respectively; when the first sensor 14 detects that the light intensity is less than or equal to a preset threshold value, and the second sensor 15 detects that an object moves in the target area, the flight controller 11 sends a shooting instruction to the image shooting module 12 and sends an illumination instruction to the illumination module 13, the image shooting module 12 collects an image in the target area according to the shooting instruction, and the illumination module 13 illuminates the target area according to the illumination instruction.
In the embodiment of the present invention, when the first sensor 14 detects that the light intensity is less than or equal to the preset threshold, and the second sensor 15 detects that an object moves in the target area, the flight controller may control the image capturing module 12 to capture an image, and control the lighting module 13 to illuminate the target area, so that the lighting module 13 may provide light to enable the image capturing module 12 to capture a clear image during the process of capturing the image in the target area by the image capturing module 12, thereby preventing the unmanned aerial vehicle 10 from being limited in use due to insufficient light.
The second sensor 15 may be constantly located in a detection target area to detect whether an object moves, or, optionally, when the first sensor 14 detects that the light intensity is less than or equal to a preset threshold, the flight controller 11 sends a moving object detection instruction to the second sensor 15, and the second sensor 15 detects whether an object moves in the target area according to the moving object detection instruction, so that waste of electric energy of the second sensor 15 can be reduced, and the cruising ability of the unmanned aerial vehicle 10 is improved.
In addition, in the process of capturing an image, the image capturing module 12 may use a fixed position in the target area as a focus point, or, optionally, if the second sensor 15 detects that the moving object moves from the first position to the second position in the target area, the flight controller 11 sends a focus point adjustment instruction to the image capturing module 12, and the image capturing module 12 adjusts the focus point from the first position to the second position according to the focus point adjustment instruction, so that the unmanned aerial vehicle may automatically adjust the position of the focus point of the image capturing module 12 according to the moving position of the moving object in the target area in the process of capturing an image by the image capturing module 12, thereby improving the quality of the captured image.
It should be noted that, as shown in fig. 2, the unmanned aerial vehicle 10 may further include an image transmission controller 16, where the image transmission controller 16 is configured to send an image acquired by the image capturing module 12 to a ground receiving device for displaying (such as a mobile phone or a display screen), and the image transmission controller 16 may be connected between the flight controller 11 and the image capturing module 12, so that the flight controller 11 may transmit a capturing instruction to the image capturing module 12 through the image transmission controller 16; of course, the image transfer controller 16 may be connected to the flight controller 11 and the image capturing module 12, respectively, and the flight controller 11 is connected to the image capturing module 12, so that the flight controller 11 directly sends a capturing instruction to the image capturing module 12.
In the embodiment of the present invention, the lighting module 13 illuminates the target area according to the lighting instruction, or when the lighting module 13 receives the lighting instruction, the lighting module 13 is turned on, and the lighting module illuminates the lighting area with a preset illumination intensity. The lighting module 13 may be any device or apparatus for performing long-distance lighting, such as: lighting lamps, etc.
Optionally, as shown in fig. 2, the unmanned aerial vehicle 10 may further include a distance sensor 17, where the distance sensor 17 is electrically connected to the flight controller 11, when the first sensor 14 detects that the light intensity is less than or equal to a preset threshold value and the second sensor 15 detects that an object moves in the target area, the flight controller 11 sends a distance detection instruction to the distance sensor 17, and the distance sensor 17 measures a target distance between the unmanned aerial vehicle 10 and the moving object in the target area according to the distance detection instruction and sends the target distance to the flight controller 11; the flight controller 11 determines a target illumination intensity corresponding to the target distance, and sends an illumination instruction for illuminating with the target illumination intensity to the illumination module 13, and the illumination module 13 illuminates the target area with the target illumination intensity according to the illumination instruction.
In the embodiment of the present invention, when the image capturing module 12 captures an image, a ground user may control a change in a position of the unmanned aerial vehicle 10 during a flight process through the image transmitted by the image transmission controller 16 in real time, so as to keep the image capturing module 12 capable of using a moving object as an image capturing object when the moving object moves.
Optionally, as shown in fig. 2, the unmanned aerial vehicle 10 may further include a driving module 18, where the driving module 18 is electrically connected to the flight controller 11, and when the second sensor 15 detects that the moving object in the target area is not located at the center of the target area, the flight controller 11 sends a driving instruction to the driving module 18, and the driving module 18 drives the image capturing module 12 and the lighting module 13 to move according to the driving instruction, so that the moving object is located at the center of the capturing area of the image capturing module 12, and the moving object is located at the center of the lighting area of the lighting module 13, thereby reducing user operations during image capturing and improving quality of the captured image.
The driving module 18 may be any device or apparatus capable of driving the image capturing module 12 and the illumination module 13 to move, for example: the driving module 18 may be a motorized pan and tilt head, and the image capturing module 12 and the lighting module are fixed to the motorized pan and tilt head, etc.
In the embodiment of the present invention, the first sensor 14 may be a photosensitive sensor, and the photosensitive sensor can accurately detect the intensity of light in the environment where the sensor is located; the second sensor 15 may be a microwave sensor, which emits microwaves and detects the moving object by detecting the change of the microwaves reflected by the object. Alternatively, the second sensor 15 may be an infrared pyroelectric sensor, so that the measurement is more accurate and the measurement distance is longer.
An infrared pyroelectric sensor is a temperature-sensitive sensor, and generally includes a pyroelectric infrared sensor and a fresnel lens. The pyroelectric infrared sensor can convert the change of an infrared signal with the wavelength of 8-12 UM into an electric signal and has an inhibiting effect on a visible light signal in the nature, so that in an effective warning area of the infrared detector, when no human body or animal moves, the pyroelectric infrared sensor only senses the background temperature, no signal changes exist, and the pyroelectric infrared sensor cannot generate the electric signal and cannot alarm; when the human body or the animal enters the warning area, the difference signal of the temperature of the human body or the animal sensed by the pyroelectric infrared sensor and the background temperature is generated through the Fresnel lens and the pyroelectric infrared sensor, and an electric signal is generated at the moment, so that the alarm is given.
In addition, the Fresnel lens has the functions of focusing pyroelectric infrared signals and reflecting the pyroelectric infrared signals on the infrared sensor, and can divide the inner part of the warning area into a plurality of bright areas and dark areas, so that a moving object entering the warning area can generate variable pyroelectric infrared signals on the pyroelectric infrared sensor in a temperature change mode, the pyroelectric infrared sensor generates variable electric signals, and a subsequent circuit generates alarm signals after detection processing, so that the detection capability is improved.
In the embodiment of the invention, when the first sensor detects that the light intensity in the target area is less than or equal to the preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends a lighting instruction to the lighting module, the image shooting module collects images in the target area according to the shooting instruction, and the lighting module lights the target area according to the lighting instruction, so that the lighting module can provide light to enable the image shooting module to collect clear images in the process of collecting the images in the target area by the image shooting module of the unmanned aerial vehicle, and the limitation of the unmanned aerial vehicle caused by insufficient light is avoided.
As shown in fig. 3, fig. 3 is a schematic flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention, and is applied to the unmanned aerial vehicle 10 shown in fig. 1 and fig. 2, and as shown in fig. 3, the method includes the following steps:
In the embodiment of the present invention, during the start-up flight process of the unmanned aerial vehicle, the first sensor 14 may detect the light intensity of the surrounding environment, and determine whether the detected light intensity is less than or equal to a preset threshold. The preset threshold is a preset illumination intensity value.
In the embodiment of the present invention, when the second sensor is powered on, the second sensor 15 may detect whether an object moves in the target area. The target area may be a shooting area of the image shooting module 12 of the unmanned aerial vehicle 10.
It should be noted that, the step 302 and the step 301 may be executed simultaneously, or the step 302 may be executed before the step 301 or the step 302 may be executed after the step 301, and the present invention is not limited thereto.
And 303, when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends an illumination instruction to the illumination module.
In this embodiment of the present invention, if the first sensor 14 detects that the light intensity in the target area is less than or equal to the preset threshold in step 301, and the second sensor 15 detects that an object moves in the target area, the first sensor 14 and the second sensor 15 may respectively send an electrical signal to the flight controller 11, and when the flight controller simultaneously receives the electrical signals sent by the first sensor 14 and the second sensor 15, the flight controller may send a shooting instruction to the image shooting module 12 and a lighting instruction to the lighting module 13.
And step 304, the image shooting module collects images in the target area according to the shooting instruction.
In this embodiment of the present invention, if the controller sends the shooting instruction to the image capturing module 12 in step 304, the image capturing module 12 may receive the shooting instruction and collect the image in the target area.
And 305, the illumination module illuminates the target area according to the illumination instruction.
In this embodiment of the present invention, if the controller sends the illumination instruction to the illumination module 13 in step 304, the illumination module 13 may receive the illumination instruction and illuminate the target area with the preset illumination intensity.
It should be noted that step 304 and step 305 may be executed simultaneously, or step 305 may be executed after or before step 304, and is not limited herein.
In the embodiment of the invention, the first sensor detects whether the light intensity is less than or equal to a preset threshold value; the second sensor detects whether an object moves in the target area; when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends an illumination instruction to the illumination module; the image shooting module collects images in the target area according to the shooting instruction; and the illumination module illuminates the target area according to the illumination instruction. Like this, man-machine image shooting module is at the image in-process of gathering the target area, and lighting module can provide illumination and make image shooting module gather clear image, avoids unmanned aerial vehicle to arouse because of the light is not enough to use limitedly.
As shown in fig. 4, fig. 4 is a schematic flowchart of a control method of an unmanned aerial vehicle according to an embodiment of the present invention, and is applied to the unmanned aerial vehicle shown in fig. 1 and fig. 2, and as shown in fig. 4, the method includes the following steps:
The implementation process and beneficial effects of this step can be referred to the description in step 301, and are not described herein again.
In this embodiment of the present invention, if the light intensity detected in step 401 is less than or equal to the preset threshold, the first sensor 14 may send an electric signal to the flight controller 11, and the flight controller 11 sends a moving object detection instruction to the second sensor 15 when receiving the electric signal sent by the first sensor 14.
In the embodiment of the present invention, if the flight controller sends the moving object detection instruction to the second sensor in step 402, the second sensor 13 is powered on when receiving the moving object detection instruction, and detects whether there is an object moving in the target area, so as to avoid the waste of electric energy caused by continuous power on of the second sensor 13.
Step 404, when the first sensor detects that the light intensity is less than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends an illumination instruction to the illumination module.
The implementation process and beneficial effects of this step can be referred to the description in step 303, and are not described herein again.
And step 405, the image shooting module collects the image in the target area according to the shooting instruction.
The implementation process and beneficial effects of this step can be referred to the description in step 304, and are not described herein again.
And 406, the illumination module illuminates the target area according to the illumination instruction.
The implementation process and beneficial effects of this step can be referred to the description in step 305, and are not described herein again.
Optionally, the unmanned aerial vehicle 10 may further include a distance sensor, and the step 404 may include: when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a distance detection instruction to the distance sensor; the distance sensor measures a target distance between the unmanned aerial vehicle and a moving object in the target area according to the distance detection instruction, and sends the target distance to the flight controller; the flight controller determines a target illumination intensity corresponding to the target distance and sends a lighting instruction for lighting with the target illumination intensity to the lighting module; the step 406 may include: the illumination module is according to the illumination instruction with target illumination intensity is right the target area throws light on to image shooting module 12 is in gathering the image in-process in the target area, and illumination module 13 can provide illumination and make image shooting module 12 gather clear image, avoids unmanned aerial vehicle 10 to cause because of the light is not enough and uses limitedly.
Optionally, after the step 406, the method may further include: if the second sensor detects that the moving object moves from the first position to the second position in the target area, the flight controller sends a focusing point adjusting instruction to the image shooting module; the image shooting module adjusts the focus of the image shooting module to the second position according to the focus adjustment instruction, so that the unmanned aerial vehicle can automatically adjust the position of the focus of the image shooting module 12 according to the moving position of the moving object in the target area in the image shooting module 12 in the image collecting process, and the quality of the collected image is improved.
Optionally, the unmanned aerial vehicle 10 may further include a driving module 18, and after the step 406, the method may further include: when the second sensor detects that a moving object in the target area is not located at the center position of the target area, the flight controller sends a driving instruction to the driving module; the driving module drives the image shooting module and the lighting module to move according to the driving instruction, so that the moving object is located at the center of a shooting area of the image shooting module, operation of a user in an image acquisition process is reduced, and quality of an acquired image is improved.
In the embodiment of the present invention, when the first sensor detects that the light intensity is less than or equal to the preset threshold, the flight controller sends a moving object detection instruction to the second sensor; the second sensor detects whether an object moves in the target area according to the moving object detection instruction, so that the waste of electric energy of the second sensor can be reduced, and the cruising ability of the unmanned aerial vehicle is improved.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when executed by each component of the above-mentioned unmanned aerial vehicle, the computer program implements each process of the above-mentioned control method embodiment of the unmanned aerial vehicle, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) and includes instructions for a drone to execute the method according to the embodiments of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A drone, characterized in that it comprises: the flight control device comprises a flight controller, an image shooting module, a lighting module, a first sensor for detecting light intensity and a second sensor for detecting whether an object moves in a target area, wherein the flight controller is electrically connected with the image shooting module, the lighting module, the first sensor and the second sensor respectively; when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends an illumination instruction to the illumination module, the image shooting module collects an image in the target area according to the shooting instruction, and the illumination module illuminates the target area according to the illumination instruction;
the unmanned aerial vehicle further comprises a distance sensor, the distance sensor is electrically connected with the flight controller, when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a distance detection instruction to the distance sensor, and the distance sensor measures the target distance between the unmanned aerial vehicle and the moving object in the target area according to the distance detection instruction and sends the target distance to the flight controller; the flight controller determines a target illumination intensity corresponding to the target distance, and sends an illumination instruction for illuminating with the target illumination intensity to the illumination module, and the illumination module illuminates the target area with the target illumination intensity according to the illumination instruction.
2. The drone of claim 1, wherein the flight controller sends a moving object detection instruction to the second sensor when the first sensor detects that the light intensity is less than or equal to a preset threshold, and the second sensor detects whether an object moves in the target area according to the moving object detection instruction.
3. The drone of claim 1 or 2, wherein if the second sensor detects that the moving object moves from a first position to a second position within the target area, the flight controller sends a focus adjustment command to the image capture module, and the image capture module adjusts the focus of the moving object from the first position to the second position according to the focus adjustment command.
4. The unmanned aerial vehicle of claim 1 or 2, further comprising a driving module electrically connected to the flight controller, wherein when the second sensor detects that the moving object in the target area is not located at the center of the target area, the flight controller sends a driving command to the driving module, and the driving module drives the image capturing module and the lighting module to move according to the driving command, so that the moving object is located at the center of the capturing area of the image capturing module, and the moving object is located at the center of the lighting area of the lighting module.
5. A drone according to claim 1 or 2, characterised in that the second sensor is an infrared pyroelectric sensor.
6. A control method of an unmanned aerial vehicle is applied to the unmanned aerial vehicle, and is characterized in that the unmanned aerial vehicle comprises: the flight control device comprises a flight controller, an image shooting module, a lighting module, a first sensor for detecting light intensity and a second sensor for detecting whether an object moves in a target area, wherein the flight controller is electrically connected with the image shooting module, the lighting module, the first sensor and the second sensor respectively, and the control method comprises the following steps:
the first sensor detects whether the light intensity is smaller than or equal to a preset threshold value;
the second sensor detects whether an object moves in the target area;
when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a shooting instruction to the image shooting module and sends an illumination instruction to the illumination module;
the image shooting module collects images in the target area according to the shooting instruction; and
the illumination module illuminates the target area according to the illumination instruction;
the unmanned aerial vehicle still includes distance sensor, when first sensor detects light intensity and is less than or equal to preset threshold, and the second sensor detects when there is the object to move in the target area, flight controller to the image shooting module sends the step of shooing the instruction and to lighting module sends the illumination instruction, includes:
when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value and the second sensor detects that an object moves in the target area, the flight controller sends a distance detection instruction to the distance sensor;
the distance sensor measures a target distance between the unmanned aerial vehicle and a moving object in the target area according to the distance detection instruction, and sends the target distance to the flight controller;
the flight controller determines a target illumination intensity corresponding to the target distance and sends a lighting instruction for lighting with the target illumination intensity to the lighting module;
the step of illuminating the target area by the illumination module according to the illumination instruction comprises the following steps:
and the illumination module illuminates the target area with the target illumination intensity according to the illumination instruction.
7. The method of claim 6, wherein the step of the second sensor detecting whether an object is moving within the target area comprises:
when the first sensor detects that the light intensity is smaller than or equal to a preset threshold value, the flight controller sends a moving object detection instruction to the second sensor;
and the second sensor detects whether an object moves in the target area according to the moving object detection instruction.
8. The method according to claim 6 or 7, wherein the step of the lighting module lighting the target area according to the lighting instruction is followed by further comprising:
if the second sensor detects that the moving object moves from the first position to the second position in the target area, the flight controller sends a focusing point adjusting instruction to the image shooting module;
and the image shooting module adjusts the focus point of the image shooting module from the first position to the second position according to the focus point adjusting instruction.
9. The method of claim 6 or 7, wherein the drone further comprises a driving module, and wherein after the step of illuminating the target area according to the illumination instructions, the lighting module further comprises:
when the second sensor detects that a moving object in the target area is not located at the center position of the target area, the flight controller sends a driving instruction to the driving module;
the driving module drives the image shooting module and the illumination module to move according to the driving instruction, so that the moving object is located at the center of a shooting area of the image shooting module, and the moving object is located at the center of an illumination area of the illumination module.
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| CN112764431B (en) * | 2021-04-08 | 2021-07-06 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
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