CN108650522A - Based on the live broadcast system that can obtain high definition photo immediately automatically controlled - Google Patents

Based on the live broadcast system that can obtain high definition photo immediately automatically controlled Download PDF

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Publication number
CN108650522A
CN108650522A CN201810534170.6A CN201810534170A CN108650522A CN 108650522 A CN108650522 A CN 108650522A CN 201810534170 A CN201810534170 A CN 201810534170A CN 108650522 A CN108650522 A CN 108650522A
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CN
China
Prior art keywords
holder
control instruction
camera
instruction
camera module
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Granted
Application number
CN201810534170.6A
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Chinese (zh)
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CN108650522B (en
Inventor
朱磊
李建英
韩琦
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Harbin Yishe Technology Co Ltd
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Harbin Yishe Technology Co Ltd
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Priority to CN201810534170.6A priority Critical patent/CN108650522B/en
Publication of CN108650522A publication Critical patent/CN108650522A/en
Application granted granted Critical
Publication of CN108650522B publication Critical patent/CN108650522B/en
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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/21—Server components or server architectures
    • H04N21/218—Source of audio or video content, e.g. local disk arrays
    • H04N21/2187—Live feed
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client 
    • H04N21/65—Transmission of management data between client and server
    • H04N21/658—Transmission by the client directed to the server
    • H04N21/6587—Control parameters, e.g. trick play commands, viewpoint selection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Databases & Information Systems (AREA)
  • Studio Devices (AREA)

Abstract

The present invention provides a kind of based on the live broadcast system that can obtain high definition photo immediately automatically controlled, including upper computer end, the next generator terminal, server end and user terminal；Upper computer end includes removable load bearing equipment, and removable load bearing equipment is equipped with holder, the image capture device being connect with holder and the first transmission module；Image capture device includes one or more camera modules.The above system of the present invention, visual angle is exported respectively close to the consistent image data and video data with corresponding time relationship by two cameras in each camera module, with dual data stream output mode, the demand of user's captured in real-time high definition photo when watching video disclosure satisfy that.Utilize the above-mentioned technology of the present invention, user can not only watch live video and take pictures, and control instruction can be sent out by server end when watching live streaming and change posture to control removable load bearing equipment and/or holder, and then change the viewing visual angle of user, improve consumer entertainment interactivity.

Description

Based on the live broadcast system that can obtain high definition photo immediately automatically controlled
Technical field
A kind of it can obtain the present invention relates to the information processing technology more particularly to immediately high definition photo based on what is automatically controlled Live broadcast system.
Background technology
Take photo by plane also known as aerophotography or aeroplane photography, refer to from the air to earth landforms, urban landscape, personage etc. into Row photography and vedio recording activity.It is ground in military affairs, transport development, hydraulic engineering, ecology currently, unmanned plane has been widely used Study carefully, TV column and artistic photography etc..
However, either existing unmanned plane technology or other vehicle-mounted technique for taking etc., it is existing these Technology can only export video or output picture, and corresponding sole user with single-mode, cannot be satisfied multi-user, various aspects Demand, bring inconvenience to user.
Invention content
The brief overview about the present invention is given below, in order to provide about the basic of certain aspects of the invention Understand.It should be appreciated that this general introduction is not the exhaustive general introduction about the present invention.It is not intended to determine the pass of the present invention Key or pith, nor is it intended to limit the scope of the present invention.Its purpose only provides certain concepts in simplified form, In this, as the preamble in greater detail discussed later.
In consideration of it, the present invention provides a kind of based on the live broadcast system that can obtain high definition photo immediately automatically controlled, with It at least solves the technologies such as existing unmanned plane or vehicle-mounted shooting and video or output is exported with single-mode due to being only capable of Picture, corresponding sole user and the problem of cannot be satisfied multi-user, many-sided demand.
According to an aspect of the invention, there is provided a kind of based on the live streaming that can obtain high definition photo immediately automatically controlled System, described based on the live broadcast system that can obtain high definition photo immediately automatically controlled includes upper computer end, the next generator terminal, service Device end and user terminal；The upper computer end includes removable load bearing equipment, and the removable load bearing equipment is equipped with holder and cloud The image capture device and the first transmission module of platform connection；Wherein, the holder is for adjusting Image Acquisition connected to it The position and/or direction of equipment；Described image collecting device includes one or more camera modules, wherein each camera module It is roughly the same that two cameras including two cameras, and in the same camera module carve corresponding acquisition visual angle at the same time； First transmission module includes one or more wireless image transmission modules for being communicated with the next generator terminal；Wherein, each Two cameras in camera module are respectively used to output image data and video data, and the image data includes one group or more Group picture, and the video data includes one or more groups of sequence of frames of video；The bottom generator terminal includes the second transmission module, institute The second transmission module is stated to include one or more wireless image transmission modules for communicating with the upper computer end and be used for and institute State the communication module of server end communication；The bottom generator terminal is for receiving and forwarding the acquisition instructions from the server end To the upper computer end, so that the image capture device of the upper computer end, which starts or stops, acquires picture/video in its visual field Data, and picture/video data is received to be transmitted to the server end in real time from the upper computer end；The bottom generator terminal exists After establishing connection respectively with the upper computer end and the server end, it is additionally operable to receive and forwards from the server end Control instruction gives the upper computer end；Wherein, the control instruction includes referring to the first control of the removable load bearing equipment It enables and to the second control instruction of the holder；The server end be used for from the slave computer termination receive picture/ Video data carries out instant, corresponding processing and stores, and when receiving the request instruction from the user terminal, obtains and is somebody's turn to do Picture/video data that request instruction matches is sent to the user terminal for sending out the request instruction；And for user will to be come from The control instruction at end is forwarded to corresponding upper computer end；Wherein, the request instruction includes the instruction of request transmission of video and/or claps According to instruction.
Further, the removable load bearing equipment is following any：Unmanned plane, movable mechanical arm, cable car, sightseeing Vehicle, train, aircraft or ship.
Further, when the removable load bearing equipment is unmanned plane, first control instruction includes for controlling The self-test of the unmanned plane, take off, land, making a return voyage, hovering, pitching, any one of rolling and yaw or multinomial control action Instruction.
Further, first control instruction includes heading control instruction and/or flight altitude control instruction.
Further, second control instruction includes for controlling the holder progress level and/or pitch orientation The control instruction of movement.
Further, if the control instruction that user terminal is sent inputs for voice, the server end sends out the user terminal The voice sent carries out semantics recognition to be converted signal in order to control, and by the control signal in real time via corresponding the next generator terminal Transfer is sent to corresponding upper computer end.
Further, if the control instruction that user terminal is sent is to be manually entered, the server end will be according to the control The control signal generated is instructed to be sent to corresponding upper computer end via corresponding the next generator terminal transfer in real time.
Further, the holder is multiple degrees of freedom holder, and it is more to be suitable for controlling image capture device progress connected to it Direction is adjusted.
Further, the holder can control image capture device connected to it and carry out following any one or more fortune It is dynamic：Horizontal revolving motion, vertical pitching movement and the optical axis rotation around the image capture device move.
Further, the holder is equipped with telescopic device, and the image capture device being connect with holder is arranged right On the telescopic device answered, so that the image capture device can be moved with the flexible of the telescopic device.
Further, the holder includes cradle head control module and drive module；The cradle head control module is for receiving Control instruction from the next generator terminal, and instruction is sent out to the drive module, by the drive module to corresponding Motor sends out control signal and drive pulse signal, changes the athletic posture of each rotation axis of holder with control.
Further, the drive module further includes limit switch, to control corresponding holder by the limit switch Slewing area.
Further, the camera of each camera module is wide-angle camera.
Further, the image data and video data that two cameras that each camera module includes are acquired have Corresponding time relationship.
Further, the removable load bearing equipment, holder and image capture device on the removable load bearing equipment Communicated with the next generator terminal by a figure transmission module.
Further, the removable load bearing equipment, holder and image capture device on the removable load bearing equipment It is communicated respectively with the next generator terminal by corresponding figure transmission module.
Further, two cameras in each camera module respectively by figure transmission module transmit image data and Video data.
Further, the removable load bearing equipment is equipped with one or more holders, and single holder is for controlling correspondence Single camera module in two cameras be adjusted synchronously.
Further, the removable load bearing equipment is equipped with one or more holders, and single holder is described for controlling The camera of at least two camera modules is adjusted synchronously in one or more camera modules.
Further, the removable load bearing equipment is equipped with multiple holders, and each camera module corresponds to two holders, Wherein, two cameras in single camera module carry out asynchronous fine tuning by two holders respectively.
Further, the removable load bearing equipment be unmanned plane in the case of, it is described bottom generator terminal with it is described on After position generator terminal and the server end establish connection respectively, receive and forward the flight control instruction of server end transmission to Unmanned plane makes unmanned plane fly by programme path based on GPS.
Further, the quantity of the upper computer end is one or more, and the quantity of the next generator terminal with it is described on The quantity of position generator terminal is consistent；Wherein, each upper computer end passes through the corresponding the next generator terminal of the upper computer end and the server end Communication.
Further, when the request instruction includes transmission of video instruction, the server end is suitable for by such as lower section Formula is sent instructs the video data to match with the request transmission of video：Judge that the request instruction is to draw stream request or program request Video request：If stream request is drawn, then stream address will be drawn to be sent to corresponding user terminal；It is asked if order video, then it will The virtual route address for the video of storage being consistent with mark entrained in the request instruction is sent to corresponding user terminal.
Further, when the request instruction includes photographing instruction, the server end is suitable for obtaining in the following way Take the image data to match with the photographing instruction：According to the correspondence and the photographing instruction of multigroup picture and video flowing In entrained sending time, the image data of the corresponding sending time is selected in the image data of storage, and be stored in hair Go out under the user account of the photographing instruction, to respond the download after user.
Further, in the case where described image collecting device includes multiple camera modules, the server end is suitable for： The camera module belonging to the picture/video data to match with the request instruction is determined among multiple camera module, as Target camera module, to select picture/video data that the target camera module is acquired as the request with the user terminal Instruct the picture/video data to match.
Further, the server end, which is further adapted for receiving at least one control from one or more user terminals, refers to It enables, and at least one control instruction is transmitted to corresponding upper computer end via the next generator terminal, so that described corresponding Correspondence holder in upper computer end is adjusted.
Further, the server end is adapted to allow for receiving the control instruction from user's transmission of having the right, and refuses to connect Receive the control instruction for having no right user's transmission.
Further, when a user terminal control holder changes viewing visual angle, other users end can share the visual angle.
Further, after any user terminal sends control instruction to server end, server end is not real in upper computer end Before applying the control instruction, other control instructions identical with the control instruction type that other user terminals are sent no longer are received.
Further, the server end judges the instruction in the request instruction or control instruction for receiving user terminal In whether comprising payment information, and establish in the case where the instruction includes payment information and connect with the data of the user terminal It connects.
Further, the server end includes processing module, memory module and third transmission module；Wherein, the place Reason module is suitable for carrying out instant, corresponding processing, the storage mould to the picture/video data received from slave computer termination Block is suitable for storage through the processing module treated picture/video data, and the third transmission module is suitable for and slave computer It is communicated with user terminal.
Further, the server end further includes user management module, for receiving the identity from each user terminal Certification request, and authentication is carried out to corresponding user equipment based on the ID authentication request, it is right to this after the authentication has been successful The user terminal answered sends authentication success message to establish data connection with the user equipment.
Further, each user terminal includes：Sending module is obtained for sending access request to the server end Video data, image data and/or the request for controlling holder；Receiving module, the video sent for receiving the server end The relevant information data of data, image data and/or the request of response control holder；Display module, for showing the server Hold the video data sent, image data and/or the operation for showing real-time control holder；And the 4th transmission module, for The server end is into row data communication.
Further, each camera module is respectively equipped with corresponding sensor group, wherein each sensor group includes being suitable for The position sensor of the position of corresponding camera module and the appearance of the posture suitable for obtaining corresponding camera module in real time are obtained in real time State sensor；The received server-side targets of interest instruction from the user, to be preset multiple according to point of interest instruction One is selected to be used as current view target location among targets of interest position, according to current view target location and target camera The corresponding holder of the target camera module is adjusted in line between the real time position of module, so that the target phase Each camera optical axis principal direction is consistent with the line direction in machine module；Wherein, the multiple default targets of interest position Including the multiple known location points being set in advance in presumptive area.
Further, when described image collecting device includes a camera module, the camera module is as the target Camera module；When described image collecting device includes multiple camera modules, the target camera module is the multiple camera The nearest camera module in current view target location described in distance in module.
Further, each camera module is respectively equipped with corresponding sensor group, wherein each sensor group includes being suitable for Multiple position sensors of the position of each camera in corresponding camera module are obtained in real time and obtain corresponding camera suitable for real-time Multiple attitude transducers of the posture of each camera in module；The received server-side targets of interest instruction from the user, To select one to be used as current view target location, root among multiple default targets of interest positions according to point of interest instruction According to the line between current view target location and the real time position of each camera of target camera module to the target camera mould The corresponding holder of group is adjusted, so that each camera optical axis principal direction and the line direction in the target camera module Unanimously；Wherein, the multiple default targets of interest position includes the multiple known location points being set in advance in presumptive area.
Further, when described image collecting device includes a camera module, the camera module is as the target Camera module；When described image collecting device includes multiple camera modules, the target camera module is the multiple camera Camera module in each camera of module belonging to the nearest camera in current view target location described in distance.
Further, two cameras in single camera module are respectively by two holders in real time according to the line side To progress posture synchronous adjustment or the asynchronous adjusting of posture.
The present invention the upper computer end based on the live broadcast system that can obtain high definition photo immediately automatically controlled be equipped with comprising The image capture device of one or more camera modules exports visual angle by two cameras in each camera module and connects respectively The nearly consistent image data and video data with corresponding time relationship, the single output mode being different from existing take photo by plane (output video or output picture), this form cannot instant download pictures while watching and being broadcast live；Also different from existing Sectional drawing in video streaming in technology, this form video is as the resolution ratio of picture, if it is desired to obtain high-resolution picture It then needs to shoot high-resolution (such as 4K) video, this is stringenter to the bandwidth requirement during live streaming；And the present invention is by setting The dual data stream output mode for setting corresponding two cameras in time, meet user viewing low resolution (such as The demand of high-resolution (such as 4K) picture 1080P) is obtained when live video in real time.It is above-mentioned to be obtained immediately based on what is automatically controlled The live broadcast system of high definition photo is taken to send data to the next generator terminal by upper computer end, the next generator terminal sends data to server End, then at least one user terminal is sent data to through server end, thus, it is possible to realize several users while shared this system It carries out viewing live video and takes pictures.
In addition, utilizing the above-mentioned based on the live broadcast system that can obtain high definition photo immediately automatically controlled, user of the present invention Viewing can be not only carried out live video and to take pictures, and can watch be broadcast live when by server end send out control instruction to Removable load bearing equipment in upper computer end and/or holder, control instruction may include for removable load bearing equipment into First control instruction of row control and the second control instruction for being controlled holder, it is removable so as to real-time control Dynamic load bearing equipment and/or holder change posture, and then change the viewing visual angle of user, improve consumer entertainment interactivity.
It is also possible to by way of allowing user to set targets of interest, make user in viewing live video When the targets of interest of concern is switched in real time, provide the user with comfortable view effect.
By the detailed description below in conjunction with attached drawing to highly preferred embodiment of the present invention, these and other of the invention is excellent Point will be apparent from.
Description of the drawings
The present invention can be by reference to being better understood, wherein in institute below in association with the description given by attached drawing Have and has used same or analogous reference numeral in attached drawing to indicate same or similar component.The attached drawing is together with following It includes in the present specification and to form the part of this specification together to be described in detail, and for this is further illustrated The preferred embodiment and explanation the principle of the present invention and advantage of invention.In the accompanying drawings：
Fig. 1 be schematically show the present invention based on the live broadcast system that can obtain high definition photo immediately automatically controlled One exemplary structure chart；
Fig. 2 is a kind of view for the possible structure for schematically showing the server end in Fig. 1；
Fig. 3 is a kind of view for the possible structure for schematically showing the single user end in Fig. 1.
It will be appreciated by those skilled in the art that element in attached drawing is just for the sake of showing for the sake of simple and clear, And be not necessarily drawn to scale.For example, the size of certain elements may be exaggerated relative to other elements in attached drawing, with Just the understanding to the embodiment of the present invention is helped to improve.
Specific implementation mode
The exemplary embodiment of the present invention is described hereinafter in connection with attached drawing.For clarity and conciseness, All features of actual implementation mode are not described in the description.It should be understood, however, that developing any this actual implementation Much decisions specific to embodiment must be made during example, to realize the objectives of developer, for example, symbol Restrictive condition those of related to system and business is closed, and these restrictive conditions may have with the difference of embodiment Changed.In addition, it will also be appreciated that although development is likely to be extremely complex and time-consuming, to having benefited from the disclosure For those skilled in the art of content, this development is only routine task.
Herein, it is also necessary to which explanation is a bit, in order to avoid having obscured the present invention because of unnecessary details, in the accompanying drawings The apparatus structure closely related with scheme according to the present invention and/or processing step are illustrate only, and is omitted and the present invention The little other details of relationship.
The embodiment provides a kind of based on the live broadcast system that can obtain high definition photo immediately automatically controlled, institute State based on the live broadcast system that can obtain high definition photo immediately automatically controlled include upper computer end, the next generator terminal, server end and User terminal；The upper computer end includes removable load bearing equipment, and the removable load bearing equipment is equipped with holder, is connect with holder Image capture device and the first transmission module；Wherein, the holder is for adjusting image capture device connected to it Position and/or direction；Described image collecting device includes one or more camera modules, wherein each camera module includes two A camera, and to carve corresponding acquisition visual angle at the same time roughly the same for two cameras in the same camera module；Described One transmission module includes one or more wireless image transmission modules for being communicated with the next generator terminal；Wherein, each camera mould It includes one or more groups of figures that two cameras in group, which are respectively used to output image data and video data, the image data, Piece, and the video data includes one or more groups of sequence of frames of video；The bottom generator terminal includes the second transmission module, and described the Two transmission modules include one or more wireless image transmission modules for being communicated with the upper computer end and are used for and the clothes The communication module of business device end communication；The bottom generator terminal is for receiving and forwarding the acquisition instructions from the server end to institute Upper computer end is stated, so that the image capture device of the upper computer end, which starts or stops, acquires picture/video data in its visual field, And picture/video data is received to be transmitted to the server end in real time from the upper computer end；It is described bottom generator terminal with institute State upper computer end and the server end establish respectively connection after, be additionally operable to receive and forward the control from the server end It instructs to the upper computer end；Wherein, the control instruction include to the first control instruction of the removable load bearing equipment with And the second control instruction to the holder；The server end is used for terminating the picture/video received from the slave computer Data carry out instant, corresponding processing and store, and when receiving the request instruction from the user terminal, obtain and the request Picture/the video data to match is instructed to be sent to the user terminal for sending out the request instruction；And for will be from user terminal Control instruction is forwarded to corresponding upper computer end；Wherein, the request instruction includes video request transmission instruction and/or finger of taking pictures It enables.
Fig. 1 gives the example based on the live broadcast system that can obtain high definition photo immediately automatically controlled of the present invention Structure chart.
As shown in Figure 1, including upper based on the live broadcast system that can obtain high definition photo immediately automatically controlled in this example Position generator terminal 10, the next generator terminal 20, server end 30 and user terminal 40.
Upper computer end 10 includes removable load bearing equipment 11, moves load bearing equipment 11 and is equipped with holder 11-1 and holder The image capture device 11-2 of 11-1 connections and the first transmission module 11-3.
For example, removable load bearing equipment 11 can be but not limited to it is following any：Unmanned plane, movable mechanical arm, cable Vehicle, tour bus, train, aircraft or ship etc..
Holder 11-1 is used to adjust the position and/or direction of image capture device 11-2 connected to it.
Image capture device 11-2 includes one or more camera modules, wherein each camera module includes two camera shootings Head, and to carve corresponding acquisition visual angle at the same time roughly the same for two cameras in the same camera module.
Wherein, it is roughly the same to carve corresponding acquisition visual angle at the same time for two cameras in the same camera module, i.e., should The acquisition visual angle of two cameras in the same time is essentially identical, for example, can be it is completely the same, can also both relative angle exist In preset range (such as the two relative angle is less than 5 degree or 8 degree).
According to an embodiment of the invention, the camera of each camera module can be wide-angle varifocal camera or immutable Burnt camera.When two cameras of camera module are varifocal camera, which for example can Synchronous zoom, and the picture visual angle that relative angle two cameras of satisfaction acquire in the same time is close to unanimously.Wherein, relative angle example Manual/auto adjusting can such as be passed through.
According to an embodiment of the invention, the arrangement mode of two cameras in single camera module for example includes but unlimited System horizontally or vertically arranges.
According to an embodiment of the invention, each camera module can for example be respectively equipped with corresponding sensor group, wherein every A sensor group includes the position sensor for the position for being suitable for obtaining corresponding camera module in real time and is corresponded to suitable for obtaining in real time The attitude transducer of the posture of camera module；Received server-side targets of interest instruction from the user, with according to the point of interest Instruction selects one to be used as current view target location among multiple default targets of interest positions, according to current view target The corresponding holder of target camera module is adjusted in line between position and the real time position of target camera module, so that Each camera optical axis principal direction is consistent with above-mentioned line direction in target camera module, so that current view target location Positioned at the shooting center of above-mentioned each camera of target camera module.It in this example, can will be two in the same camera module The position of camera, posture are regarded as identical, and two are thus obtained in the same camera module using the same position sensor The position of camera, and obtain using the same attitude transducer posture of two cameras in the same camera module. Wherein, multiple default targets of interest positions include the multiple known location points being set in advance in presumptive area.Work as Image Acquisition When equipment includes a camera module, the camera module is as target camera module；When image capture device includes multiple cameras When module, target camera module is, for example, the camera module that the current view target location of distance is nearest in multiple camera modules.
According to an embodiment of the invention, each camera module can for example be respectively equipped with corresponding sensor group, wherein every A sensor group includes being suitable for obtaining multiple position sensors of the position of each camera in corresponding camera module in real time and fitting In the real-time multiple attitude transducers for obtaining the posture of each camera in corresponding camera module；Received server-side is from the user Targets of interest instructs, to select one to be used as current sight among multiple default targets of interest positions according to point of interest instruction Scape target location, according to the line between current view target location and the real time position of each camera of target camera module to mesh The corresponding holder of mark camera module is adjusted, so that each camera optical axis principal direction and above-mentioned line in target camera module Direction is consistent.Wherein, multiple default targets of interest positions include the multiple known location points being set in advance in presumptive area.When When image capture device includes a camera module, the camera module is as target camera module；When image capture device includes When multiple camera modules, target camera module is nearest for the current view target location of distance in each camera of multiple camera modules Camera belonging to camera module.In this example, two cameras in single camera module can pass through two respectively Holder carries out posture synchronous adjustment or the asynchronous adjusting of posture according to corresponding line direction in real time.That is, same In a camera module, line direction of two cameras respectively between current view target location is different, then can be right The corresponding holder of the two cameras is adjusted (asynchronous) respectively so that two cameras enable to currently see Scape target location is located at respective shooting center
For example, (as the example of removable load bearing equipment, unmanned plane described below can also be other types to unmanned plane Removable load bearing equipment) constantly moved in image acquisition process, in the case where focus point changes, for make two camera shooting Head shoots the two images registration height come, then needs the posture for adjusting two cameras constantly, the flight path of unmanned plane Be preset, such as flight path is straight line or circle, the setting of targets of interest be, for example, in sight spot inside and outside straight line or circle Different flight path and targets of interest can be arranged in some nature of different location or artificial structure according to different sight spots； And the geographical location of targets of interest is obtained by sight spot staff in advance.
In this way, by way of allowing user to set targets of interest, make user when watching live video to the emerging of concern Interesting target is switched in real time, because unmanned plane is in movement, and targets of interest is motionless, needs to obtain single phase on unmanned plane in real time The position of two cameras and attitude data (being both needed to placement location and attitude transducer on each camera) in machine module, according to The line of camera and targets of interest (known geographical locations) between the two determines camera optical axis principal direction, then single camera mould Two cameras in group carry out posture synchronous adjustment according to the above line data in real time by two holders respectively so that interest Target is in picture centre always.For example, (two cameras are individually counted for the first targets of interest of flight initial time and camera Calculate) line distance be less than or equal to D (D is setpoint distance), then camera (two cameras individually calculate) focusing object be First targets of interest, when unmanned plane during flying for a period of time after, the first targets of interest and camera (two cameras individually calculate) Line distance be more than D, and the second targets of interest and the line distance of camera (two cameras individually calculate) are less than or equal to D, then camera (two cameras individually calculate) automatically will focusing object be changed to the second targets of interest, if user still selects at this time It is main viewing target to select the first targets of interest, then only needs to click the first targets of interest mark, then holder still controls image Collecting device turns to the first targets of interest.
Each camera module acquires picture in its visual field/video data real-time Transmission after recognizing acquisition instructions as a result, To the next generator terminal 20.
First transmission module 11-3 includes one or more wireless image transmission modules for being communicated with the next generator terminal 20.Its In, two cameras in each camera module are respectively used to output image data and video data, and image data includes one group Or multigroup picture, and video data includes one or more groups of sequence of frames of video.That is, in single camera module, wherein One camera is for exporting image data, and another camera is for exporting video data.
Wherein, the image data and video data that two cameras that each camera module includes are acquired have the time Correspondence, two cameras receive acquisition instructions simultaneously, acquire image data respectively and video data, correspondence are as follows： Video flowing, for a frame sequence, is divided into several frame sequences according to reproduction time sequence, is indicated with Ir by video data with n frames R-th of frame sequence, Ir1, Ir2 ... ... Irn indicate the n frame images in r-th of sequence of frames of video；In the same camera module The image data that synchronization is acquired can indicate that Dr1, Dr2 ... ... Drn indicate the n in r-th of sequence of frames of video with Dr Image data corresponding to frame image.
According to an embodiment of the invention, it in the case where ensureing image data transmission speed, moves load bearing equipment 11, be somebody's turn to do Holder 11-1 and image capture device 11-2 on removable load bearing equipment 11 for example can by the same figure transmission module with The next generator terminal 20 communicates.
According to an embodiment of the invention, move load bearing equipment 11, the holder 11-1 on the removable load bearing equipment 11 with And image capture device 11-2 can also be communicated by corresponding figure transmission module with the next generator terminal 20 respectively.In this way, logical The data transmission that multiple figure transmission modules transmit corresponding equipment respectively is crossed, e.g., removable load bearing equipment 11 passes through the first figure transmission module Transmission data, holder 11-1 (if there is multiple holder 11-1, such as can pass through multiple by the second figure transmission module transmission data Two figure transmission module transmission datas), image capture device 11-2 passes through third figure transmission module transmission data.
In one example, in image capture device 11-2, when including multiple camera modules, multiple camera module Such as can be by multiple figure transmission module transmission datas, or can only pass through the same figure transmission module transmission data.
In addition, for same group of camera module, two cameras therein can transmit number by the same figure transmission module According to can also pass through two figure transmission modules and distinguish transmission datas.For example, quickly being transmitted to meet image data, mould is each imaged Two cameras in group can transmit image data and video data by a figure transmission module respectively, that is, two cameras Image data and video data are transmitted respectively by two figure transmission modules so that image data and video data transmit respectively.
As shown in Figure 1, the next generator terminal 20 includes the second transmission module 21, the second transmission module 21 includes being used for and host computer The one or more wireless image transmission modules and the communication module for being communicated with server end of 10 communication of end, the communication module example Such as can be wire communication module or wireless communication module.
The next generator terminal 20 is for receiving and forwarding the acquisition instructions from server end 30 to upper computer end 10 (such as to issue Holder or image capture device) it is acquired in its visual field so that the image capture device 11-2 of upper computer end 10 is started or stopped Picture/video data, and picture/video data is received to be transmitted to server end 30 in real time from upper computer end 10.
In addition, the next generator terminal 20 can also receive and after establishing connection respectively with upper computer end 10 and server end 30 From the control instruction of server end 30, and by the control instruction and it is transmitted to upper computer end 10.
Wherein, control instruction may include a plurality of types of instructions.For example, control instruction includes for removable carrying The first control instruction that equipment 11 is controlled and the second control instruction for being controlled holder 11-1.
Different types of control instruction (such as the first and second control instructions) can pass through the specific fields in control instruction It distinguishes.For example, such as the first field correspondence the first control instruction of expression in control instruction, and the second field pair in control instruction It should indicate the second control instruction.
Control instruction for example can be to be sent to server end 30 from one or more user terminals 40, be received by server end 30 It is forwarded to upper computer end 10 afterwards.For example, after a user terminal 40 sends a control instruction to server end 30, server end 30 reception control instructions are simultaneously sent to the next generator terminal 20 corresponding with the control instruction, then are forwarded to via the bottom generator terminal 20 That corresponding upper computer end 10, to 10 corresponding equipment of upper computer end (such as removable load bearing equipment 11 and/or cloud Platform 11-1) it is controlled.
For example, when the control instruction that upper computer end 10 receives only includes the first control instruction, removable carrying will be set Standby 11 execute corresponding control operation, and unmanned plane (example as removable load bearing equipment 11) flight is such as made to arrive predetermined altitude Deng.
For another example, when the control instruction that upper computer end 10 receives only includes the second control instruction, it is assumed that the second control refers to Corresponding holder serial number 2 (assuming that currently having multiple holders) in order then carries out corresponding control to that holder of serial number 2 Operation, such as make pitch angle 10 degree of the adjustment downwards of the holder.
For another example, when the control instruction that upper computer end 10 receives not only had included the first control instruction but also included that the second control refers to When enabling, then can corresponding control operation be executed to corresponding removable load bearing equipment 11 and holder 11-1 respectively.
According to an embodiment of the invention, when removable load bearing equipment 11 is unmanned plane, the first control instruction for example can be with Including be used to control unmanned plane carry out self-test, take off, land, make a return voyage, hover, pitching, all kinds of flights behaviour such as rolling and yaw Any one of control action or the instruction of multinomial control action.
For example, the first control instruction may include heading control instruction and/or flight altitude control instruction.
Wherein, the first control instruction (such as heading control instruction and/or flight altitude control instruction) for example can be To moving load bearing equipment 11 (such as unmanned plane) in preset range (such as preset geographical position range and/or preset height range) It is controlled, and when removable load bearing equipment 11 reaches above-mentioned preset range boundary, it will make above-mentioned first control instruction not Again effectively.Can avoid as a result, the first control instruction to move excessive control of load bearing equipment 11 and caused by unsafe problems.
According to an embodiment of the invention, the second control instruction for example may include horizontal for controlling holder 11-1 progress And/or control instruction (such as holder azimuth control instruction and/or the holder pitch angle control of the movement of all directions such as pitch orientation System instruction etc.).
Wherein, various specific instructions (such as heading control instruction and the flight for including in first or second control instruction Height control instruction or holder azimuth control instruction and holder pitch angle control instruction etc.) wherein different words can also be passed through Section is distinguished.For example, in corresponding first field of the first control instruction, the one one subfield, which corresponds to, indicates heading control Instruction, and the one or two subfield in the first field corresponds to and indicates flight altitude control instruction；For another example, in the second control instruction pair In the second field answered, the 2nd 1 subfield, which corresponds to, indicates holder azimuth control instruction, and the two or two subfield is corresponded to and indicated Holder pitch angle control instruction；Etc..
As a result, by different control instruction (such as passing through different field in control instruction) realize in upper computer end 10 not With the different types of control of component, moreover, can be being carried out at the same time or non-to the control of different components in upper computer end 10 It is carried out at the same time.
According to an embodiment of the invention, if the control instruction that user terminal 40 is sent inputs for voice, server end 30 is (such as Pass through preset semantics recognition module in server end 30) semantics recognition is carried out to the voice that the user terminal 40 is sent, it should Voice conversion signal in order to control, and the control signal is sent to via corresponding the next 20 transfer of generator terminal in real time corresponding upper Generator terminal 10 is corresponding to be carried out (such as removable load bearing equipment 11 and/or holder 11-1) to the correspondence equipment in upper computer end 10 Control.As a result, user can quickly and easily control removable load bearing equipment 11 and/or holder 11-1 accordingly System.
In addition, if the control instruction that user terminal 40 is sent is the instruction being manually entered, server end 30 will be according to the control System instruction generates corresponding control signal, which is sent to via corresponding the next 20 transfer of generator terminal in real time corresponding Upper computer end 10, to be carried out (such as removable load bearing equipment 11 and/or holder 11-1) to the correspondence equipment in upper computer end 10 Corresponding control.
Wherein, the quantity of upper computer end 10 can be one or more, and the quantity and upper computer end 10 of the next generator terminal 20 Quantity it is consistent.Each upper computer end 10 can be logical by the corresponding the next generator terminal 20 of the upper computer end 10 and server end 30 Letter.It should be understood that the example of a upper computer end and a next generator terminal is illustrated only in Fig. 1, in other examples, on The quantity of position generator terminal and the next generator terminal can also be multiple.
According to an embodiment of the invention, holder 11-1 is, for example, multiple degrees of freedom holder, is suitable for controlling image connected to it Collecting device 11-2 carries out multi-direction adjusting.
For example, holder 11-1, which can control image capture device 11-2 connected to it, carries out following any one or more fortune It is dynamic：Horizontal revolving motion, vertical pitching movement and the optical axis rotation movement etc. around image capture device 11-2.Holder 11-1 Such as the functions such as motor driving, SERVO CONTROL can be integrated, can be adjusted according to instruction the image capture device that is connect with holder into The multi-direction movement of row, for example, Three Degree Of Freedom holder then can adjust image capture device according to instruction and carry out above-mentioned level Rotary motion, vertical pitching movement and around camera optical axis rotary motion
According to an embodiment of the invention, it can be equipped with telescopic device on holder 11-1, adopted with the holder 11-1 images connecting Collect equipment 11-2 to be arranged on corresponding telescopic device, so that image capture device 11-2 can be with the flexible of the telescopic device And it moves.
According to an embodiment of the invention, holder 11-1 may include cradle head control module and drive module；Cradle head control mould Block sends out instruction for receiving the control instruction from the next generator terminal 20 to drive module, by drive module to corresponding Motor sends out control signal and drive pulse signal, changes the athletic posture of each rotation axis of holder 11-1 with control.
In addition, drive module can also include limit switch, to control the rotation of corresponding holder 11-1 by limit switch Range.
According to an embodiment of the invention, it moves on load bearing equipment 11 for example equipped with one or more holder 11-1, individually Two cameras of the holder 11-1 for example for controlling in corresponding single camera module are adjusted synchronously.
For example, removable load bearing equipment 11 is provided only with a holder 11-1 and a camera module, holder 11-1 can Two cameras controlled in the camera module are adjusted synchronously.Wherein, above-mentioned camera module group lens for example can be towards can The front of mobile load bearing equipment flight or traveling.
For another example, it moves load bearing equipment 11 and is equipped with multiple holder 11-1 and multiple camera modules, holder 11-1 and camera Module corresponds, and each holder 11-1 controls two cameras in a camera module and is adjusted synchronously respectively, but more Adjusting between a camera module need not synchronize.
According to an embodiment of the invention, it moves on load bearing equipment 11 for example equipped with one or more holder 11-1, individually Holder 11-1 is for example adjusted synchronously for controlling the camera of at least two camera modules in one or more camera modules.
For example, being set on removable load bearing equipment 11, there are one holder 11-1 and multiple camera modules, and holder 11-1 can All cameras controlled in multiple camera module are adjusted synchronously.
For another example, holder 11-1 and multiple camera modules there are one being set on load bearing equipment 11 are moved, holder 11-1 can The part camera controlled in multiple camera module is adjusted synchronously.
For another example, it moves load bearing equipment 11 and is equipped with multiple holder 11-1 and multiple camera modules, single holder 11-1 can It is adjusted synchronously with controlling the camera at least two camera modules in multiple camera modules.Such as, it is assumed that there are 2 clouds 6 cameras of platform and 5 camera modules, wherein 3 camera modules of first cradle head control are adjusted synchronously, and second 4 cameras of the other 2 camera modules of cradle head control are adjusted synchronously.
As the example of the multigroup camera module of single cradle head control, for two groups, then one group of camera module group lens direction can Mobile load bearing equipment flight either traveling another group of front camera module group lens towards move load bearing equipment flight or The dead astern of traveling, then two groups of camera modules of cradle head control move synchronously, such as two groups of camera modules are connected and are protected with mechanical axis Hold it is opposing stationary, then while the movement of cradle head control one of camera module, another camera module also can moved in coaxial, this When may be viewed by the front and dead astern that visual angle is opposite movable carrier.
For example, when holder receive turn left instruction when, then front camera module turn left in real time, and just after The camera module of side turns right；In another example be connected between two groups of camera modules and without mechanical axis, but cradle head control module Same rotation command is sent out to drive module, such as is rotated up, then drive module sends out control to corresponding two groups of pitching motors Signal and drive pulse signal processed make two groups of camera modules while being rotated up.
As the example of the multigroup camera module of single cradle head control, to obtain the visual angle of more direction, single cloud can also be used Platform controls four groups of camera modules, then the front that one group of camera module group lens flies or travels towards removable load bearing equipment, One group of camera module group lens flies towards removable load bearing equipment or the dead astern of traveling, two groups of camera module mechanical axis phases Continuous cropping is A group cameras；One group of camera module group lens flies towards removable load bearing equipment or the front-left of traveling, one group of camera Module group lens use mechanical axis to be connected as B towards the front-right for moving load bearing equipment flight or traveling, two groups of camera modules Group camera, then cradle head control A groups camera and B group cameras move synchronously, such as position and B group cameras among A group cameras mechanical axis It is connected with another mechanical axis between position among mechanical axis and keeps opposing stationary, A groups camera and B group cameras is in be put down not at one Cross-shaped in face, then while the one of camera module of cradle head control moves, the other three camera module also can be same Axis moves.
For example, when holder receives the instruction to turn left, then the camera module in front turns left in real time, and in addition Three camera modules can also turn left；In another example be connected between every group of camera module and without mechanical axis, but cradle head control Module sends out same rotation command to drive module, such as is rotated up, then drive module is sent out to corresponding four groups of pitching motors Go out to control signal and drive pulse signal, make four groups of camera modules while being rotated up.
In addition, according to an embodiment of the invention, multiple holders can be equipped with by moving on load bearing equipment 11, and each camera Module corresponds to two holders, wherein two cameras in single camera module are carried out by two holders asynchronous micro- respectively It adjusts.Wherein, fine tuning mentioned here for example can be adjusting or other preset ranges within the scope of 0-15 degree.
Optionally, in addition, for single camera module, two holders in addition to being respectively used to two cameras of control Except, the synchronous adjustment of the two cameras can also be controlled using another holder.
As an example it is assumed that certain camera module corresponds to 3 holders, i.e. holder A, holder B and holder C, camera module includes First camera and second camera, wherein holder A is for being finely adjusted (assuming that each freedom degree direction tune the first camera Adjusting range is 0-10 degree), holder B is used to be finely adjusted (assuming that each freedom degree direction adjustable range is 0-10 second camera Degree), and holder C is used to be adjusted synchronously (assuming that each freedom degree direction adjustable range is 0-360 the first and second cameras Degree).Assuming that at the t1 moment, two camera directions directions move the front of load bearing equipment 11 (such as unmanned plane), it is assumed that this When photographic subjects and removable load bearing equipment 11 between 1000 meters of distance, the directions of two cameras is almost the same (towards should Photographic subjects)；At the t2 moment, it is assumed that removable load bearing equipment 11 is apart from 500 meters of photographic subjects, still farther out, and assumes at this time The direction of removable load bearing equipment 11 has rotated to the right 30 degree compared to the t1 moment, at this point it is possible to by holder C come to first and the Two cameras carry out whole synchronous adjustment, i.e., so that the first and second cameras are synchronously to 30 degree of anticlockwise or other number of degrees (target may have minute movement)；At the t3 moment, it is assumed that for removable load bearing equipment 11 apart from 2 meters of photographic subjects, distance is very close, At this time the first camera, second camera, photographic subjects three position similar to three vertex positions of triangle, thus may be used Know, the direction that the first camera is respectively facing photographic subjects with second camera is different, it is therefore desirable to respectively to the two side To carrying out asynchronous adjustings (fine tuning), rather than synchronous adjustment, in this way, can by the direction of A pairs of the first camera of holder into Row fine tuning (for example finely tuning 5 degree to the right) is finely adjusted (for example finely tuning 5 degree to the left) by holder B to the direction of second camera, So that the acquisition direction of the two can be directed at photographic subjects.In addition, being directed to single camera module, two independences can also be passed through Telescopic device realize in the camera module that two camera respective positions are adjusted respectively.
According to an embodiment of the invention, in the case where removable load bearing equipment 11 is unmanned plane, the next generator terminal 20 is for example The flight control that simultaneously forwarding server end 30 is sent can be received after establishing connection respectively with upper computer end 10 and server end 30 System instruction makes unmanned plane fly by programme path based on GPS to unmanned plane.For example, can in advance be planted in onboard control module Enter route automatic lifting stick fly and execute scheduled airflight plan or ground staff can be commanded by remote control equipment it is distant Control the onboard control module, etc. on unmanned plane.
Server end 30 is used to carry out instant, corresponding processing to the picture/video data received from the next generator terminal 20 And it stores.Video data (multigroup sequence of frames of video) is subjected to coding and is compressed into such as H.264 live video stream of format, will be pressed The live video stream of contracting is encapsulated into row format and is stored (such as being stored as FLV formats), at the same by transmission of video agreement (such as RTSP it) carries out plug-flow and is distributed, wherein establish live video stream in an encoding process and the corresponding of original video data is closed System；FLV format videos file is stored in server end as order video source, and determines unique mark.
It is multigroup corresponding to multigroup sequence of frames of video that server end 30 can for example acquire each camera module Picture selectable portion all stores, and the corresponding pass of multigroup picture and live video stream is established according to the time principle of correspondence System.
Alternatively, some or all of image data corresponding to r-th of sequence of frames of video can also be set in upper computer end 10 It sets, the part for having built up correspondence/whole image data and video data are passed through the first transmission module by upper computer end 10 11-3 is transmitted to the next generator terminal 20 and is transmitted to server end 30 in real time, and server end 30 receives part/whole image datas With carry out above-mentioned processing after all videos data after store.
In addition, when receiving the request instruction from user terminal 40, server end 30 will match with the request instruction Picture/video data be sent to the user terminal 40 for sending out the request instruction.Wherein, the above-mentioned request instruction from user terminal 40 It can be a request instruction from a user terminal 40, can also be multiple request instructions from a user terminal 40, Or can be multiple request instructions from a plurality of clients 40.
Wherein, request instruction includes the instruction of request transmission of video and/or photographing instruction.
According to an embodiment of the invention, when request instruction includes request transmission of video instruction, server end 30 for example may be used To send in the following way the video data to match is instructed with the request transmission of video：Judge that the instruction of user (is asked Instruction) it is to draw stream request or order video request, if stream request is drawn, then stream address (URL) will be drawn to be sent to corresponding use Family end；It is asked if order video, then by the virtual of the stored video being consistent with mark entrained in request instruction Path address (URL) is sent to corresponding user terminal；
According to an embodiment of the invention, when request instruction includes photographing instruction, server end 30 for example can be by such as Under type obtains the image data to match with the photographing instruction：According to the correspondence of multigroup picture and video flowing, and should Entrained sending time in photographing instruction, is selected in the image data of (such as from memory module of server end 30) storage The image data of the corresponding sending time is selected, and is stored under the user account for sending out the photographing instruction, after responding user Download.
When image capture device 11-2 includes multiple camera modules, server end 30 for example can be in multiple camera mould The camera module belonging to the picture/video data to match with the request instruction is determined among group, as target camera module, with Select picture that picture/video data that the target camera module is acquired matches as the request instruction with user terminal 40/ Video data.That is, in the case where image capture device 11-2 includes multiple camera modules, server end 30 is in acquisition and user Before holding picture/video data that 40 request instructions match, the picture/video counts to match with request instruction are also first judged According to affiliated camera module, (such as from memory module of server end 30) selection in turn obtains corresponding camera module and is adopted Picture/video data of collection.
Wherein, such as can judge as follows belonging to the picture/video data to match with request instruction Camera module：Obtain request instruction in configured transmission, the configured transmission include video frame parameter to be transmitted (such as which frame or The serial number of which frame or the serial number etc. of camera module), that corresponding camera module is determined according to the configured transmission.
In addition, according to an embodiment of the invention, server end 30 may also receive from one or more user terminals 40 At least one control instruction, and at least one control instruction is transmitted to corresponding upper computer end 10 via the next generator terminal 20, with So that the correspondence holder in corresponding upper computer end 10 is adjusted.
In this way, user terminal can not only watch live streaming/order video, acquisition of taking pictures during watching live streaming/order video High definition picture can also send out manipulation instruction when watching live streaming and control holder.The user of real-time control holder can be with The scenery and shooting high definition picture of different visual angles are watched according to oneself wish.
In addition, when a user terminal 40 controls holder and changes viewing visual angle, other users end 40 can for example share this Visual angle.In this way, while a user's control holder changes viewing visual angle, other users can share the visual angle, to see It sees video or takes pictures.
When server end 30 receives at least one control instruction from user terminal one or more user equipment, the control System instruction refers to the regulating command to 10 holder of upper computer end, so that the visual angle of image capture device changes.It services first Device end 30 carries out permission judgement to the user for sending control instruction and receives control instruction if having permission；If without permission, Do not receive control instruction；After permission judgement passes through, server end 30 by the user to the control instruction of selected holder in real time via 20 transfer of the next generator terminal is sent to upper computer end 10.
According to an embodiment of the invention, server end 30 can allow to receive the control instruction from user's transmission of having the right, And reject the control instruction for having no right user's transmission.Wherein, have the right the user i.e. user with permission, and haves no right user i.e. not The user having permission.
For example, after any user terminal 40 sends control instruction to server end 30, server end 30 is in upper computer end 10 (such as removable load bearing equipment 11 and/or holder 11-1) is not carried out before the control instruction, no longer receives the hair of other user terminals 40 Other control instructions identical with the control instruction type sent.
For example, when the control instruction that server end 30 receives is the first control instruction that some user terminal 40 is sent, " with Other identical control instructions of the control instruction type " refer to the first control instruction that other user terminals 40 are sent；Work as server It is " identical with the control instruction type when control instruction that end 30 receives is the second control instruction that some user terminal 40 is sent When other control instructions " refer to the second control instruction that other user terminals 40 are sent.
In this way, after a user sends a control instruction by its user terminal 40 to server end 30, it is assumed that the control System instruction only includes the first control instruction, to which the user can be real to corresponding removable load bearing equipment 11 (such as unmanned plane) progress When control, during user's real-time control moves load bearing equipment 11, server end 30 will no longer receive any other user Hold the first control instruction sent；But during above-mentioned user's real-time control moves load bearing equipment 11, if other users It is that (what such as other users end sent only includes the second control instruction to the second control instruction, or includes the simultaneously to hold send One and second control instruction), then can execute control corresponding with the second control instruction to the holder in upper computer end 10.
In one example, user terminal U1 issues 30 1 control instruction C1 of server end, it is assumed that control instruction C1 includes First control instruction x1 and the second control instruction y1；Load bearing equipment is moved by control instruction C1 real-time controls in user terminal U1 During 11, it only includes the first control instruction x2 that user terminal U2, which is sent to server end 30 in control instruction a C2, C2,.In this way, Server end 30 will reject control instruction C2.
In another example, user terminal U1 issues 30 1 control instruction C1 of server end, it is assumed that control instruction C1 is only Including the first control instruction x1；During user terminal U1 moves load bearing equipment 11 by control instruction C1 real-time controls, user End U2 sends a control instruction C2 to server end 30, and in C2 includes simultaneously the first control instruction x2 and the second control instruction y2.In this way, server end 30 can receive the second control instruction y2 in control instruction C2 and reject the first control instruction x2.
In addition, according to an embodiment of the invention, server end 30 can also receive the request instruction of user terminal 40 (such as Download) or when control instruction, judge whether comprising payment information in the instruction, and include the feelings of payment information in the instruction The data connection with the user terminal 40 is established under condition.Payment information can for example be obtained by on-line payment mode.
Fig. 2 gives a kind of possible structure of server end 30.As shown in Fig. 2, server end 30 for example may include place Manage module 31, memory module 32 and third transmission module 33.
Wherein, processing module 31 can for example carry out the picture/video data received from the next generator terminal 20 instant, right The processing answered, memory module 32 can for example be stored through processing module treated picture/video data, and third transmission module 33 can for example be communicated with the next generator terminal 20 and user terminal 40.
In addition, according to an embodiment of the invention, server end 30 includes user management shown in Fig. 2 with being also an option that property Module 34.Wherein, the dotted line frame of user management module 34 indicates that the module is optional rather than necessary in Fig. 2.
User management module 34 can receive the ID authentication request from each user terminal 40, and be based on the authentication Request carries out authentication to corresponding user equipment (i.e. the corresponding equipment of user terminal), after the authentication has been successful to the corresponding use Family end 40 sends authentication success message to establish data connection with the user equipment.
Fig. 3 gives a kind of possible structure of user terminal 40.As shown in figure 3, user terminal 40 for example may include sending mould Block 41, receiving module 42, display module 43 and the 4th transmission module 44.40 corresponding user equipment of user terminal for example can be intelligence It can mobile phone or tablet computer etc..
Wherein, sending module 41 can to server end 30 send access request, obtain video data, image data and/ Or the request of control holder.
Receiving module 42 can receive video data, image data and/or the response control holder of the transmission of server end 30 The relevant information data of request.
Display module 43 can be with the video data of the transmission of display server end 30, image data and/or display real-time control The operation of holder.
In addition, the 4th transmission module 44 can be used for server end 30 into row data communication.
To sum up, this application provides following scheme：
Scheme 1. is based on the live broadcast system that can obtain high definition photo immediately automatically controlled, which is characterized in that described to be based on It includes upper computer end, the next generator terminal, server end and user terminal that is automatically controlled can obtain the live broadcast system of high definition photo immediately；
The upper computer end includes removable load bearing equipment, and the removable load bearing equipment is equipped with holder, connects with holder The image capture device connect and the first transmission module；Wherein, the holder is for adjusting image capture device connected to it Position and/or direction；Described image collecting device includes one or more camera modules, wherein each camera module includes Two cameras, and to carve corresponding acquisition visual angle at the same time roughly the same for two cameras in the same camera module；It is described First transmission module includes one or more wireless image transmission modules for being communicated with the next generator terminal；Wherein, each camera It includes one or more groups of figures that two cameras in module, which are respectively used to output image data and video data, the image data, Piece, and the video data includes one or more groups of sequence of frames of video；
The bottom generator terminal includes the second transmission module, and second transmission module includes for logical with the upper computer end One or more wireless image transmission modules of letter and the communication module for being communicated with the server end；The bottom generator terminal is used In receiving and forwarding the acquisition instructions from the server end to the upper computer end, so that the image of the upper computer end is adopted Collection equipment start or stop acquire its visual field in picture/video data, and from the upper computer end receive picture/video data with It is transmitted to the server end in real time；The bottom generator terminal is established connect respectively with the upper computer end and the server end Afterwards, it is additionally operable to receive and forwards the control instruction from the server end to the upper computer end；Wherein, the control instruction Include the first control instruction to the removable load bearing equipment and the second control instruction to the holder；
The server end is used to carry out the picture/video data received from slave computer termination instant, corresponding It handles and stores, when receiving the request instruction from the user terminal, obtain the picture/video to match with request instruction Data are sent to the user terminal for sending out the request instruction；And it is corresponding for the control instruction from user terminal to be forwarded to Position generator terminal；Wherein, the request instruction includes the instruction of request transmission of video and/or photographing instruction.
Scheme 2. according to scheme 1 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, it is special Sign is that the removable load bearing equipment is following any：
Unmanned plane, movable mechanical arm, cable car, tour bus, train, aircraft or ship.
Scheme 3. according to scheme 1 or 2 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, Be characterized in that, when the removable load bearing equipment be unmanned plane when, first control instruction include for control it is described nobody The self-test of machine, take off, land, making a return voyage, hovering, pitching, any one of rolling and yaw or the instruction of multinomial control action.
Scheme 4. according to scheme 3 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, it is special Sign is that first control instruction includes heading control instruction and/or flight altitude control instruction.
Scheme 5. according to any one of scheme 1-4 based on the live streaming that can obtain high definition photo immediately automatically controlled System, which is characterized in that second control instruction includes the fortune for controlling the holder progress level and/or pitch orientation Dynamic control instruction.
Scheme 6. according to any one of scheme 1-5 based on the live streaming that can obtain high definition photo immediately automatically controlled System, which is characterized in that if the control instruction that user terminal is sent inputs for voice, the server end sends the user terminal Voice carry out semantics recognition to be converted signal in order to control, and by the control signal in real time via in corresponding the next generator terminal Turn to be sent to corresponding upper computer end.
Scheme 7. according to any one of scheme 1-6 based on the live streaming that can obtain high definition photo immediately automatically controlled System, which is characterized in that if the control instruction that user terminal is sent is to be manually entered, the server end will refer to according to the control The control signal generated is enabled to be sent to corresponding upper computer end via corresponding the next generator terminal transfer in real time.
Scheme 8. according to any one of scheme 1-7 based on the live streaming that can obtain high definition photo immediately automatically controlled System, which is characterized in that the server end is adapted to allow for receiving the control instruction from user's transmission of having the right, and rejects Have no right the control instruction of user's transmission.
Scheme 9. according to any one of scheme 1-8 based on the live streaming that can obtain high definition photo immediately automatically controlled System, which is characterized in that the holder is multiple degrees of freedom holder, is suitable for controlling image capture device connected to it and carries out in many ways To adjusting.
Scheme 10. according to scheme 9 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, it is special Sign is that the holder can control image capture device connected to it and carry out following any one or more movements：
Horizontal revolving motion, vertical pitching movement and the optical axis rotation around the image capture device move.
Scheme 11. according to scheme 9 or 10 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, It is characterized in that, the holder is equipped with telescopic device, the image capture device with holder connection is arranged to be stretched corresponding On compression apparatus, so that the image capture device can be moved with the flexible of the telescopic device.
Scheme 12. can obtain the straight of high definition photo immediately according to any one of scheme 9-11 based on what is automatically controlled Broadcast system, which is characterized in that the holder includes cradle head control module and drive module；
The cradle head control module is used to receive the control instruction from the next generator terminal, and is sent out to the drive module Go out instruction, control signal and drive pulse signal is sent out to corresponding motor by the drive module, described in control change The athletic posture of each rotation axis of holder.
Scheme 13. according to scheme 12 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, It is characterized in that, the drive module further includes limit switch, to control the slewing area of corresponding holder by the limit switch.
Scheme 14. can obtain the straight of high definition photo immediately according to any one of scheme 1-13 based on what is automatically controlled Broadcast system, which is characterized in that the camera of each camera module is the varifocal camera of wide-angle or can not zoom camera.
Scheme 15. can obtain the straight of high definition photo immediately according to any one of scheme 1-14 based on what is automatically controlled Broadcast system, which is characterized in that the image data and video data tool that two cameras that each camera module includes are acquired Having time correspondence.
Scheme 16. can obtain the straight of high definition photo immediately according to any one of scheme 1-15 based on what is automatically controlled Broadcast system, which is characterized in that holder and image capture device on the removable load bearing equipment, the removable load bearing equipment Communicated with the next generator terminal by a figure transmission module.
Scheme 17. can obtain the straight of high definition photo immediately according to any one of scheme 1-15 based on what is automatically controlled Broadcast system, which is characterized in that holder and image capture device on the removable load bearing equipment, the removable load bearing equipment It is communicated respectively with the next generator terminal by corresponding figure transmission module.
Scheme 18. according to scheme 17 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, It is characterized in that, two in each camera module camera transmits image data and video counts by a figure transmission module respectively According to.
Scheme 19. can obtain the straight of high definition photo immediately according to any one of scheme 1-18 based on what is automatically controlled Broadcast system, which is characterized in that the removable load bearing equipment is equipped with one or more holders, and single holder is for controlling correspondence Single camera module in two cameras be adjusted synchronously.
Scheme 20. can obtain the straight of high definition photo immediately according to any one of scheme 1-18 based on what is automatically controlled Broadcast system, which is characterized in that the removable load bearing equipment is equipped with one or more holders, and single holder is described for controlling The camera of at least two camera modules is adjusted synchronously in one or more camera modules.
Scheme 21. can obtain the straight of high definition photo immediately according to any one of scheme 1-18 based on what is automatically controlled Broadcast system, which is characterized in that the removable load bearing equipment is equipped with multiple holders, and each camera module corresponds to two clouds Platform, wherein two cameras in single camera module carry out asynchronous fine tuning by two holders respectively.
Scheme 22. according to scheme 1-21 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, It is characterized in that, the removable load bearing equipment be unmanned plane in the case of, it is described bottom generator terminal with the upper computer end After establishing connection respectively with the server end, receives and the control instruction that the server end is sent is forwarded to make to unmanned plane Unmanned plane is based on GPS and flies by programme path.
Scheme 23. can obtain the straight of high definition photo immediately according to any one of scheme 1-22 based on what is automatically controlled Broadcast system, which is characterized in that the quantity of the upper computer end is one or more, and the quantity of the next generator terminal with it is described on The quantity of position generator terminal is consistent；Wherein, each upper computer end passes through the corresponding the next generator terminal of the upper computer end and the server end Communication.
Scheme 24. can obtain the straight of high definition photo immediately according to any one of scheme 1-23 based on what is automatically controlled Broadcast system, which is characterized in that when the request instruction includes transmission of video instruction, the server end is suitable for by such as lower section Formula is sent instructs the video data to match with the request transmission of video：
Judge that the request instruction is to draw stream request or order video request：If stream request is drawn, then it will draw and flow address It is sent to corresponding user terminal；If order video ask, then by it is stored in the request instruction entrained by mark phase The virtual route address of the video met is sent to corresponding user terminal.
Scheme 25. can obtain the straight of high definition photo immediately according to any one of scheme 1-24 based on what is automatically controlled Broadcast system, which is characterized in that when the request instruction includes photographing instruction, the server end is suitable for obtaining in the following way Take the image data to match with the photographing instruction：
According to sending time entrained in the correspondence and the photographing instruction of multigroup picture and video flowing, depositing The image data of the corresponding sending time is selected in the image data of storage, and is stored in the user account for sending out the photographing instruction Under, to respond the download after user.
Scheme 26. according to scheme 24 or 25 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that in described image collecting device include multiple camera modules, the server end is suitable for：
The camera mould belonging to the picture/video data to match with the request instruction is determined among multiple camera module Group, as target camera module, using select picture/video data that the target camera module is acquired as with the user terminal Picture/video data for matching of request instruction.
Scheme 27. can obtain the straight of high definition photo immediately according to any one of scheme 1-26 based on what is automatically controlled Broadcast system, which is characterized in that the server end, which is further adapted for receiving at least one control from one or more user terminals, to be referred to It enables, and at least one control instruction is transmitted to corresponding upper computer end via the next generator terminal, so that described corresponding Correspondence holder and/or the removable load bearing equipment in upper computer end are adjusted.
Scheme 28. can obtain the straight of high definition photo immediately according to any one of scheme 1-27 based on what is automatically controlled Broadcast system, which is characterized in that when a user terminal control holder changes viewing visual angle, other users end can share this and regard Angle.
Scheme 29. according to scheme 28 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, It is characterized in that, after any user terminal sends control instruction to server end, this is not carried out in upper computer end holder in server end Before control instruction, other control instructions identical with the control instruction type that other user terminals are sent no longer are received.
Scheme 30. can obtain the straight of high definition photo immediately according to any one of scheme 1-29 based on what is automatically controlled Broadcast system, which is characterized in that the server end judges the instruction in the request instruction or control instruction for receiving user terminal In whether comprising payment information, and establish in the case where the instruction includes payment information and connect with the data of the user terminal It connects.
Scheme 31. can obtain the straight of high definition photo immediately according to any one of scheme 1-30 based on what is automatically controlled Broadcast system, which is characterized in that the server end includes processing module, memory module and third transmission module；Wherein, the place Reason module is suitable for carrying out instant, corresponding processing, the storage mould to the picture/video data received from slave computer termination Block is suitable for storage through the processing module treated picture/video data, and the third transmission module is suitable for and slave computer It is communicated with user terminal.
Scheme 32. according to scheme 31 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, It being characterized in that, the server end further includes user management module, for receiving the ID authentication request from each user terminal, And authentication is carried out to corresponding user equipment based on the ID authentication request, after the authentication has been successful to the corresponding user terminal Authentication success message is sent to establish data connection with the user equipment.
Scheme 33. can obtain the straight of high definition photo immediately according to any one of scheme 1-32 based on what is automatically controlled Broadcast system, which is characterized in that each user terminal includes：
Sending module obtains video data, image data and/or control for sending access request to the server end The request of holder processed；
Receiving module, video data, image data and/or the response control holder sent for receiving the server end The relevant information data of request；
Display module, video data, image data and/or the display real-time control sent for showing the server end The operation of holder；And
4th transmission module, for the server end into row data communication.
Scheme 34. can obtain the straight of high definition photo immediately according to any one of scheme 1-33 based on what is automatically controlled Broadcast system, which is characterized in that
Each camera module is respectively equipped with corresponding sensor group, wherein each sensor group includes being suitable for obtaining in real time The position sensor of the position of corresponding camera module and the attitude transducer of the posture suitable for obtaining corresponding camera module in real time；
The received server-side targets of interest instruction from the user, to be instructed multiple default emerging according to the point of interest One is selected to be used as current view target location among interesting target location, according to current view target location and target camera mould The corresponding holder of the target camera module is adjusted in line between the real time position of group, so that the target camera Each camera optical axis principal direction is consistent with the line direction in module；Wherein, the multiple default targets of interest position packet Include the multiple known location points being set in advance in presumptive area.
Scheme 35. according to scheme 34 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, It is characterized in that,
When described image collecting device includes a camera module, the camera module is as the target camera module；
When described image collecting device includes multiple camera modules, the target camera module is the multiple camera mould The nearest camera module in current view target location described in distance in group.
Scheme 36. can obtain the straight of high definition photo immediately according to any one of scheme 1-35 based on what is automatically controlled Broadcast system, which is characterized in that
Each camera module is respectively equipped with corresponding sensor group, wherein each sensor group includes being suitable for obtaining in real time It corresponds to multiple position sensors of the position of each camera in camera module and is corresponded in camera module respectively suitable for obtaining in real time Multiple attitude transducers of the posture of camera；
The received server-side targets of interest instruction from the user, to be instructed multiple default emerging according to the point of interest One is selected to be used as current view target location among interesting target location, according to current view target location and target camera mould The corresponding holder of the target camera module is adjusted in line between the real time position of each camera of group, so that described Each camera optical axis principal direction is consistent with the line direction in target camera module；Wherein, the multiple default targets of interest Position includes the multiple known location points being set in advance in presumptive area.
Scheme 37. according to scheme 36 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, It is characterized in that,
When described image collecting device includes a camera module, the camera module is as the target camera module；
When described image collecting device includes multiple camera modules, the target camera module is the multiple camera mould Camera module in each camera of group belonging to the nearest camera in current view target location described in distance.
Scheme 38. according to scheme 36 or 37 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that
Two cameras in single camera module carry out appearance according to the line direction in real time by two holders respectively State is adjusted in synchronism or the asynchronous adjusting of posture.
Although the embodiment according to limited quantity describes the present invention, above description, the art are benefited from It is interior it is clear for the skilled person that in the scope of the present invention thus described, it can be envisaged that other embodiments.Additionally, it should be noted that The language that is used in this specification primarily to readable and introduction purpose and select, rather than in order to explain or limit Determine subject of the present invention and selects.Therefore, without departing from the scope and spirit of the appended claims, for this Many modifications and changes will be apparent from for the those of ordinary skill of technical field.For the scope of the present invention, to this The done disclosure of invention is illustrative and not restrictive, and it is intended that the scope of the present invention be defined by the claims appended hereto.

Claims (10)

1. based on the live broadcast system that can obtain high definition photo immediately automatically controlled, which is characterized in that described to be based on automatically controlling The live broadcast system that can obtain high definition photo immediately include upper computer end, the next generator terminal, server end and user terminal；
The upper computer end includes removable load bearing equipment, and the removable load bearing equipment is equipped with holder, is connect with holder Image capture device and the first transmission module；Wherein, the holder is used to adjust the position of image capture device connected to it It sets and/or direction；Described image collecting device includes one or more camera modules, wherein each camera module includes two Camera, and to carve corresponding acquisition visual angle at the same time roughly the same for two cameras in the same camera module；Described first Transmission module includes one or more wireless image transmission modules for being communicated with the next generator terminal；Wherein, each camera module In two cameras be respectively used to output image data and video data, the image data include one or more groups of pictures, And the video data includes one or more groups of sequence of frames of video；
The bottom generator terminal includes the second transmission module, and second transmission module includes for being communicated with the upper computer end One or more wireless image transmission modules and the communication module for being communicated with the server end；The bottom generator terminal is for connecing It receives and forwards the acquisition instructions from the server end to the upper computer end, so that the Image Acquisition of the upper computer end is set Standby start or stop acquires picture/video data in its visual field, and receives picture/video data from the upper computer end with real-time It is transmitted to the server end；The bottom generator terminal after establishing and connecting respectively with the upper computer end and the server end, It is additionally operable to receive and forwards the control instruction from the server end to the upper computer end；Wherein, the control instruction packet Include the first control instruction to the removable load bearing equipment and the second control instruction to the holder；
The server end is used to carry out instant, corresponding processing to the picture/video data received from slave computer termination And store, when receiving the request instruction from the user terminal, obtain the picture/video data to match with request instruction It is sent to the user terminal for sending out the request instruction；And for the control instruction from user terminal to be forwarded to corresponding host computer End；Wherein, the request instruction includes the instruction of request transmission of video and/or photographing instruction.
2. according to claim 1 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, feature exists In, when the removable load bearing equipment be unmanned plane when, first control instruction include for control the unmanned plane from Examine, take off, landing, making a return voyage, hovering, pitching, any one of rolling and yaw or the instruction of multinomial control action.
3. according to claim 2 based on the live broadcast system that can obtain high definition photo immediately automatically controlled, feature exists In first control instruction includes heading control instruction and/or flight altitude control instruction.
4. according to any one of claim 1-3 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that second control instruction includes the movement for controlling the holder progress level and/or pitch orientation Control instruction.
5. according to any one of claim 1-4 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that if the control instruction that user terminal is sent inputs for voice, the server end sends the user terminal Voice carries out semantics recognition to be converted signal in order to control, and by the control signal in real time via corresponding the next generator terminal transfer It is sent to corresponding upper computer end.
6. according to any one of claims 1-5 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that if the control instruction that user terminal is sent is to be manually entered, the server end will be according to the control instruction The control signal of generation is sent to corresponding upper computer end via corresponding the next generator terminal transfer in real time.
7. according to any one of claim 1-6 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that the removable load bearing equipment is equipped with one or more holders, and single holder is for controlling corresponding list Two cameras in a camera module are adjusted synchronously.
8. according to any one of claim 1-7 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that the removable load bearing equipment is equipped with one or more holders, and single holder is one for controlling Or the camera of at least two camera modules is adjusted synchronously in multiple camera modules.
9. according to any one of claim 1-8 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that the removable load bearing equipment is equipped with multiple holders, and each camera module corresponds to two holders, In, two cameras in single camera module carry out asynchronous fine tuning by two holders respectively.
10. according to any one of claim 1-9 based on the live streaming system that can obtain high definition photo immediately automatically controlled System, which is characterized in that
Each camera module is respectively equipped with corresponding sensor group, wherein each sensor group includes being suitable for obtaining in real time corresponding to The attitude transducer of the position sensor of the position of camera module and the posture suitable for obtaining corresponding camera module in real time；
The received server-side targets of interest instruction from the user, to be instructed in multiple default interest mesh according to the point of interest One is selected to be used as current view target location among cursor position, according to current view target location and target camera module The corresponding holder of the target camera module is adjusted in line between real time position, so that the target camera module In each camera optical axis principal direction it is consistent with the line direction；Wherein, the multiple default targets of interest position includes pre- Multiple known location points in presumptive area are first set.
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