CN110603504A - Multi-cradle-head control method and device, unmanned aerial vehicle, medium and electronic equipment - Google Patents
Multi-cradle-head control method and device, unmanned aerial vehicle, medium and electronic equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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Abstract
The embodiment of the invention provides a multi-cradle head control method, a multi-cradle head control device, an unmanned aerial vehicle, a computer readable medium and electronic equipment, wherein the multi-cradle head control method comprises the following steps: acquiring a plurality of configuration parameters of each holder in a plurality of holders; taking a plurality of configuration parameters with consistent configuration parameter identifications as configuration information pairs; and acquiring target configuration parameters of the configuration information pairs, and controlling the plurality of cloud platforms based on the target configuration parameters. The technical scheme of the embodiment of the invention provides a method for uniformly controlling the configuration parameters of a plurality of cloud platforms, so that the purpose that the cloud platforms are controlled according to the uniform configuration parameters is achieved, and the parallel or coincidence of optical axes when the cloud platforms are used for shooting is facilitated. Therefore, the shooting effect is effectively improved, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of cloud platforms, in particular to a multi-cloud-platform control method and device, an unmanned aerial vehicle, a medium and electronic equipment.
Background
With the continuous improvement of shooting requirements of various industries, a mode of shooting by utilizing multiple cloud platforms is developed. For example: people utilize the unmanned aerial vehicle who is provided with a plurality of cloud platforms to shoot, can set up the camera of different grade type at a plurality of cloud platforms according to actual demand to, can acquire the image to shooting point different grade type.
In the prior art, each pan-tilt system is provided with an adjustment parameter or an adjustment parameter range. When the system is used by a user, the adjusting parameters or adjusting parameter ranges configured for all the cloud platforms by the system are respectively adjusted, so that shooting is carried out by utilizing multiple cloud platforms.
However, the shooting effect of the shooting with the multi-pan-tilt control method in the prior art needs to be improved.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present invention and therefore may include information that does not constitute prior art known to a person of ordinary skill in the art.
Disclosure of Invention
The embodiment of the invention aims to provide a multi-pan-tilt control method, a multi-pan-tilt control device, an unmanned aerial vehicle, a medium and electronic equipment, and further solves the problem that the shooting effect needs to be improved by using the multi-pan-tilt control method in the prior art at least to a certain extent.
Additional features and advantages of the invention will be set forth in the detailed description which follows, or may be learned by practice of the invention.
According to a first aspect of the embodiments of the present invention, there is provided a method for controlling a multi-stage, including: acquiring a plurality of configuration parameters of each holder in a plurality of holders; taking a plurality of configuration parameters with consistent configuration parameter identifications as configuration information pairs; and acquiring target configuration parameters of the configuration information pairs, and controlling the plurality of cloud platforms based on the target configuration parameters.
In some embodiments of the present invention, the plurality of holders are dual holders, and acquiring a plurality of configuration parameters of each of the plurality of holders includes: the method comprises the steps of obtaining a plurality of first configuration parameters for configuring a first cloud deck and a plurality of second configuration parameters for configuring a second cloud deck.
In some embodiments of the present invention, taking a plurality of configuration parameters with consistent configuration parameter identifications as configuration information pairs includes: and taking the first configuration parameter and the second configuration parameter with consistent configuration parameter identifications as a configuration information pair.
In some embodiments of the present invention, obtaining a target configuration parameter of the configuration information pair, and controlling the plurality of holders based on the target configuration parameter includes: and acquiring target configuration parameters of the configuration information pair, and controlling the first cloud deck and the second cloud deck based on the target configuration parameters.
In some embodiments of the present invention, obtaining a plurality of first configuration parameters for configuring a first pan/tilt head and a plurality of second configuration parameters for configuring a second pan/tilt head comprises: and acquiring a system configuration parameter range for configuring the first cloud deck to obtain the first configuration parameter, and acquiring a system setting parameter range for configuring the second cloud deck to obtain the second configuration parameter.
In some embodiments of the present invention, obtaining a plurality of first configuration parameters for configuring a first pan/tilt head and a plurality of second configuration parameters for configuring a second pan/tilt head comprises: and acquiring a configuration parameter value which is input by a user and used for configuring the first cloud deck, acquiring the first configuration parameter, and acquiring a configuration parameter value which is input by the user and used for configuring the second cloud deck, and acquiring the second configuration parameter.
In some embodiments of the present invention, obtaining a configuration parameter value for configuring the first pan/tilt head, which is input by a user, to obtain the first configuration parameter, and obtaining a configuration parameter value for configuring the second pan/tilt head, which is input by the user, to obtain the second configuration parameter includes: establishing communication connection with a terminal device, wherein the terminal device receives a configuration parameter value which is input by a user and used for configuring the first holder, and the terminal device also receives a configuration parameter value which is input by the user and used for configuring the second holder; and receiving a configuration parameter value which is sent by the terminal equipment and used for configuring the first holder to obtain the first configuration parameter, and receiving a configuration parameter value which is sent by the terminal equipment and used for configuring the second holder to obtain the second configuration parameter.
In some embodiments of the present invention, obtaining the target configuration parameter of the configuration information pair includes: and for the same configuration information pair, acquiring a configuration parameter value transmitted by the terminal equipment and taking the configuration parameter value as a target configuration parameter.
In some embodiments of the present invention, obtaining the target configuration parameter of the configuration information pair includes: judging whether the configuration parameters of the first configuration parameters and the second configuration parameters in the configuration information pairs are consistent or not; if the configuration parameter of the first configuration parameter in the configuration information pair is not consistent with the configuration parameter of the second configuration parameter, obtaining a smaller configuration parameter as a target configuration parameter of the configuration information pair.
In some embodiments of the invention, the system setting parameter range comprises at least one of: euler angle range, joint angle range, or field angle range.
In some embodiments of the invention, the user-entered configuration parameter values comprise at least one of: and operating a hand feeling setting parameter value, a slow start and stop parameter value, a following speed value or a following acceleration value.
In some embodiments of the invention, the first head is configured to configure a thermal imaging camera and the second head is configured to configure a general camera.
According to a second aspect of the embodiments of the present invention, there is provided a control apparatus of a multi-stage, including: the first acquisition module is used for acquiring a plurality of configuration parameters of each of a plurality of holders; the first obtaining module is further configured to use a plurality of configuration parameters with consistent configuration parameter identifications as configuration information pairs; and the second acquisition module is used for acquiring the target configuration parameters of the configuration information pair and controlling the plurality of cloud platforms based on the target configuration parameters.
In some embodiments of the present invention, the multiple holders are dual holders, and the first obtaining module is specifically configured to obtain multiple first configuration parameters for configuring the first holder and multiple second configuration parameters for configuring the second holder; the first obtaining module is specifically further configured to use the first configuration parameter and the second configuration parameter with consistent configuration parameter identifiers as a configuration information pair; the second obtaining module is specifically configured to obtain a target configuration parameter of the configuration information pair, and control the first pan/tilt head and the second pan/tilt head based on the target configuration parameter.
According to a third aspect of the embodiments of the present invention, there is provided an unmanned aerial vehicle, including a plurality of holders, the plurality of holders being controlled by the control method of the multi-holder according to the first aspect of the embodiments.
In some embodiments of the invention, the plurality of holders are dual holders.
According to a fourth aspect of embodiments of the present invention, there is provided a computer-readable medium, on which a computer program is stored, which, when executed by a processor, implements the control method of a multi-pan/tilt head as described in the first aspect of the embodiments above.
According to a fifth aspect of embodiments of the present invention, there is provided an electronic apparatus, including: one or more processors; a storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the method for controlling a multi-pan/tilt head as described in the first aspect of the embodiments above.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
in the technical solutions provided in some embodiments of the present invention, different identifiers are set for different configuration parameters of a pan-tilt, and the configuration parameters with the consistent configuration parameter identifiers are used as configuration information pairs, so as to obtain a target configuration parameter of each configuration information pair, and control a plurality of pan-tilt pairs corresponding to the configuration information pairs based on the target configuration parameter. Furthermore, a method for uniformly controlling configuration parameters of a plurality of cloud platforms is provided, the purpose that the cloud platforms are controlled according to the uniform configuration parameters is achieved, and the parallel or coincidence of optical axes when the cloud platforms are used for shooting is facilitated. Therefore, the shooting effect is effectively improved, and the user experience is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In the drawings:
fig. 1 shows a schematic flow chart of a control method of a multi-stage according to an embodiment of the invention;
fig. 2 shows a schematic flow chart of a control method of a multi-pan/tilt head according to another embodiment of the invention;
FIG. 3 shows a flow diagram of a method of determining target configuration parameters for a configuration information pair according to an embodiment of the invention;
fig. 4 shows a schematic structural diagram of a control device of a multi-pan/tilt head according to an embodiment of the invention;
figure 5 shows a schematic structural diagram of a drone according to an embodiment of the invention;
fig. 6 shows a schematic structural diagram of a twin pan/tilt head drone according to an embodiment of the invention;
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device to implement an embodiment of the invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations or operations have not been shown or described in detail to avoid obscuring aspects of the invention.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
In various embodiments of the present invention, a scene photographed by using a multi-pan-tilt may be: and various facilities such as cables, iron towers, bridges and the like are inspected. The multi-cloud-platform shooting can observe the details of the inspection object at various angles, and shoot different types of pictures of the inspection object through the multi-cloud-platform shooting, for example, the multi-cloud-platform shooting is used for carrying at least one thermal imaging camera and at least one common imaging camera. The inspection worker rapidly reduces the search range through the thermal imaging camera and obtains possible dangerous points, and then carefully observes the possible dangerous points through the common imaging camera. Therefore, the inspection work efficiency is improved.
However, with the control method for multiple pan/tilt heads provided in the prior art, the optical axis of the thermal imaging camera and the optical axis of the ordinary imaging camera are not parallel or coincident easily, and an included angle exists between imaging surfaces of the cameras, so that the image pairs shot by different cameras cannot be coincident, and the problem that the image shooting effect of the obtained thermal imaging and the image shooting effect of the ordinary imaging need to be improved is caused.
In the embodiment of the multi-pan-tilt control method provided by the invention, the execution main body can be a server.
Fig. 1 is a schematic flow chart illustrating a control method of a multi-stage according to an embodiment of the present invention. The problem that the shooting effect needs to be improved by using the multi-pan-tilt control method in the prior art is solved at least to a certain extent. Referring to fig. 1, the control method of the multi-stage comprises the following steps:
step S101, acquiring a plurality of configuration parameters of each holder in a plurality of holders;
step S102, a plurality of configuration parameters with consistent configuration parameter identifications are used as configuration information pairs;
step S103, acquiring target configuration parameters of the configuration information pairs, and controlling the plurality of cloud platforms based on the target configuration parameters.
In the technical solutions provided in some embodiments of the present invention, different identifiers are set for different configuration parameters of a pan-tilt, and the configuration parameters with the consistent configuration parameter identifiers are used as configuration information pairs, so as to obtain a target configuration parameter of each configuration information pair, and control a plurality of pan-tilt pairs corresponding to the configuration information pairs based on the target configuration parameter. Furthermore, a method for uniformly controlling the configuration parameters of the multiple cloud platforms is provided, the purpose that the multiple cloud platforms are controlled according to the uniform configuration parameters is achieved, and the parallel or superposition of the optical axes when the multiple cloud platforms are used for shooting is facilitated. Therefore, the shooting effect is effectively improved, and the user experience is improved.
In an exemplary embodiment, the multi-pan head in the embodiment shown in fig. 1 is used for carrying at least two types of cameras. Illustratively, one type is a thermal imaging camera and one type is a general imaging camera. The common imaging camera can be a telephoto zoom pan-tilt camera and the like.
In an exemplary embodiment, the multi-stage in the embodiment shown in fig. 1 is a dual stage. Fig. 2 provides a schematic flow chart of a control method for a dual-stage, which is a specific implementation manner of the embodiment shown in fig. 1. Referring to fig. 2, the method for controlling the dual-stage comprises the following steps:
step S201, acquiring a plurality of first configuration parameters for configuring a first cloud deck and a plurality of second configuration parameters for configuring a second cloud deck;
step S202, using the first configuration parameter and the second configuration parameter with consistent configuration parameter identification as a configuration information pair;
step S203, obtaining a target configuration parameter of the configuration information pair, and controlling the first pan/tilt and the second pan/tilt based on the target configuration parameter.
The following describes the specific implementation of each step of the embodiment shown in fig. 2 in detail:
in an exemplary embodiment, the first stage is configured to configure a thermal imaging camera, and the second stage is configured to configure a general camera.
In an exemplary embodiment, the specific implementation manner of acquiring the configuration parameters of the multi-stage in step S201 may include:
the specific implementation mode is as follows: acquiring a system configuration parameter range for configuring the first holder to obtain the first configuration parameter; and acquiring a system setting parameter range for configuring the second holder to obtain the second configuration parameter.
The specific implementation mode two is as follows: acquiring a configuration parameter value input by a user and used for configuring the first holder to obtain the first configuration parameter; and acquiring a configuration parameter value which is input by a user and used for configuring the second holder to obtain the second configuration parameter.
The concrete implementation mode is three: acquiring a system configuration parameter range for configuring the first holder and a configuration parameter value input by a user and used for configuring the first holder to obtain the first configuration parameter; and acquiring a system setting parameter range for configuring the second holder and a configuration parameter value input by a user and used for configuring the second holder to obtain the second configuration parameter.
In an exemplary embodiment, the parameter range set by the system is a value range of a parameter that the system originally sets for the pan/tilt head, and the parameter range set by the system includes at least one of the following: euler angle range, joint angle range, or field angle range. The user-entered configuration parameter values include at least one of: and operating a hand feeling setting parameter value, a slow start and stop parameter value, a following speed value or a following acceleration value.
In an exemplary embodiment, in a first specific implementation manner, the system configuration parameter range includes: euler angle range, joint angle range, or field angle range, etc. For example, the euler angle range for configuring the first head is [ a1 °, a2 ° ], the joint angle range for configuring the first head is [ B1 °, B2 ° ], and the field angle range for configuring the first head is [ C1 °, C2 ° ], wherein the value a1 is smaller than a2, B1 is smaller than B2, C1 is smaller than C2; the euler angle range for configuring the second head is [ A3 °, a4 ° ], the joint angle range for configuring the second head is [ B3 °, B4 ° ], and the field angle range for configuring the second head is [ C3 °, C4 ° ], wherein the value A3 is smaller than a4, B3 is smaller than B4, and C3 is smaller than C4.
In an exemplary embodiment, in a second specific implementation manner, a user may set configuration parameters of a pan/tilt head through a terminal device, for example, an app installed on the terminal device. The step S201 of acquiring the configuration parameters of the pan/tilt head includes the following steps: the server establishes communication connection with terminal equipment, the terminal equipment receives a configuration parameter value which is input by a user and used for configuring the first holder, and the terminal equipment also receives a configuration parameter value which is input by the user and used for configuring the second holder; and the server receives the configuration parameter value which is sent by the terminal equipment and used for configuring the first holder to obtain the first configuration parameter, and also receives the configuration parameter value which is sent by the terminal equipment and used for configuring the second holder to obtain the second configuration parameter.
In an exemplary embodiment, for the same configuration information pair, the server obtains one configuration parameter value transmitted by the terminal device and uses the configuration parameter value as a target configuration parameter. For example, for the same configuration information pair: the server acquires configuration parameters of the multiple cloud platforms sent by the terminal equipment, stores one configuration parameter meeting preset conditions, and discards the other configuration parameters; or the terminal equipment receives configuration parameters of a plurality of cloud platforms input by a user and sends one configuration parameter meeting preset conditions to the server; alternatively, the terminal device may allow the user to enter only one configuration parameter and send it to the server, and so on.
In an exemplary embodiment, in a third specific implementation manner, the configuration parameter identifier corresponding to the configuration parameter value for configuring the pan/tilt head, which is input by the user, may be consistent with the configuration parameter identifier corresponding to the system setting parameter range. For example: the euler angle range set by the system for configuring the first holder is [ A1 degrees, A2 degrees ], and the euler angle value input by the user for configuring the first holder is a degrees, wherein a belongs to the euler angle range of [ A1 degrees, A2 degrees ].
In an exemplary embodiment, in step S202, different identifiers are set for different configuration parameters of each pan/tilt, and a first configuration parameter and a second configuration parameter with consistent configuration parameter identifiers are used as a configuration information pair. The parameters of the same type of different cloud platforms are uniformly managed through configuration information, and parallel or superposition of optical axes of the cloud platforms is facilitated, so that better shooting experience is further obtained.
In an exemplary embodiment, in step S203, a target configuration parameter of the configuration information pair is obtained, and the first pan/tilt head and the second pan/tilt head are controlled based on the target configuration parameter. Referring to fig. 3, the method for determining the target configuration parameter of the configuration information pair includes steps S301 to S303. In step 301, determining whether a first configuration parameter and a second configuration parameter in the configuration information pair are consistent; if the first configuration parameter and the second configuration parameter in the configuration information pair are not consistent, executing step S302 to obtain a smaller configuration parameter as a target configuration parameter of the configuration information pair; if the first configuration parameter and the second configuration parameter in the configuration information pair are consistent, step S303 is executed to obtain the first configuration parameter or the second configuration parameter as a target configuration parameter of the configuration information pair.
In an exemplary embodiment, parameter ranges are set for the system. In step 301, it is determined whether the system setting parameter range for configuring the first pan/tilt head and the system setting parameter range for configuring the second pan/tilt head in the configuration information pair are consistent; if the system setting parameter range for configuring the first pan/tilt head in the configuration information pair is not consistent with the system setting parameter range for configuring the second pan/tilt head, in step S302, a smaller system setting parameter range is obtained as a target configuration parameter of the configuration information pair; if the system setting parameter range for configuring the first cradle head in the configuration information pair is consistent with the system setting parameter range for configuring the second cradle head, in step S303, the system setting parameter range for configuring the first cradle head or the system setting parameter range for configuring the second cradle head in the configuration information pair is obtained to be used as the target configuration parameter of the configuration information pair. For example: and if the euler angle range for configuring the first pan-tilt is [ a1 °, a2 ° ], and the euler angle range for configuring the second pan-tilt is [ A3 °, a4 ° ], the system setting parameter range for configuring the first pan-tilt and the system setting parameter range for configuring the second pan-tilt in the configuration information pair are inconsistent. The method comprises the following steps: case one, a1< A3< a4< a2, then the smaller system setup parameter range is [ A3 °, a4 ° ]; case two, a1< A3< a2< a4, then the smaller system setup parameter range is [ A3 °, a2 ° ]; case three, a1< a2< A3< a4, then the smaller system setup parameter range is [ a1 °, a2 ° ].
In an exemplary embodiment, a range is configured for a user-entered parameter. In step 301, it is determined whether the configuration parameter value for configuring the first pan/tilt head and the configuration parameter value for configuring the second pan/tilt head in the configuration information pair are consistent; if the configuration parameter value for configuring the first pan/tilt head in the configuration information pair is not consistent with the configuration parameter value for configuring the second pan/tilt head, in step S302, a smaller configuration parameter value is obtained as a target configuration parameter of the configuration information pair; if the configuration parameter value for configuring the first pan/tilt head in the configuration information pair is consistent with the configuration parameter value for configuring the second pan/tilt head, in step S303, the configuration parameter value for configuring the first pan/tilt head or the configuration parameter value for configuring the second pan/tilt head in the configuration information pair is obtained to be used as the target configuration parameter of the configuration information pair. For example: and if the euler angle value input by the user and used for configuring the first pan/tilt head is a1 and the euler angle value input by the user and used for configuring the third pan/tilt head is a2, the configuration parameter value used for configuring the first pan/tilt head in the configuration information pair is consistent with the configuration parameter value used for configuring the second pan/tilt head. The method comprises the following steps: case one, a1< a2, then the smaller system setup parameter range is a 1; in case two, a1> a2, the smaller system setup parameter range is a 2.
The following describes an embodiment of the apparatus of the present invention, which can be used to implement the above-mentioned control method for a multi-stage apparatus of the present invention.
Fig. 4 shows a schematic structural diagram of a control apparatus of a multi-stage according to an embodiment of the present invention, and referring to fig. 4, the control apparatus 400 of a multi-stage includes: a first acquisition module 401 and a second acquisition module 402.
The first obtaining module 401 is configured to obtain a plurality of configuration parameters of each of a plurality of holders; the first obtaining module 401 is further configured to use a plurality of configuration parameters with consistent configuration parameter identifiers as configuration information pairs; the second obtaining module 402 is configured to obtain a target configuration parameter of the configuration information pair, and control the multiple holders based on the target configuration parameter.
In an exemplary embodiment, the multiple holders are dual holders, and the first obtaining module 401 is specifically configured to obtain multiple first configuration parameters for configuring a first holder and multiple second configuration parameters for configuring a second holder; the first obtaining module 401 is further specifically configured to use the first configuration parameter and the second configuration parameter with consistent configuration parameter identifiers as a configuration information pair; the second obtaining module 402 is specifically configured to obtain a target configuration parameter of the configuration information pair, and control the first pan/tilt head and the second pan/tilt head based on the target configuration parameter.
In an exemplary embodiment, the first obtaining module 401 is specifically configured to obtain a system configuration parameter range for configuring the first pan/tilt head, to obtain the first configuration parameter, and obtain a system setting parameter range for configuring the second pan/tilt head, to obtain the second configuration parameter.
In an exemplary embodiment, the first obtaining module 401 is specifically configured to obtain a configuration parameter value, which is input by a user and used for configuring the first pan/tilt head, to obtain the first configuration parameter, and obtain a configuration parameter value, which is input by the user and used for configuring the second pan/tilt head, to obtain the second configuration parameter.
In an exemplary embodiment, the first obtaining module 401 includes: the device comprises a communication connection unit and a receiving unit.
The communication connection unit is used for establishing communication connection with terminal equipment, the terminal equipment receives a configuration parameter value which is input by a user and used for configuring the first holder, and the terminal equipment also receives a configuration parameter value which is input by the user and used for configuring the second holder; the receiving unit is configured to receive the configuration parameter value sent by the terminal device and used for configuring the first pan/tilt and obtain the first configuration parameter, and also receive the configuration parameter value sent by the terminal device and used for configuring the second pan/tilt and obtain the second configuration parameter.
In an exemplary embodiment, the first obtaining module 401 is specifically configured to obtain, for the same configuration information pair, one configuration parameter value transmitted by the terminal device and serve as a target configuration parameter.
In an exemplary embodiment, the second obtaining module 402 includes: a judging unit and an acquiring unit.
The judging unit is used for judging whether a first configuration parameter and a second configuration parameter in the configuration information pair are consistent; the obtaining unit is configured to obtain a smaller configuration parameter as a target configuration parameter of the configuration information pair if the first configuration parameter and the second configuration parameter in the configuration information pair are not consistent.
In an exemplary embodiment, the system setting parameter range includes at least one of: euler angle range, joint angle range, or field angle range.
In an exemplary embodiment, the user-entered configuration parameter values include at least one of: and operating a hand feeling setting parameter value, a slow start and stop parameter value, a following speed value or a following acceleration value.
In an exemplary embodiment, the first stage is configured to configure a thermal imaging camera, and the second stage is configured to configure a general camera.
As the functional modules of the control device of the multi-platform according to the exemplary embodiment of the present invention correspond to the steps of the exemplary embodiment of the control method of the multi-platform, for details that are not disclosed in the embodiment of the control device of the present invention, please refer to the above-described embodiment of the control method of the multi-platform according to the present invention.
Fig. 5 shows a schematic structural diagram of a drone according to an embodiment of the present invention, and referring to fig. 5, a drone 500 includes a plurality of holders, a holder 501, holders 502, …, and a holder N. Wherein the plurality of holders are controlled by the control method of the multi-holder as described above.
In an exemplary embodiment, the drone comprises at least two types of holders, a first type of holder for configuring a thermal imaging camera and a second type of holder for configuring a generic camera.
In an exemplary embodiment, the drone 500 includes a dual pan-tilt head.
Fig. 6 shows a schematic structural diagram of a dual-tripod-head drone according to an embodiment of the present invention, and referring to fig. 6, a dual-tripod-head drone 600 includes a first tripod head 601 and a second tripod head 602. In the exemplary embodiment, the first cradle head 601 and the second cradle head 602 are located below the body 603, i.e., a bottom-mounted dual cradle head. In an exemplary embodiment, the first stage 601 is configured to configure a thermal imaging camera, and the second stage 602 is configured to configure a general camera.
Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with the electronic device implementing an embodiment of the present invention. The computer system 700 of the electronic device shown in fig. 7 is only an example, and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for system operation are also stored. The CPU701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input section 707 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program executes the above-described functions defined in the system of the present application when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs, which when executed by the electronic device, cause the electronic device to implement the control method of the multi-pan/tilt head as described in the above embodiments.
For example, the electronic device may implement the following as shown in fig. 1: step S101, acquiring a plurality of configuration parameters of each holder in a plurality of holders; step S102, a plurality of configuration parameters with consistent configuration parameter identifications are used as configuration information pairs; step S103, acquiring target configuration parameters of the configuration information pairs, and controlling the plurality of cloud platforms based on the target configuration parameters.
As another example, the electronic device may implement the steps shown in FIG. 2.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present invention.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (18)
1. A control method of a multi-platform is characterized by comprising the following steps:
acquiring a plurality of configuration parameters of each holder in a plurality of holders;
taking a plurality of configuration parameters with consistent configuration parameter identifications as configuration information pairs;
and acquiring target configuration parameters of the configuration information pairs, and controlling the plurality of cloud platforms based on the target configuration parameters.
2. The method of claim 1, wherein the plurality of stages are dual stages,
obtain a plurality of configuration parameters of every cloud platform in a plurality of cloud platforms, include:
the method comprises the steps of obtaining a plurality of first configuration parameters for configuring a first cloud deck and a plurality of second configuration parameters for configuring a second cloud deck.
3. The method of claim 2,
using a plurality of configuration parameters with consistent configuration parameter identifications as configuration information pairs, including:
and taking the first configuration parameter and the second configuration parameter with consistent configuration parameter identifications as a configuration information pair.
4. The method of claim 3,
acquiring target configuration parameters of the configuration information pairs, and controlling the plurality of holders based on the target configuration parameters, wherein the method comprises the following steps:
and acquiring target configuration parameters of the configuration information pair, and controlling the first cloud deck and the second cloud deck based on the target configuration parameters.
5. The method of claim 4, wherein obtaining a plurality of first configuration parameters for configuring the first pan/tilt head and a plurality of second configuration parameters for configuring the second pan/tilt head comprises:
and acquiring a system configuration parameter range for configuring the first cloud deck to obtain the first configuration parameter, and acquiring a system setting parameter range for configuring the second cloud deck to obtain the second configuration parameter.
6. The method according to claim 4 or 5, wherein obtaining a plurality of first configuration parameters for configuring the first head and a plurality of second configuration parameters for configuring the second head comprises:
and acquiring a configuration parameter value which is input by a user and used for configuring the first cloud deck, acquiring the first configuration parameter, and acquiring a configuration parameter value which is input by the user and used for configuring the second cloud deck, and acquiring the second configuration parameter.
7. The method according to claim 6, wherein obtaining a configuration parameter value for configuring the first pan/tilt head input by a user to obtain the first configuration parameter, and obtaining a configuration parameter value for configuring the second pan/tilt head input by a user to obtain the second configuration parameter comprises:
establishing communication connection with a terminal device, wherein the terminal device receives a configuration parameter value which is input by a user and used for configuring the first holder, and the terminal device also receives a configuration parameter value which is input by the user and used for configuring the second holder;
and receiving a configuration parameter value which is sent by the terminal equipment and used for configuring the first holder to obtain the first configuration parameter, and receiving a configuration parameter value which is sent by the terminal equipment and used for configuring the second holder to obtain the second configuration parameter.
8. The method of claim 7, wherein obtaining the target configuration parameter of the configuration information pair comprises:
and for the same configuration information pair, acquiring a configuration parameter value transmitted by the terminal equipment and taking the configuration parameter value as a target configuration parameter.
9. The method according to any one of claims 2 to 5, 7 or 8, wherein obtaining the target configuration parameters of the configuration information pair comprises:
judging whether the first configuration parameter and the second configuration parameter in the configuration information pair are consistent;
and if the first configuration parameter and the second configuration parameter in the configuration information pair are not consistent, acquiring a smaller configuration parameter as a target configuration parameter of the configuration information pair.
10. The method of claim 9,
the system setting parameter range comprises at least one of the following: euler angle range, joint angle range, or field angle range.
11. The method of claim 10,
the user-entered configuration parameter values include at least one of: and operating a hand feeling setting parameter value, a slow start and stop parameter value, a following speed value or a following acceleration value.
12. The method of claim 9, wherein the first stage is configured to configure a thermal imaging camera and the second stage is configured to configure a normal camera.
13. A control device of a multi-cloud platform, comprising:
the first acquisition module is used for acquiring a plurality of configuration parameters of each of a plurality of holders;
the first obtaining module is further configured to use a plurality of configuration parameters with consistent configuration parameter identifications as configuration information pairs;
and the second acquisition module is used for acquiring the target configuration parameters of the configuration information pair and controlling the plurality of cloud platforms based on the target configuration parameters.
14. The apparatus of claim 13, wherein the plurality of stages are dual stages,
the first obtaining module is specifically configured to obtain a plurality of first configuration parameters for configuring a first pan/tilt head and a plurality of second configuration parameters for configuring a second pan/tilt head;
the first obtaining module is specifically further configured to use the first configuration parameter and the second configuration parameter with consistent configuration parameter identifiers as a configuration information pair;
the second obtaining module is specifically configured to obtain a target configuration parameter of the configuration information pair, and control the first pan/tilt head and the second pan/tilt head based on the target configuration parameter.
15. An unmanned aerial vehicle comprising a plurality of stations, the plurality of stations being controlled by a method according to any one of claims 1 to 12.
16. The drone of claim 15, wherein the plurality of bays are dual bays.
17. A computer-readable medium, on which a computer program is stored, characterized in that said program, when executed by a processor, implements a control method of a multi-pan head according to any one of claims 1 to 12.
18. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the control method of a multi-pan head according to any one of claims 1 to 12.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/097263 WO2020019257A1 (en) | 2018-07-26 | 2018-07-26 | Method for controlling multiple pan-tilt zoom heads, device, unmanned aerial vehicle, medium, and electronic apparatus |
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| Publication Number | Publication Date |
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| CN110603504A true CN110603504A (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201880028208.0A Pending CN110603504A (en) | 2018-07-26 | 2018-07-26 | Multi-cradle-head control method and device, unmanned aerial vehicle, medium and electronic equipment |
Country Status (2)
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| CN (1) | CN110603504A (en) |
| WO (1) | WO2020019257A1 (en) |
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