CN113641057A - Flash lamp control method and unmanned aerial vehicle - Google Patents
Flash lamp control method and unmanned aerial vehicle Download PDFInfo
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- CN113641057A CN113641057A CN202110928802.9A CN202110928802A CN113641057A CN 113641057 A CN113641057 A CN 113641057A CN 202110928802 A CN202110928802 A CN 202110928802A CN 113641057 A CN113641057 A CN 113641057A
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- 238000005286 illumination Methods 0.000 claims description 22
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- 230000036544 posture Effects 0.000 description 17
- 230000000694 effects Effects 0.000 description 12
- 238000003384 imaging method Methods 0.000 description 12
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- 230000008878 coupling Effects 0.000 description 6
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/02—Illuminating scene
- G03B15/03—Combinations of cameras with lighting apparatus; Flash units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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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
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/155—Coordinated control of two or more light sources
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/17—Operational modes, e.g. switching from manual to automatic mode or prohibiting specific operations
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Abstract
The invention provides a flash lamp control method and an unmanned aerial vehicle. The flash lamp control method is used for controlling a plurality of flash lamps on the unmanned aerial vehicle, and comprises the following steps: when the unmanned aerial vehicle lands, the controller selects at least one flash lamp with a light-emitting direction facing to the position right below the unmanned aerial vehicle, and controls the selected flash lamp to be switched into a flashlight mode; when the flashlight is in the flashlight mode, the controller controls the light-emitting strategy of the flashlight to at least comprise normally-on. Through the design, the flash lamp can be selected and controlled to calibrate the accurate descending position when the unmanned aerial vehicle descends, so that the unmanned aerial vehicle has high descending efficiency and good stability, and safety accidents are avoided.
Description
The invention relates to divisional application of patent application with application date of 2017, 7, 25 and application number of 201780027075.0, and the invention name of 'flash lamp control method, holder device, handheld holder and unmanned aerial vehicle'.
Technical Field
The invention relates to the technical field of cloud platforms, in particular to a flash lamp control method and an unmanned aerial vehicle.
Background
At present, traditional unmanned aerial vehicle lacks supplementary descending means at the descending in-process, especially in night or other not good scenes of illumination, is difficult to mark accurate decline position when unmanned aerial vehicle descends for unmanned aerial vehicle's descending efficiency is lower, stability is not good, leads to the incident even.
The above information disclosed in this background section is only for enhancement of understanding of the background of the disclosure and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to solve the technical problem of how to realize the automatic selection and control of the flash lamp in the landing process of the unmanned aerial vehicle.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.
In order to achieve the purpose, the invention adopts the following technical scheme:
according to an aspect of the present invention, there is provided a flash lamp control method for controlling a plurality of flash lamps on a drone, the flash lamp control method including: when the unmanned aerial vehicle lands, the controller selects at least one flash lamp with a light-emitting direction facing to the position right below the unmanned aerial vehicle, and controls the selected flash lamp to be switched into a flashlight mode; when the flashlight is in the flashlight mode, the controller controls the light-emitting strategy of the flashlight to at least comprise normally on.
According to one embodiment of the present invention, the flash control method further includes the steps of: collecting height information of the unmanned aerial vehicle and sending the height information to the controller; when the unmanned aerial vehicle descends, the controller controls the light-emitting strategy of the flash lamp to be normally on, and controls the brightness of the flash lamp to follow the height change of the unmanned aerial vehicle.
According to one embodiment of the invention, the controller controls the brightness of the flash lamp to decrease as the height of the drone decreases.
According to one embodiment of the invention, the change of the brightness of the flash lamp is a continuous gradual change or a switch of different brightness.
According to one embodiment of the present invention, the flash control method further includes the steps of: setting corresponding working parameters according to the lighting requirement of the flash lamp; the controller controls the flash lamp to emit light, and controls the selected flash lamp to select the corresponding working parameter to emit light.
According to one embodiment of the present invention, the operating parameters of the flash lamp setting include at least whether to flash, what color temperature to select, automatic selection among a plurality of color temperatures, and constant illumination.
According to one embodiment of the invention, when the unmanned aerial vehicle lands, the controller selects at least one flash lamp with the smallest included angle between the light-emitting direction and the position right below the unmanned aerial vehicle, and controls the selected flash lamp to be switched to a flashlight mode.
According to another aspect of the invention, an unmanned aerial vehicle is provided, which comprises a body, a plurality of flash lamps on the body, and a controller; the working modes of the flashlight at least comprise a flashlight mode; the controller is connected with the plurality of flashlights; when the flash lamp is in a flashlight mode, the controller controls the light-emitting strategy of the flash lamp to at least comprise normally on; when the unmanned aerial vehicle descends, the controller selects at least one flash lamp with a light-emitting direction facing the direction right below the unmanned aerial vehicle according to the light-emitting direction of the flash lamp, and controls the selected flash lamp to be switched into a flashlight mode.
According to the technical scheme, the beneficial effects of the invention are as follows:
according to the flash lamp control method provided by the invention, when the unmanned aerial vehicle lands, at least one flash lamp with a light-emitting direction facing to the position right below the unmanned aerial vehicle can be selected, the selected flash lamp is controlled to be switched into a flashlight mode, and when the flash lamp is in the flashlight mode, the controller controls the light-emitting strategy of the flash lamp to at least comprise normal lighting. Through the design, the flash lamp can be selected and controlled to calibrate the accurate descending position when the unmanned aerial vehicle descends, so that the unmanned aerial vehicle has high descending efficiency and good stability, and safety accidents are avoided.
The above and other objects, features and advantages of the present invention will become more apparent from the following description of preferred embodiments of the present invention with reference to the accompanying drawings.
Drawings
FIG. 1 is a flow chart of a flash control method proposed by the present invention;
FIG. 2 is another flow chart of the flash control method shown in FIG. 1;
FIG. 3 is yet another flow chart of the flash control method shown in FIG. 1;
fig. 4 is a schematic control diagram of the pan-tilt apparatus proposed by the present invention;
fig. 5 is another control schematic diagram of the pan-tilt apparatus proposed by the present invention;
fig. 6 is a further control schematic of the head device proposed by the present invention;
fig. 7 is a three-dimensional structure diagram of the handheld tripod head according to the present invention;
FIG. 8 is a side view of the handheld tripod head shown in FIG. 7;
fig. 9 is a front view of the proposed drone;
fig. 10 is a side view of the drone shown in fig. 9.
The figures are labeled as follows: 100. a handheld pan-tilt; 110. a handle; 120. a pan-tilt device; 130. a flash lamp; 140. a camera device; 200. an unmanned aerial vehicle; 210. a body; 220. a pan-tilt device; 230. a flash lamp; 240. an image pickup device.
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 embodiments 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. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.
Flash lamp control method implementation mode one
Referring to fig. 1, a flow chart of a flash control method that can embody principles of the present invention is representatively illustrated in fig. 1. An exemplary embodiment of the flash control method according to the present invention is described below with reference to fig. 1. In the present embodiment, the flash control method proposed by the present invention is described based on an example of controlling a flash of a pan/tilt head. Those skilled in the art will readily appreciate that various modifications, additions, substitutions, deletions, or other changes may be made to the embodiments described below in order to apply the flash control method to the control of a flash on other devices or structures, and such changes are within the scope of the principles of the flash control method as set forth in the present application.
In this embodiment, the flash lamp control method provided by the present invention can be used to control a plurality of flash lamps installed on at least one of a pan/tilt head, an image pickup device (e.g., a lens), or a pan/tilt head peripheral device (e.g., an unmanned aerial vehicle or a handle). Wherein, the cloud platform is installed in cloud platform external equipment, and camera device installs in the cloud platform.
As shown in fig. 1, in the present embodiment, the flash control method includes at least the following steps: and acquiring the attitude information of the camera device by using the sensor and sending the attitude information to the controller. And the controller determines the light emitting direction of the flash lamp according to the attitude information, and selects at least one of the flash lamps according to the light emitting direction of the flash lamp. The controller controls the selected strobe to emit light.
In this embodiment, the attitude information of the imaging device is understood to include the shooting direction of the lens, i.e., the direction of the lens. The direction of the lens is mainly influenced by the postures of the holder and the external equipment of the holder, and the posture of the holder is roughly understood as the posture of the connecting component of the holder. Specifically, taking the example that the connecting assembly includes a plurality of pan/tilt axes, the attitude of the pan/tilt may include the rotation direction, angle, mutual position, and other states of each pan/tilt axis. Moreover, for some pan heads, the tail end of the connecting component is provided with a supporting seat for mounting the camera device, and the posture of the camera device is also influenced by the rotating direction, the angle, the mutual position and other states of the supporting seat.
In this embodiment, the step of "selecting at least one of the plurality of flashes based on the direction in which the flash is required to emit light" means that the controller selects the flash whose emission direction is closest to the direction in which the flash is required to emit light. The light emitting direction of the flash lamp can be understood as the optical axis direction of light emitted by the flash lamp, and the "closest" can be understood as the minimum included angle between the light emitting direction of the required flash lamp and the light emitting direction of the selected flash lamp. In other embodiments, the controller selects the flash lamp according to a standard not limited to the minimum angle between the light emitting direction of the flash lamp and the light emitting direction of the desired flash lamp, but may select the flash lamp having the light emitting direction in other specific relationships with the light emitting direction of the desired flash lamp, or select different numbers of flash lamps.
For example, in a situation where a plurality of flash lamps are installed on the pan/tilt, for example, in a situation where flash lamps are respectively installed on a plurality of pan/tilt axes, the sensor collects attitude information of the image capturing device and sends the attitude information to the controller when a picture is taken. The controller determines the direction of light emission required by the flash lamp according to the posture information of the camera device, and selects at least one flash lamp capable of better supplementing light for photographing of the camera device based on the direction of light emission required by the flash lamp. For example, when the camera is oriented downward, the controller preferentially selects the flash mounted on the downward pan/tilt axis to emit light. For another example, when the posture of the camera device is forward and downward, the controller preferentially selects the flash lamps arranged on the forward and downward pan/tilt shafts, and controls the flash lamps on the two pan/tilt shafts to emit light according to the light-emitting intensity ratio, or selects one of the two flash lamps which has the smallest included angle with the camera device and does not have shielding to emit light.
Further, as shown in fig. 2, in the present embodiment, the flash control method further includes the following steps: and collecting the illumination information of the external environment by using a sensor, and sending the illumination information to the controller. The controller switches the working mode of the flash lamp according to the illumination information and the working mode of the ray device. As shown in fig. 3, in the present embodiment, when the flash control method simultaneously adopts the steps shown in fig. 1 and 2, the sensor may collect the attitude information of the imaging device and the illumination information simultaneously or sequentially. And the controller can determine the light-emitting direction of the flash lamp and judge the working mode of the camera device simultaneously or sequentially according to the attitude information. Moreover, the controller can switch the working mode of the flash lamp between the flash lamp selection and the flash lamp lighting control, namely at least switching the working mode of the selected flash lamp. Of course, the controller may switch the flash lamp operation modes before selecting the flash lamp, that is, simultaneously switch the flash lamp operation modes and then select the flash lamp operation modes.
As shown in fig. 2, in the present embodiment, the operation modes of the flash lamp may include at least a flash lamp mode and a flashlight mode, depending on the application environment of the pan/tilt head. In other embodiments, the operation mode of the flash may also include an operation mode for implementing other functions or meeting other application environments.
As shown in fig. 2, when the illumination information is insufficient illumination (for example, night environment or darkroom environment) and the image capturing apparatus is in the photographing mode, the controller controls the flash to switch to the flash mode. In this operating mode, the flash may be exposed in coordination with the shooting by the camera, so that the controller selects the flash according to the attitude information, for example, the flash having the smallest angle with the direction of the camera.
Particularly, when the imaging function of the fisheye effect is required to be realized, the controller controls the flash lamp to be switched to the flash lamp mode, and the controller selects at least one of the flash lamps at the position behind the camera device based on the light emitting direction required by the flash lamp.
As shown in fig. 2, when the illumination information is insufficient illumination (for example, night environment or darkroom environment) and the image capturing device is in the image capturing mode, the controller controls the flash to switch to the flashlight mode. In the working mode, the flash lamp can be matched with shooting of the camera device for lighting and supplementary lighting, so that the controller selects the flash lamp according to the attitude information, for example, the flash lamp with the smallest included angle with the direction to be lighted is selected.
In the flash mode in the present embodiment, the direction in which the flash is required to emit light is the optical axis direction of the imaging device, and the "flash having the smallest angle with respect to the direction of the imaging device" means that the angle between the optical axis direction in which the flash emits light and the optical axis direction of the imaging device is the smallest. In the flashlight mode of the present embodiment, the direction in which the flashlight emits light is the direction to be illuminated, and the "flashlight having the smallest included angle with the direction to be illuminated" means that the included angle between the direction of the optical axis of the flashlight emitting light and the direction to be illuminated is the smallest.
As mentioned above, in this embodiment, when the controller switches the operating mode of the flash lamp according to the illumination information, the controller may select the flash lamp, for example, by selecting at least one flash lamp whose included angle between the light emitting direction and the light emitting direction of the flash lamp in the current operating mode is the smallest.
Specifically, in the present embodiment, when the controller controls the flash to switch to the flash mode, the light emission strategy of the controller controlling the flash includes at least normal lighting, flashing according to the exposure time, and flashing by pre-flashing and then by main exposure. And when the controller controls the flash lamp to be switched into the flashlight mode, the light-emitting strategy of the flash lamp controlled by the controller at least comprises normally on.
Further, in this embodiment, the flash control method further includes the steps of: and setting corresponding working parameters according to the lighting requirements of the flash lamp. On the basis of the above steps, the step of controlling the flash lamp to emit light by the controller is to substantially control the selected flash lamp to select the corresponding working parameter to emit light.
Specifically, in the present embodiment, before shooting or lighting, the user may set the operating parameters of the flash lamp, such as whether to flash, what color temperature to select, automatic selection among multiple color temperatures, and normal lighting, by means of APP/physical key.
In summary, the flash lamp control method provided by the invention determines the direction of the flash lamp to emit light by collecting the posture information of the camera device, and selects the flash lamp according to the direction of the flash lamp to emit light. Therefore, the flash lamp control method provided by the invention can enable the flash lamp light-emitting effect to be always kept in the optimal state. When a user shoots, the flash lamp control method provided by the invention can select the flash lamp with the light-emitting direction matched with the light-emitting direction of the flash lamp to emit light, so that the user can shoot more clear pictures and videos with better exposure effect or achieve better illumination effect.
Furthermore, the flash lamp control method provided by the invention can also switch the flash lamp to different working states according to different illumination information by acquiring the illumination information of the external environment, so that different requirements of a user on the functions of the flash lamp under different external environments can be met.
Flash lamp control method embodiment II
Another exemplary embodiment of the flash control method proposed by the present invention is explained below. This embodiment is substantially the same as the first embodiment of the flash control method described above. The main difference of the present embodiment is that the flash lamp control method is described by taking the example of installing the pan/tilt head on the unmanned aerial vehicle.
In this embodiment, the flash control method includes the main steps of the first embodiment, for example, acquiring posture information of the image capturing device by using a sensor, and sending the posture information to the controller, the controller determining a direction in which the flash needs to emit light according to the posture information, and selecting at least one flash according to the direction in which the flash needs to emit light, and the controller controlling the selected flash to emit light.
In addition to the similar steps described above, in this embodiment, the flash light control method further includes a landing auxiliary lighting step in cooperation with the landing of the unmanned aerial vehicle, specifically including: when unmanned aerial vehicle descends, the controller control flash light switches into the flashlight mode, and the controller selects at least one flash light of luminous direction orientation under unmanned aerial vehicle. In view of the above, the flash light of selecting is controlled to utilize the controller to shine, can mark the descending position through giving out light when unmanned aerial vehicle descends to realize supplementary descending function.
Further, in the present embodiment, the flash control method further includes the steps of: height information of the unmanned aerial vehicle is collected and sent to the controller. The controller controls the light-emitting strategy of the flash lamp to be normally bright, and controls the brightness of the flash lamp to change along with the height of the unmanned aerial vehicle. For example, in the present embodiment, the controller controls the brightness of the flash to decrease as the height of the drone decreases. The change of the brightness of the flash lamp can be continuous gradual change of the brightness or switching of different brightness.
In this embodiment, the brightness control of the flash lamp during the descending process of the unmanned aerial vehicle adopts a mode of switching different brightness. Specifically, a height setting value may be preset, which may preferably be a height value close to the ground, and when the unmanned aerial vehicle starts to descend and the height of the unmanned aerial vehicle is greater than the height setting value, the controller controls the selected flash lamp to emit light at the first brightness. When the unmanned aerial vehicle descends to a height smaller than or equal to the height set value, the controller controls the selected flash lamp to emit light with second brightness smaller than the first brightness. In view of the above, the flash light that the controller control was selected adopts the hi-lite to give out light when unmanned aerial vehicle begins to descend, when unmanned aerial vehicle was close to the ground, because the demand of supplementary descending reduces, consequently adopts the low luminance to give out light to reach the effect of energy can be saved.
In addition, in this embodiment, when unmanned aerial vehicle normally flies, the controller control flash light switches into the flashlight mode. Meanwhile, the controller can determine the direction of light emission needed by the flash lamp according to the flight information of the unmanned aerial vehicle, such as the flight direction, and selects at least one flash lamp to emit light based on the flight direction. For example, the controller selects at least one flash lamp with the minimum included angle between the light-emitting direction and the flight direction of the unmanned aerial vehicle, and controls the selected flash lamp to emit light. Therefore, the flash lamp control method provided by the invention can be used for controlling the flash lamp to realize the function of the position mark for the unmanned aerial vehicle to fly.
In conclusion, the flash lamp control method provided by the invention can enable the light-emitting effect of the flash lamp applied to the unmanned aerial vehicle to be always in the optimal state, and can calibrate the landing position in the landing process of the unmanned aerial vehicle, thereby realizing the function of auxiliary landing.
Embodiments of the Pan/Tilt/zoom device
An exemplary embodiment of the pan and tilt head apparatus according to the present invention is described below. In the present embodiment, the pan/tilt head device according to the present invention is described by taking as an example a configuration in which the connecting member has a plurality of pan/tilt head axes. Those skilled in the art will readily appreciate that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to adapt the design of this embodiment to other configurations of head apparatus, while still remaining within the scope of the principles of the head apparatus as taught by the present invention.
In this embodiment, the holder device provided by the present invention mainly includes a support base, a connection assembly, a plurality of flash lamps, a controller, and a sensor. The following describes in detail the structure, connection and functional relationship of the main components of the pan/tilt head apparatus according to the present invention.
In the present embodiment, the support base is used for mounting an image pickup device, such as a camera.
In this embodiment, coupling assembling one end is connected in the supporting seat, and the other end is connected in unmanned aerial vehicle or other cloud platform external device. Specifically, coupling assembling includes a plurality of cloud platform axles to the quantity of cloud platform axle is three as an example, then specifically can include first cloud platform axle, second cloud platform axle and third cloud platform axle. One end of the first tripod head shaft is fixedly or rotatably connected to the supporting seat. The other end of first cloud platform axle rotationally connects in the one end of second cloud platform axle, and the other end of second cloud platform axle rotationally connects in the one end of third cloud platform axle, and the other end of third cloud platform axle is fixed or rotationally connects in cloud platform external device. In other embodiments, the connection assembly may be comprised of other structures, such as a linkage mechanism or the like. Also, when the connecting assembly includes a pan head shaft, the number of the pan head shafts may be one or more, and preferably two or more. Wherein, a plurality of cloud platform axles of coupling assembling rotationally connect in proper order to the regulation of a plurality of directions is realized in the rotation through each cloud platform axle.
Further, in this embodiment, the connection assembly further comprises an articulation mechanism. Preferably, a joint mechanism can be arranged between every two connected pan-tilt shafts, that is, the two connected pan-tilt shafts are rotatably connected through the joint mechanism. For example, two ends of the pan/tilt shaft may form a joint portion, and two joint portions of two connected pan/tilt shafts may be rotatably connected to form one joint mechanism, thereby realizing the rotational connection of the two pan/tilt shafts. Moreover, the joint mechanism may be a structure independent of the pan/tilt shaft, and the joint mechanism itself has two parts capable of rotating relatively, and then the two pan/tilt shafts are respectively connected to the two parts of the joint mechanism, thereby realizing the relative rotation connection of the two pan/tilt shafts. In other embodiments, the joint mechanism may also be a conventional rotational connection structure, and is not limited to this embodiment.
In addition, the above description of the connection assembly in the present embodiment is an exemplary description for the following description of the flashlight, and the entire structure or function of the connection assembly cannot be summarized. Take the connecting assembly with a plurality of pan-tilt axes as an example, it may further include a driving mechanism to drive the rotation of each pan-tilt axis. Moreover, at least one cloud platform axle of coupling assembling still can have telescopic structure to realize coupling assembling's flexible regulation, and can be driven by actuating mechanism. Therefore, according to different application environments (for example, different external devices of the pan/tilt head), the connecting assembly can flexibly select designs of various structures, connection modes and functional relationships, and can also select the design of the existing connecting assembly, which is not limited to the embodiment.
In the present embodiment, the flash lamps are respectively mounted on each pan/tilt axis, the number of the flash lamps on each pan/tilt axis may be one or more, and the number or the mounting positions of the flash lamps on each pan/tilt axis are not limited to be the same. Specifically, in the present embodiment, the flashers are preferably attached to the respective joint mechanisms. In addition, the mounted position of flash light is not limited to coupling assembling, still can select to install on supporting seat, camera device, unmanned aerial vehicle's fuselage or other cloud platform external devices. Moreover, the installation mode of the flash lamp can be built-in or plug-in, and the installation mode can be flexibly selected according to the installation position of the flash lamp.
As mentioned above, in the pan/tilt apparatus provided by the present invention, the flash lamp is flexibly installed at a plurality of positions on the connecting assembly (including the supporting seat) according to the structure and imaging requirements of the pan/tilt apparatus. For example, based on a sensor provided on a connecting member of the existing pan/tilt apparatus, a flash lamp can be preferentially mounted on a pan/tilt shaft (rotating shaft) adjacent to the sensor. For another example, a flash lamp can be installed at a position, close to the rear, of the connecting assembly relative to the camera device, so that when a shooting function of a fisheye effect needs to be achieved, the flash lamp close to the rear relative to the camera device is selected to be exposed, and the phenomenon that the imaging effect is influenced when light of the flash lamps at other positions is shot into an image is avoided.
In this embodiment, the sensor is connected to the controller, and is configured to collect posture information of the image capturing apparatus and send the posture information to the controller. The controller is respectively connected with each flash lamp and used for determining the light emitting direction of the flash lamp according to the attitude information acquired by the sensor and selecting at least one flash lamp to emit light based on the light emitting direction of the flash lamp.
In addition, the controller can also switch the working mode of the flash lamp according to other information, such as the flash lamp mode and the flashlight mode. The other information can be collected by a sensor of the holder device and also can be transmitted to the controller by a sensor of the external equipment of the holder.
For example, in the present embodiment, the sensor may collect the illumination information of the external environment and send the illumination information to the controller. When the illumination information is insufficient illumination (such as night environment or darkroom environment) and the camera device is in a photographing mode, the controller controls the flash lamp to be switched to the flash lamp mode. In the flash mode, the flash can perform exposure in coordination with shooting by the image pickup device. Therefore, the controller can determine the direction of the flash light to be emitted as the shooting direction (e.g. the lens direction) of the image pickup device according to the posture information of the image pickup device, and the controller can select at least one flash light with the smallest included angle between the emission direction and the direction of the flash light to be emitted.
Further, when the imaging function of the fisheye effect needs to be achieved, the controller controls the flash lamp to be switched to the flash lamp mode, and the controller selects at least one of the flash lamps at the position behind the camera device based on the light emitting direction needed by the flash lamp.
For another example, when the illumination information is insufficient illumination (for example, night environment or darkroom environment) and the image capturing device is in the image capturing mode, the controller controls the flash lamp to switch to the flashlight mode. Under the flashlight mode, the flash lamp can cooperate the shooting illumination light filling of camera device. Therefore, the controller selects the flash lamp according to the attitude information, and may select the flash lamp with the smallest included angle with the direction to be illuminated, for example.
Further, when the unmanned aerial vehicle descends, the controller can control the flash lamps to be switched to a flashlight mode, the controller selects at least one flash lamp with a light-emitting direction facing to the position right below the unmanned aerial vehicle, and the light-emitting strategy of the flash lamps is preferably normally on under the control of the controller. Wherein, the controller can be according to unmanned aerial vehicle's height, and the luminance of control flash light changes along with unmanned aerial vehicle's altitude variation. For example, the controller controls the brightness of the flash to decrease as the height of the drone decreases. In addition, the change of the brightness of the flash lamp can be continuous gradual change of the brightness, and also can be switching of different brightness.
Further, in this embodiment, when the unmanned aerial vehicle flies normally, the controller controls the flash light to switch to the flashlight mode. The controller can determine the direction of the flash lamp to emit light according to the flight information of the unmanned aerial vehicle, such as the flight direction, and select at least one flash lamp to emit light based on the flight direction. For example, the controller selects at least one flash lamp with the minimum included angle between the light-emitting direction and the flight direction of the unmanned aerial vehicle, and controls the selected flash lamp to emit light.
In addition, the setting position of the controller can be located in the connecting component, the imaging device or the external equipment of the holder. Furthermore, a customized MCU (micro controller Unit) that can be externally connected to the cradle head device or the imaging device may be used as the controller, and the controller and the cradle head device or the imaging device may be connected via a control bus, such as can, SPI, USB, and the like.
Further, in this embodiment, at least one flash lamp may be installed at the fuselage of the drone. When the unmanned aerial vehicle is in communication connection with a ground station or a remote controller, information interaction is formed between a controller and a sensor of the holder device and the ground station or the remote controller, a user can send a control instruction to the controller or set working parameters of a flash lamp through an operation interface on the ground station or the remote controller, and meanwhile, various kinds of information collected by the sensor can be observed according to a display panel on the ground station or the remote controller.
In other embodiments, when the external device of the pan/tilt head is a handle, the other end of the connecting assembly is rotatably connected to the handle, and at least one flash lamp can be mounted on the handle. In addition, the holder device can further comprise an operation interface arranged on the handle, the operation interface is connected to the controller and the sensor of the holder device, a user can send a control instruction to the controller or set working parameters of the flash lamp, and meanwhile, various kinds of information collected by the sensor can be observed according to a display panel of the operation interface.
In summary, in the pan/tilt head device provided by the present invention, the flash lamps are installed at a plurality of positions of the connecting assembly, the controller is used to determine the direction of the flash lamps to emit light according to the posture information of the camera device collected by the sensor, and at least one flash lamp is selected to emit light based on the direction of the flash lamps to emit light. Based on the design, the light-emitting effect of the flash lamp installed on the holder device can be always kept in the optimal state.
Implementation mode of handheld cloud platform
Referring to fig. 7 and 8, fig. 7 shows a perspective structure view of the handheld tripod head 100 according to the present invention, and fig. 8 shows a side view of the handheld tripod head 100. An exemplary embodiment of the handheld tripod head 100 according to the present invention is described below with reference to the accompanying drawings. In the present embodiment, the handheld tripod head 100 according to the present invention is described by taking a configuration in which the connection component of the tripod head device 120 has a plurality of tripod head axes as an example. Those skilled in the art will readily appreciate that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to adapt the design of this embodiment to other configurations of a hand-held pan and tilt head 100, and such changes are within the scope of the principles of the hand-held pan and tilt head 100 as set forth herein.
As shown in fig. 7 and 8, in the present embodiment, the handheld tripod head 100 provided by the present invention mainly includes a handle 110 and a tripod head device 120. The holder device 120 mainly includes a support base, a connecting assembly, a plurality of flash lamps 130, a controller, and a sensor. Specifically, the supporting base is used for mounting the camera device 140, and one end of the connecting assembly is connected to the supporting base, and the other end is connected to the handle 110. The plurality of flashes 130 are mounted to at least one of the pan/tilt head unit 120 (e.g., the connection assembly and the support base), the camera unit 140, and the handle 110. The sensor is connected to the controller for collecting attitude information of the camera device 140. The controller is respectively connected to the plurality of flashlights 130, and the controller can determine the direction of the flashlights 130 required to emit light according to the posture information and select at least one flashlight 130 to emit light based on the direction of the flashlights required to emit light. In addition, the detailed structure, connection manner, and functional relationship of each component of the pan/tilt apparatus 120 may refer to the embodiment of the pan/tilt apparatus provided by the present invention, and the flash lamp control method may refer to the embodiment of the flash lamp control method provided by the present invention, which is not described herein again.
Further, in this embodiment, an operation interface may be provided on the handle 110, and the operation interface is connected to the controller and the sensor. The operation interface can be connected to the controller and the sensor of the holder device 120, so that a user can send a control instruction to the controller or set working parameters of the flash lamp 130, and meanwhile, various kinds of information collected by the sensor can be observed according to a display panel of the operation interface.
In summary, in the handheld tripod head provided by the present invention, the plurality of flash lamps are installed on at least one of the tripod head device, the camera device and the handle, the controller is utilized to determine the direction of the flash lamps to emit light according to the posture information of the camera device acquired by the sensor, and at least one flash lamp is selected to emit light based on the direction of the flash lamps to emit light. Based on the design, the light-emitting effect of the flashlight based on the handheld cloud deck can be always kept in the optimal state.
Unmanned aerial vehicle implementation mode
Referring to fig. 9 and 10, fig. 9 shows a front view of the drone 200 according to the present invention, and fig. 10 shows a side view of the drone 200. An exemplary embodiment of the drone 200 according to the present invention is described below with reference to the accompanying drawings. In the present embodiment, the unmanned aerial vehicle 200 according to the present invention is described by taking as an example a configuration in which the connection assembly of the pan/tilt head device 220 has a plurality of pan/tilt head axes. Those skilled in the art will readily appreciate that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to adapt the design of this embodiment to other types or configurations of flying platforms, and such changes are within the scope of the principles of the drone 200 as set forth in the present disclosure.
As shown in fig. 9 and 10, in the present embodiment, the unmanned aerial vehicle 200 provided by the present invention mainly includes a body 210 and a pan/tilt head device 220. Wherein the body 210 has a pan-tilt mount. The pan/tilt head device 220 mainly includes a support base, a connection assembly, a plurality of flash lamps 230, a controller, and a sensor. Specifically, the supporting seat is used for installing the camera device 240, and one end of the connecting assembly is connected to the supporting seat, and the other end of the connecting assembly is connected to the holder. The plurality of flash lamps 230 are mounted to at least one of the pan/tilt head device 220 (including the connecting member and the support), the image pickup device 240, and the body 210. The sensor is connected to the controller for collecting attitude information of the camera 240. The controller is respectively connected to the plurality of flash lamps 230, and is capable of determining a direction in which the flash lamps need to emit light according to the posture information, and selecting at least one flash lamp 230 to emit light based on the direction in which the flash lamps need to emit light. In addition, the specific structure, connection manner and functional relationship of each component of the pan/tilt apparatus 220 may refer to the embodiment of the pan/tilt apparatus provided by the present invention, and the flash light control method may refer to the embodiment of the flash light control method provided by the present invention, which are not described herein again.
Further, in the present embodiment, at least one flash lamp may be mounted on the pan/tilt mount.
Further, in this embodiment, the unmanned aerial vehicle is in communication connection with a ground station or a remote controller, and information interaction is formed between the controller and the sensor and the ground station or the remote controller. A user can send a control instruction to the controller or set working parameters of the flash lamp through an operation interface on the ground station or the remote controller, and meanwhile, various information collected by the sensor can be observed according to a display panel on the ground station or the remote controller.
It should be particularly noted that, in the landing process of the unmanned aerial vehicle provided by the invention, the design of the holder device is utilized, so that the function of assisting in landing can be further provided.
Specifically, when the drone 200 lands, the controller of the pan/tilt head device 220 controls the flash lamp 230 to switch to the flashlight mode, and collects the height information of the drone 200 and transmits the height information to the controller (the height information may also be directly transmitted to the controller of the pan/tilt head device 220 through the height sensor of the drone 200). The controller determines that the direction directly below the drone 200 is the direction in which the flash lamp 230 needs to emit light, and selects at least one flash lamp 230 having the smallest included angle between the light-emitting direction and the direction directly below the drone 200 to emit light. Accordingly, when the unmanned aerial vehicle 200 descends, the flash lamp 230 emits light to calibrate the landing position, so that the function of assisting landing is realized.
Further, the light emission strategy when the controller controls the flash 230 to emit light may preferably be normally on. Also, the brightness of the emitted light of the flash 230 may vary with the height of the drone 200. For example, in the present embodiment, the controller controls the brightness of the flash 230 to decrease as the height of the drone 200 decreases. The change of the brightness of the flash 230 may be a continuous gradual change of the brightness, or may be a switch of different brightness.
For example, in the present embodiment, the brightness control of the flash 230 during the descent of the drone 200 is in a mode of switching different brightness. Specifically, a height setting value may be preset, which may preferably be a height value near the ground, and when the drone 200 starts to descend, the height of the drone 200 is greater than the height setting value, the controller controls the selected flash 230 to emit light at the first brightness. When the drone 200 descends to a height less than or equal to the height setting value, the controller controls the selected flash 230 to emit light at a second brightness less than the first brightness. In view of the above, the controller controls the flash light 230 that is selected to adopt the hi-lite to give off light when unmanned aerial vehicle 200 begins to descend, when unmanned aerial vehicle 200 is close to the ground, because the demand of supplementary descending reduces, consequently adopts the low luminance to give off light to reach the effect of energy can be saved.
In addition, in the present embodiment, when the drone 200 is flying normally, the controller controls the flash lamp 230 to switch to the flashlight mode. Meanwhile, the controller may determine a direction in which the flash lamp needs to emit light according to flight information of the drone 200, such as a flight direction, and select at least one flash lamp 230 to emit light based on the flight direction. For example, the controller selects at least one flash 230 having the smallest included angle between the light emitting direction and the flight direction of the drone 200, and controls the selected flash 230 to emit light. Therefore, the flash lamp control method provided by the invention can be used for controlling the flash lamp to realize the function of the position mark for the unmanned aerial vehicle to fly.
It should be noted that the controller may include an exposure control module and a flash control module. Wherein, the exposure control module is connected to the flash control module and the image acquisition module of the camera device. The flash control module is connected to the flash light emitting module (i.e. flash light), the sensor (e.g. GPS, RTK, ranging sensor, etc.) and the physical key of the control panel, and the flash control module can also be connected to the mobile device (installed with corresponding control APP).
Specifically, the specific arrangement of the exposure control module and the flash control module can refer to three cases shown in fig. 4 to 6, respectively, and other combinations are also possible. As shown in fig. 4 and 5, in the pan/tilt/zoom (pan/tilt/zoom) based image pickup apparatus, the exposure control module and the flash 230 control module may be mounted on the image pickup apparatus, respectively, and the flash light emitting module may be mounted in a built-in manner on the pan/tilt/zoom (pan/tilt/zoom) unit. As shown in fig. 6, the flash lamp light-emitting module and the flash lamp control module can also be installed in a plug-in manner.
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 (8)
1. A flash lamp control method is used for controlling a plurality of flash lamps on an unmanned aerial vehicle, and comprises the following steps:
when the unmanned aerial vehicle lands, the controller selects at least one flash lamp with a light-emitting direction facing to the position right below the unmanned aerial vehicle, and controls the selected flash lamp to be switched into a flashlight mode;
when the flashlight is in the flashlight mode, the controller controls the light-emitting strategy of the flashlight to at least comprise normally on.
2. The flash control method of claim 1, further comprising the steps of:
collecting height information of the unmanned aerial vehicle and sending the height information to the controller;
when the unmanned aerial vehicle descends, the controller controls the light-emitting strategy of the flash lamp to be normally on, and controls the brightness of the flash lamp to follow the height change of the unmanned aerial vehicle.
3. The flash control method of claim 2, wherein the controller controls the brightness of the flash to decrease as the altitude of the drone decreases.
4. The flash control method according to claim 2, wherein the change in the brightness of the flash is a continuous gradual change, or a switch of different brightness.
5. The flash control method according to any one of claims 1 to 4, further comprising the steps of:
setting corresponding working parameters according to the lighting requirement of the flash lamp;
the controller controls the flash lamp to emit light, and controls the selected flash lamp to select the corresponding working parameter to emit light.
6. The method of claim 4, wherein the flash setting comprises at least one of whether to flash, what color temperature to select, automatic selection among a plurality of color temperatures, and constant illumination.
7. The flash lamp control method according to claim 1, wherein when the unmanned aerial vehicle lands, the controller selects at least one flash lamp with a smallest included angle between a light emitting direction and a position right below the unmanned aerial vehicle, and controls the selected flash lamp to switch to a flashlight mode.
8. An unmanned aerial vehicle, comprising:
a fuselage, and
a plurality of flashlights on the body, the operating modes of the flashlights at least including a flashlight mode;
the controller is connected with the plurality of flash lamps;
when the flash lamp is in a flashlight mode, the controller controls the light-emitting strategy of the flash lamp to at least comprise normally on;
when the unmanned aerial vehicle descends, the controller selects at least one flash lamp with a light-emitting direction facing the direction right below the unmanned aerial vehicle according to the light-emitting direction of the flash lamp, and controls the selected flash lamp to be switched into a flashlight mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110928802.9A CN113641057A (en) | 2017-07-25 | 2017-07-25 | Flash lamp control method and unmanned aerial vehicle |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/094264 WO2019019006A1 (en) | 2017-07-25 | 2017-07-25 | Photoflash control method, pan-tilt zoom head device, handheld pan-tilt zoom head, and unmanned aerial vehicle |
| CN201780027075.0A CN109479089B (en) | 2017-07-25 | 2017-07-25 | Flash light control method, holder device, handheld holder and unmanned aerial vehicle |
| CN202110928802.9A CN113641057A (en) | 2017-07-25 | 2017-07-25 | Flash lamp control method and unmanned aerial vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780027075.0A Division CN109479089B (en) | 2017-07-25 | 2017-07-25 | Flash light control method, holder device, handheld holder and unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
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| CN113641057A true CN113641057A (en) | 2021-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780027075.0A Expired - Fee Related CN109479089B (en) | 2017-07-25 | 2017-07-25 | Flash light control method, holder device, handheld holder and unmanned aerial vehicle |
| CN202110928802.9A Withdrawn CN113641057A (en) | 2017-07-25 | 2017-07-25 | Flash lamp control method and unmanned aerial vehicle |
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| CN201780027075.0A Expired - Fee Related CN109479089B (en) | 2017-07-25 | 2017-07-25 | Flash light control method, holder device, handheld holder and unmanned aerial vehicle |
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| CN (2) | CN109479089B (en) |
| WO (1) | WO2019019006A1 (en) |
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| CN111210581B (en) * | 2020-01-08 | 2021-06-29 | 北京小米移动软件有限公司 | Method, device and medium for preventing shooting interference |
| WO2022011605A1 (en) * | 2020-07-15 | 2022-01-20 | 深圳市大疆创新科技有限公司 | Gimbal device and control method therefor, movable platform, and light source assembly |
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Also Published As
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| WO2019019006A1 (en) | 2019-01-31 |
| CN109479089A (en) | 2019-03-15 |
| CN109479089B (en) | 2021-09-03 |
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Application publication date: 20211112 |