TWI669000B - Multi-axis aerial camera self-timer mode control method - Google Patents

Abstract

The invention relates to a self-timer mode control method for a multi-axis aerial camera, which mainly comprises the following steps: a multi-axis aerial camera performs the following steps: accepting a pointing positioning request to fly to a one of a circular coordinate system centered on the self-timer Position, so that the self-timer is always in the shooting picture; accept a bidding request, and follow the self-timer as the center to follow the circular coordinate system to adjust the self-timer image to the appropriate angle; using the above method can solve more than The flight direction of the axis aerial camera is inconsistent with the steering direction of the joystick, which is long in learning time and easy to cause wrong operation. Further, the multi-axis aerial camera can be controlled to take the self-timer as a situation, and the self-timer task can be completed more intuitively and simply.

Description

Multi-axis aerial camera self-timer mode control method

The invention relates to a multi-axis aerial camera control method, in particular to a multi-axis aerial camera control method capable of intuitively and easily performing a self-photographing task in a self-timer mode.

The multi-axis aerial camera referred to herein refers to a multi-axis aircraft equipped with a camera and receiving a remote control of a wireless joystick and/or a mobile device (smartphone), such as a quad-axis aircraft commonly used in the current market.

At present, multi-axis aerial cameras are very common, and the application fields are quite extensive, ranging from toy grades to professional aerial photography levels. Taking a quadcopter as an example, it has four rotors of the same size and nearly symmetric position to generate hovering, maintaining attitude and leveling, mainly by adjusting the relative speed between different rotors to adjust the thrust at different positions. And overcome the anti-torque moment between each rotor to control the aircraft to maintain posture or complete various flight actions.

Since the multi-axis aircraft has the above characteristics, it is not only used as a remote control aircraft in application, but is widely introduced into the aerial photography function. Both multi-axis aerial cameras can be remotely controlled with a dedicated joystick or smart phone. The joystick and smart phone are mainly controlled by the perspective of the aircraft. The joystick is used as an example. It has a left push rod and a right button. Pusher to control the rotation, front, back, up, down, left and right directions of the aircraft.

However, the above control methods have the following problems: 1. The user must memorize the flight parameters corresponding to the left and right pushers in various directions, and it takes a long time to learn. 2. Since the direction in which the user operates the rocker is the same as the direction in which the aircraft travels (ie, the aforementioned aircraft view angle), when the user operates the joystick in a different direction from the direction in which the aircraft travels, the joystick is operated in the case of a visual aircraft ( For example, with a multi-axis aerial camera self-timer, its operation on the joystick becomes unintuitive, and it is more likely to cause the user's wrong operation, and even cause accidents such as impact obstacles and even crashes.

It can be seen from the above that the multi-axis aerial camera's control interface is the aerial viewer angle. In this case, if the user wants to use the multi-axis aerial camera for self-photographing, because the multi-axis aerial camera's flight direction is opposite to the control interface, Causes operational troubles and has the wrong operation.

In order to solve the above problems, the main object of the present invention is to provide a self-timer mode control method for a multi-axis aerial camera, which can more intuitively and simply manipulate a multi-axis aerial camera to complete a self-photographing task.

The main technical means for achieving the foregoing objective is that the self-timer mode control method of the multi-axis aerial camera includes a camera positioning mode, which enables a multi-axis aerial camera to perform the following steps: accept a pointing positioning request to fly A relative position of a circular coordinate system centered on the self-timer; accepting a request for a detour, and bypassing the circular coordinate system centered on the self-photographer.

The foregoing method mainly causes the multi-axis aerial camera to fly to the relative position of the circular coordinate system after receiving the pointing positioning request. Since the circular coordinate is centered on the self-timer, when the multi-axis aircraft flies to the circular shape The relative position of the coordinate system ensures that the self-timer is always in the shooting range, even if the self-timer is always in the picture; when the multi-axis aerial camera receives the coordinate bypass request, it is wound along the circular coordinate Line to adjust to the appropriate shooting angle. Since the above method is directly operated by the multi-axis aerial camera according to the received pointing positioning request to the relative position of the circular coordinate system centered on the self-timer, it is not affected by the inconsistency between the flight direction of the multi-axis aerial camera and the control interface. It is easy to complete the self-timer task.

The present invention mainly provides a self-timer mode control method for a multi-axis aerial camera, which enables a user to perform a "self-timer" task more quickly and easily by using a multi-axis aerial camera.

In a preferred embodiment of the present invention, a camera positioning mode is provided in which a multi-axis aerial camera is caused to fly to an ideal position relative to a user to facilitate self-portrait. The so-called camera positioning mode is such that the multi-axis aerial camera performs the following steps (see FIG. 1): accepts a pointing positioning request to fly to a relative position of a circular coordinate system centered on the self-timer (S11); accepting a target bypass request, and bypassing the circular coordinate system centering on the self-photographer (S12).

In a possible embodiment, the pointing positioning request is received from an electronic device having an electronic compass and an accelerometer, and the electronic device can be a smart phone or a wireless joystick. When the self-timer wants to perform a self-timer task using the multi-axis aerial camera, it activates the camera positioning mode on the electronic device, and the handheld electronic device makes a pointing action, and the direction indicated is that the multi-axis aerial camera is expected to be parked. The direction in which the shot was taken. At this time, the electronic device will use the azimuth generated by the built-in electronic compass and the inclination angle of the device calculated by the accelerometer, and calculate the corresponding latitude and longitude coordinates and height of the self-timer in the space with the preset radius, and the electronic device is wirelessly The method sends a pointing positioning request including the latitude and longitude coordinate and the height to the multi-axis aerial camera, and the multi-axis aerial camera flies to an absolute position of the circular coordinate system centered on the self-timer (electronic device).

In this embodiment, the so-called circular coordinate system is a spherical coordinate system or a cylindrical coordinate system. The so-called spherical coordinate system is as shown in FIG. 2, which is formed by the self-timer 10 as a center (Z-axis), and when the multi-axis aerial camera 20 is located at a position of a spherical coordinate system centered on the self-timer 10 At this time, the camera 21 provided on the multi-axis aerial camera 20 is always facing the self-timer 10 located at the center of the coordinates, which means that in the camera positioning mode, the self-timer will always be located in the picture taken by the camera 21. .

The so-called cylindrical coordinate system is as shown in Fig. 3. Similarly, when the multi-axis aerial camera 20 is located at a position of the cylindrical coordinate system centered on the self-timer 10, the camera 21 on the multi-axis aerial camera 20 is always opposite. The self-timer 10 is in the center of the coordinates, and the self-timer will always be in the picture taken by the camera 21.

Furthermore, in the aforementioned camera positioning mode, the multi-axis aerial camera 20 receives an orientation request, and then flies to an absolute position of the spherical coordinate system or the cylindrical coordinate system, which is mainly based on the pointing of the self-timer 10, That is, the multi-axis aerial camera 20 will hover in the direction indicated by the self-timer 10 handheld electronic device according to the pointing positioning request and be in an absolute position of the spherical coordinate system or the cylindrical coordinate system.

As for the camera positioning mode, a spherical coordinate system or a cylindrical coordinate system is selected, which can be set by the self-timer according to the actual needs of the self-timer task.

In the above camera positioning mode, the multi-axis aerial camera 20 will fly to an absolute position of a circular coordinate system centered on the self-timer 10 after receiving the pointing positioning request, so that the self-timer 10 is in the multi-axis aerial camera 20 In the picture taken. In the present embodiment, the multi-axis aerial camera 20 also determines whether a target bypass request is received (S12). When the multi-axis aerial camera 20 receives the coordinate bypass request, the ball is originally set along the self-timer 10. The coordinate system or the cylindrical coordinate system is bypassed (see Figures 4 and 5) to quickly move the position of the multi-axis aerial camera 20 to adjust it to an appropriate shooting angle.

In addition to the coordinates of the coordinates, you can also look around through the directional to find the ideal location that has not been discovered.

It can be seen from the above that a preferred embodiment of the present invention provides a camera positioning mode in which the multi-axis aerial camera flies to the spherical coordinate system centered on the self-timer after receiving the pointing positioning request. Or at an absolute position of the cylindrical coordinate system, or when receiving a coordinate request, change its position in the spherical coordinate system or cylindrical coordinate system to adjust to the ideal self-portrait angle. In still another embodiment of the present invention, in addition to the camera positioning mode, a lens composition mode is added, mainly by the multi-axis aerial camera receiving a lens composition request sent from the electronic device, and according to the self-timer in the electronic A drag gesture on the device or rotating the electronic device to fine tune the shooting position and shooting angle of the multi-axis aerial camera.

Further, in the above-described lens composition mode, the multi-axis aerial camera moves up, down, left, and right in the conventional coordinate system according to the self-photographing direction of the self-timer on the electronic device, and adjusts the shooting angle according to the angle of rotation of the electronic device. Meets the ideal composition of the self-timer's mind. In other words, the multi-axis aerial camera operates on a spherical or cylindrical coordinate system in the above camera positioning mode, and moves in a conventional coordinate system in the lens composition mode. For multi-axis aerial cameras, it is switched between camera positioning mode and lens composition mode according to the received request. Please refer to Figure 6, the switching process is as follows:

When receiving the pointing positioning request (S21), entering the camera positioning mode, and flying to an absolute position of a spherical or cylindrical coordinate system centered on the self-timer (S22);

When a target bypass request is received (S23), the camera positioning mode is also entered, that is, take off and bypass the spherical or cylindrical coordinate system (S24).

When the lens composition request is received (S25), the lens composition mode is entered, and the shooting angle is adjusted according to the self-photographing direction of the self-timer on the electronic device or the angle at which the electronic device is rotated (S26).

In a possible embodiment, the foregoing camera positioning mode and lens composition mode may be applied in combination as follows. Please refer to FIG. 7 , which includes the following steps:

Is it determined whether a pointing request is received (S31)? If the pointing positioning request is received, the camera positioning mode is entered, and an absolute position of the spherical or cylindrical coordinate system centered on the self-timer is performed (S32); then it is determined whether the coordinate bypass request is received (S33) ? If the coordinate bypass request is received, it is bypassed along the spherical or cylindrical coordinate system (S34).

If the result of the foregoing step (S31) is that the pointing request is not received, then it is determined whether the lens composition request is received (S35), and if the lens composition request is received, the lens composition mode is entered, and the self-photographer is on the electronic device. The drag direction or the angle of the rotating electronic device adjusts the shooting angle (S36), and if the lens composition request is not received, the flow is terminated and the initial program is returned.

When the judgment result of the foregoing step (S33) is that the coordinate bypass request is not received, it is next determined whether the lens composition request is received (S35), and if the lens composition request is received, the lens composition mode is entered, and according to the self-timer The direction of the drag on the electronic device or the angle at which the electronic device is rotated adjusts the shooting angle (S36). If the lens composition request is not received, the flow is also terminated and the initial process is returned.

As described above, the multi-axis aerial camera receives various requests from the electronic device to enter the camera positioning mode or to switch between the camera positioning mode and the lens composition mode. Regarding the operation interface provided by the electronic device, I would like to elaborate further as follows:

In order to perform the camera positioning mode, a pointing button, a coordinate deducing push rod that can be pushed in four directions, a system radius adjusting push button and a photographing button are respectively disposed on the electronic device. When the self-timer presses the pointing positioning button, the azimuth and the hand tilt angle at that time are recorded, the corresponding position is calculated, and the pointing positioning request is sent to the multi-axis aerial camera, so that the multi-axis aerial camera flies to the self-timer. It is an absolute position of the spherical or cylindrical coordinate system of the center. When the user pushes the coordinate detour, the coordinate detour request is sent to cause the multi-axis aerial camera to travel up and down and left and right along the spherical or cylindrical coordinate system. When the self-timer pushes or pulls down the system radius adjustment push button, a multi-axis aerial camera sends a system radius adjustment request with a radius vector, and after receiving the system radius adjustment request, the multi-axis aerial camera will be away from the radius vector. Or close to the self-timer. After pressing the photo button, you can take a photo.

Moreover, the pointing positioning button, the coordinate bypass push rod and the system radius adjusting push button on the electronic device can be virtual buttons on the touch interface of the smart phone, and can also be physical components on the wireless rocker. For the best user experience, the smart phone and the wireless joystick can be effectively integrated. In a feasible integration solution, the smart phone is used as the display interface in the camera positioning mode and the lens composition mode, and in the lens composition mode. A touch interface is further provided for the self-timer to drag or generate a gesture.

The self-timer can use any of the above electronic devices to switch between different modes. For example, when the pointing button is pressed and the coordinate is rotated, the camera automatically enters the camera positioning mode, and when the smart phone is swiped or rotated, the lens composition mode is automatically entered.

It can be seen from the above that the present invention mainly proposes a self-timer mode control method for a multi-axis aerial camera, in view of the fact that the multi-axis aerial camera adopts the aircraft angle of view and operates with the flying joystick, in the operation mode, the self-timer needs to have a personal perspective. The orientation of the multi-axis aerial camera is directional chaos when the direction of the multi-axis aerial camera head is not equal to the user's orientation. The user-centered user can freely specify the position of the multi-axis aerial camera and fine-tune it without changing the orientation, making it easier and more convenient for the multi-axis aerial camera to perform the self-timer task.

10‧‧‧self-timer

20‧‧‧Multi-axis aerial camera

21‧‧‧ camera

1 is a flow chart of a method in accordance with a preferred embodiment of the present invention. 2 is a schematic diagram of pointing positioning in a spherical coordinate system in a camera positioning mode according to the present invention. FIG. 3 is a schematic diagram of pointing positioning in a cylindrical coordinate system in a camera positioning mode according to the present invention. Figure 4 is a schematic illustration of the coordinate wrap around in a spherical coordinate system of the present invention. Fig. 5 is a schematic view showing the coordinate winding in the cylindrical coordinate system of the present invention. 6 is a flow chart of a method according to still another preferred embodiment of the present invention. FIG. 7 is a flow chart of a method according to still another preferred embodiment of the present invention.

Claims (9)

A self-timer mode control method for a multi-axis aerial camera includes a camera positioning mode, wherein the camera positioning mode causes a multi-axis aerial camera to perform the following steps: determining whether a pointing positioning request is received, and if the pointing positioning request is received, entering The camera positions the mode and flies to an absolute position of a circular coordinate system centered on the self-timer; then determines whether a target bypass request is received, and if the coordinate bypass request is received, the self-timer is The center is wound along the circular coordinate system. The self-timer mode control method of the multi-axis aerial camera according to claim 1, further comprising a lens composition mode, the lens composition mode causing the multi-axis aerial camera to perform the following steps: according to a self-timer drag gesture on an electronic device or Rotate the electronic device to fine tune the shooting position and shooting angle. The self-timer mode control method of the multi-axis aerial camera according to claim 2 is mainly performed by the multi-axis aerial camera: when the pointing request is not received, then it is determined whether the lens composition request is received, and if the lens composition is received The request enters the lens composition mode, and if the lens composition request is not received, the process ends and returns to the initial program. The self-timer mode control method of the multi-axis aerial camera according to claim 3, wherein the multi-axis aerial camera performs the following steps: when determining whether the result of the coordinate bypass request is negative, then determining whether the lens composition is received The request, if the lens composition request is received, enters the lens composition mode, and if the lens composition request is not received, the process ends and returns to the initial program. The self-timer mode control method of the multi-axis aerial camera according to any one of claims 1 to 4, wherein the circular coordinate system is a Spherical coordinate system. The self-timer mode control method of the multi-axis aerial camera according to any one of claims 1 to 4, wherein the circular coordinate system is a cylindrical coordinate system. The self-timer mode control method of the multi-axis aerial camera according to any one of claims 1 to 4, wherein the multi-axis aerial camera receives a pointing positioning request sent from an electronic device, wherein the electronic device has an electronic compass and an accelerometer built therein And is provided with a pointing positioning button, a coordinate bypass push rod which can be pushed in four directions, a system radius adjustment push button and a photographing button. The self-timer mode control method of the multi-axis aerial camera according to claim 7, wherein the electronic device is a smart phone. The self-timer mode control method of the multi-axis aerial camera according to any one of claims 1 to 4, wherein the electronic device is a wireless joystick.