WO2017088130A1 - 航拍跟焦控制系统、航拍跟焦控制方法及飞行器 - Google Patents

航拍跟焦控制系统、航拍跟焦控制方法及飞行器 Download PDF

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Publication number
WO2017088130A1
WO2017088130A1 PCT/CN2015/095563 CN2015095563W WO2017088130A1 WO 2017088130 A1 WO2017088130 A1 WO 2017088130A1 CN 2015095563 W CN2015095563 W CN 2015095563W WO 2017088130 A1 WO2017088130 A1 WO 2017088130A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
control system
remote controller
focus
aerial
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Application number
PCT/CN2015/095563
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English (en)
French (fr)
Inventor
潘立忠
朱锋
李国庆
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201580011418.5A priority Critical patent/CN106165388B/zh
Priority to CN201810238433.9A priority patent/CN108377333B/zh
Priority to PCT/CN2015/095563 priority patent/WO2017088130A1/zh
Publication of WO2017088130A1 publication Critical patent/WO2017088130A1/zh

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to an aerial photography focus control system and method, in particular to an aerial photography focus control system and method based on a drone, and an aircraft using the same.
  • the existing focus system generally includes a handheld remote control end and a motor receiving end. After the handheld remote control end obtains the handle rotation position, the wireless RF module sends a command to the motor receiving end, and the motor receiving end receives the command and then controls the motor to rotate. Drive the camera lens to rotate, to achieve lens focal length or aperture change.
  • the existing focus control system and the remote control and receiving system of the drone are independent of each other.
  • An aerial focus control system includes a focus control remote control for generating a focus control command, the aerial focus control system further comprising: an aircraft remote controller, the aircraft remote controller communicating with the focus control remote controller Receiving the focus control command transmitted by the focus remote controller; a sky end communication unit for communicating with the aircraft remote controller to receive the focus control command from the aircraft remote controller; and controlling a system for controlling a lens rotation of the camera device by the follower motor according to a focus control command received by the sky end communication unit.
  • the sky end communication unit is a wireless radio frequency transceiver.
  • the radio frequency transceiver is an application specific integrated circuit for performing transceiving microwave signals, and the operating frequency is in the microwave range of 5.728 GHz - 5.85 GHz.
  • the sky end communication unit is a communication unit provided on the photographing device.
  • the aerial focus control system further includes a terminal display screen for displaying image information captured by the photographing device in real time.
  • the terminal display screen is a display screen provided on a terminal device independent of the aircraft remote controller, and the terminal device is communicably connected with the aircraft remote controller to receive the photographing device through the aircraft remote controller. Image information captured.
  • terminal display screen is integrally provided with the aircraft remote controller.
  • the terminal display screen is integrally provided with the focus control remote controller, and the focus control remote controller acquires the image information from the aircraft remote controller to display the image information on the terminal display screen.
  • the image information is transmitted to the aircraft remote controller through the sky end communication unit.
  • control system is an aircraft control system communicatively coupled to the camera to receive the image information and transmit the image information to the aircraft remote via the aircraft communication unit.
  • control system is a pan-tilt control system, and the pan-tilt control system is communicably connected with the photographing device for acquiring image information captured by the photographing device, and transmitting the image information through the sky end communication.
  • the unit is delivered to the aircraft remote control.
  • the sky end communication unit is disposed on the pan/tilt control system.
  • control system is a pan-tilt control system, and the pan-tilt control system is further communicatively coupled to the aircraft control system to receive the focus control command.
  • pan/tilt control system is communicatively coupled to the aircraft control system to transmit the image information to the aircraft control system, the aircraft control system transmitting the image information to the aircraft remote control.
  • the aircraft remote controller further includes an input unit for generating a flight control command according to a user operation to control flight of the aircraft.
  • the focus remote controller and the aircraft remote controller are communicably connected by one or more of wired, Bluetooth, infrared, WIFI, and mobile communication networks.
  • the image information is encrypted by using an encryption technique during transmission.
  • the aircraft remote controller is provided with a receiving portion, and the AF remote controller can be detachably housed in the receiving portion.
  • an inner wall of the accommodating portion is provided with an electrical connection portion, and the focus control remote controller is provided with a connection port corresponding to the electrical connection portion, when the bokeh focus remote controller is received in the accommodating portion
  • the connection port is electrically connected to the electrical connection.
  • the focus remote controller when the focus remote controller is separated from the receiving portion, it is wirelessly connected to the aircraft remote controller.
  • An aerial focus control method is applied to an aircraft, the aircraft is provided with a photographing device and a follower motor for driving the lens of the photographing device, and the aerial focus control method comprises: a focus control a focus control command is generated based on a user operation; the focus remote controller transmits the focus control command to an aircraft remote controller; the aircraft remote controller transmits the focus control command to the aircraft; The focus control command controls the follower motor to drive the lens rotation of the camera.
  • the aircraft remote control transmits the focus control command to the aircraft via a wireless radio frequency communication technology.
  • the aircraft includes an aircraft control system, "controlling the camera rotation of the camera with the focus motor control command according to the focus control command" is performed by the aircraft control system.
  • the aircraft includes a pan/tilt control system, and "controlling the lens rotation of the camera device by the follower motor according to the focus control command" is performed by the pan/tilt control system.
  • the aerial focus control method further includes: the aircraft acquiring image information captured by the photographing device; the aircraft transmitting the image information to the aircraft remote controller; and the aircraft remote controller transmitting station
  • the image information is displayed to a terminal display screen to display the image information on the terminal display screen.
  • the aerial focus control method further includes: the aircraft acquiring flight data of the aircraft from a sensor disposed on the aircraft; transmitting the flight data to the aircraft remote controller; and the aircraft remote control The device transmits the flight data to the terminal display screen to display the image information on the terminal display screen.
  • the aerial focus control method further includes: the aircraft remote controller generates a flight control command according to a user operation; and the aircraft remote controller transmits the flight control command to the aircraft to control flight of the aircraft.
  • An aircraft comprising a pan/tilt head for loading a photographing device and a follower motor, wherein the follower motor is used for driving a lens rotation of the photographing device, wherein the aircraft further comprises: a sky end communication unit for receiving a focus control command from an aircraft remote controller; and a control system for controlling the follower motor drive unit according to the focus control command The lens of the camera is rotated.
  • the sky end communication unit is an aircraft communication unit
  • the aircraft communication unit is a wireless radio frequency transceiver.
  • the aircraft communication unit is further configured to receive a flight control command from the aircraft remote controller, and the control system is further configured to control flight of the aircraft according to the flight control instruction.
  • control system is further configured to acquire image information captured by the photographing device from the photographing device, and the sky end communication unit is further configured to transmit the image information to the aircraft remote controller.
  • the cloud platform includes a pan/tilt control system, and the pan/tilt control system is configured to control the pan/tilt to rotate about a multi-axis with respect to a fuselage of the aircraft.
  • control system is a PTZ control system, and the PTZ control system is communicatively coupled to the Sky Terminal communication unit to receive the AF remote control command.
  • the sky end communication unit is disposed on the pan/tilt control system.
  • the sky end communication unit is disposed on the photographing device.
  • the image information captured by the photographing device is directly transmitted to the aircraft remote controller through the sky end communication unit.
  • the aircraft further includes a sensor that senses flight data during flight of the aircraft, and the control system also transmits the flight data to the aircraft remote control through the sky end communication unit.
  • the aerial focusing system and method can transmit the focus control command to the aircraft by the aircraft remote controller, thereby realizing the control lens focal length or aperture in the aerial photography field, and can significantly improve the aerial shooting effect.
  • FIG. 1 is a schematic structural view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic block diagram of a drone according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of an aerial photography follow-up system according to an embodiment of the present invention.
  • FIG. 4 is a perspective view of an aerial focus control system provided by an embodiment of the present invention.
  • FIG. 5 is a block diagram of the aerial focus control system of Figure 3.
  • FIG. 6 is a schematic structural diagram of an aircraft remote controller according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of an aerial photography follow-up method according to an embodiment of the present invention.
  • FIG. 8 is a flowchart of an aerial photography follow-up method according to another embodiment of the present invention.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an embodiment of the present invention provides an aircraft 1, which may be a rotorcraft, a fixed-wing aircraft, or an aircraft in which a fixed wing and a rotor are mixed.
  • the rotor may be a single rotor, a double rotor, a triple rotor, a quadrotor, a six-rotor and an eight-rotor.
  • the aircraft 1 is an Unmanned Aerial Vehicle (UAV).
  • UAV Unmanned Aerial Vehicle
  • the aircraft 1 includes a fuselage 10, an aircraft control system 12, a storage device 14, a sensor 16, a first communication unit 18, and a pan/tilt 2.
  • the aircraft control system 12, the storage device 14, the sensor 16, and the first communication unit 18 and the pan/tilt 2 are both disposed on the body 10. It can be understood that in other embodiments, the sensor 16 and the first communication unit 18 may be disposed at other positions on the aircraft 1 except the fuselage 10, for example, the arm of the aircraft 1. (not shown).
  • the aircraft control system 12 is used to control the flight of the aircraft 1, including, but not limited to, controlling the flight speed, altitude, attitude, etc. of the aircraft 1.
  • the number and type of the sensors 16 may be multiple, including but not limited to, an inertial measurement unit, an air pressure sensor, a temperature sensor, an acceleration sensor, a position sensor, and the like.
  • the sensor 16 and the camera 23 are in communication with the aircraft control system 12 by wire or wirelessly, and the aircraft control system 12 can obtain various flight data of the aircraft 1 from the sensor 16, including but not Limited to height, acceleration (pitch, roll, and yaw), posture, geographic location, speed, outside air temperature, and/or air pressure.
  • the aircraft control system 12 can acquire an image or the like taken by the photographing device 23 from the photographing device 23.
  • the various flight data acquired may be saved to the storage device 14 of the aircraft 1.
  • the first communication unit 18 is for communicative connection with an aircraft remote control 4 (Fig. 3) for receiving flight instructions from the aircraft remote control 4.
  • the aircraft control system 12 controls the flight of the aircraft in accordance with flight instructions received by the first communication unit 18, including take-off and landing, acceleration, deceleration, specific route flight, specific posture flight, and the like.
  • the first communication unit 18 adopts a wireless communication manner, and may be, for example, a wireless radio frequency transceiver.
  • the first communication unit 18 is further configured to receive a focus control command from the aircraft remote controller 4, and the focus control command is used to control the lens rotation of the camera 23.
  • the aircraft control system 12 is also operative to transmit the focus control command to the pan/tilt 2.
  • the first communication unit 18 can be a wireless radio frequency transceiver.
  • the wireless radio frequency transceiver can be composed of several components, including a radio frequency (RF) filter, and the RF filter only allows a specific signal. The band passes.
  • the radio frequency transceiver may further include an RF front end, where the RF front end is an integrated circuit, configured to perform: down-converting the RF signal to an intermediate frequency (IF) signal; and amplifying the IF signal,
  • IF filter filters the signal and converts the signal to two digital components using an on-chip analog to digital converter: the mark and the magnitude.
  • a phase locked loop filter is used to embed the down converter with the reference crystal as a time base to the RF front end.
  • the gain of the IF amplifier of the RF front end can be controlled by an automatic gain control (AGC) signal.
  • AGC automatic gain control
  • the radio frequency transceiver can be an application specific integrated circuit for performing transceiving microwave signals, and the operating frequency can be in the microwave range of 5.728 GHz - 5.85 GHz.
  • the wireless radio transceiver can receive and transmit radio signals through an antenna.
  • the pan/tilt 2 includes a pan/tilt control system 20, a connection mechanism 21, and a support mechanism 22.
  • the pan/tilt control system 20 is configured to control the pan/tilt head 2 to rotate about a multi-axis with respect to the fuselage 10 of the aircraft 1.
  • the pan-tilt control system 20 is also for communicating with the aircraft control system 12 to receive a focus control command from the aircraft control system 12.
  • the pan/tilt control system 20 can be communicatively coupled to the aircraft control system 12 by wireless or wired means, and includes various port connections, such as a universal serial bus (USB), a controller area network (Controller). Area network, CAN), serial and / or other standard network connections, Inter-Integrated Circuit (I2C) bus, etc.; wireless methods include Bluetooth, infrared, Wireless Fidelity (WiFi) and so on.
  • the support mechanism 22 is disposed on the body 10 via a connection mechanism 21 and is used to carry the imaging device 23 and the follower motor 24.
  • the connecting mechanism 21 may be a multi-axis rotating mechanism such that the supporting mechanism 22 is rotatable about multiple axes to change the photographing direction and/or angle of the photographing device 23.
  • the follower motor 24 is coupled to the lens of the photographing device 23 for driving the lens rotation of the photographing device 23 under the control of the pan-tilt control system 20 to change the lens focal length or aperture effect of the photographing device 23. .
  • the follower motor 24 is coupled to the lens of the imaging device 23 via a gear (not shown), and the follower motor 24 rotates under the control of the pan-tilt control system 20 through the gear Power is transmitted to the lens of the photographing device 23, thereby causing the lens of the photographing device 23 to rotate.
  • the follower motor 24 can also be connected to the lens of the camera 23 by other suitable connection methods, as long as the lens of the camera 23 can be driven by the power of the follower motor 24. Drive under rotation, for example, belt connection, etc.
  • the follower motor 24 is disposed independently of the camera 23, and in other embodiments, the follower motor 24 can be integrally provided with the camera 23.
  • FIG. 3 is a schematic diagram of an aerial photography focusing system according to an embodiment of the present invention.
  • the aerial focus system includes an aircraft control system 12, a pan/tilt control system 20, a camera unit 23, a follower motor 24, a focus control unit 3, an aircraft remote controller 4, and a terminal display screen 5.
  • the focus control remote controller 3 is configured to generate a focus control command according to a user operation, and the focus control command is transmitted from the focus remote controller 3 to the aircraft remote controller 4 in a wired or wireless manner; the aircraft
  • the remote controller 4 transmits the focus control command to the aircraft control system 12 by wireless communication such as radio frequency communication, and the aircraft control system 12 transmits the focus control command to the pan/tilt control system.
  • the follower motor 24 generates a driving force under the control of the pan/tilt control system 20 to drive the lens of the photographing device 23 to rotate to change the lens focal length and/or the aperture effect of the photographing device 23.
  • the aircraft remote controller 4 may be provided with a receiving portion, and the focus remote controller 3 can be detachably housed in the receiving portion.
  • An electrical connection portion is disposed on an inner wall of the accommodating portion, and the focus control remote controller 3 is provided with a connection port corresponding to the electrical connection portion.
  • the connection port is electrically connected to the electrical connection.
  • the focus remote controller 3 is disengaged from the accommodating portion, it is wirelessly connected to the aircraft remote controller.
  • the terminal display screen 5 can be a display of a computer device, or a display screen of a handheld device such as a mobile phone or a tablet computer. In other embodiments, the terminal display screen 5 can also be integrated on the aircraft remote control 4 as part of the aircraft remote control 4. In another alternative embodiment, the terminal display screen 5 can also be integrated on the focus control remote 3 as part of the focus control remote 3. In still another alternative embodiment, the focus remote controller 3 and the aircraft remote controller 4 are both connected or provided with a display screen for respectively displaying an image captured by the photographing device 23 and the aircraft 1 is flying. Flight data in the process. The terminal display screen 5 can be used to display flight data of the aircraft 1 during flight and/or images taken by the camera 23 during flight of the aircraft 1 in real time.
  • FIG. 4 and FIG. 5 is a focus control remote controller 3 according to an embodiment of the present invention.
  • the focus remote controller 3 includes a knob structure 30, an angle sensor 32, a controller 33, and a second communication unit 34.
  • the knob structure 30 is operable to rotate relative to the body of the focus remote control 3.
  • the angle sensor 32 is used to sense the rotation angle information of the knob structure 30.
  • the controller 33 is configured to generate a focus control command according to the rotation angle information sensed by the angle sensor 32.
  • the second communication unit 34 is for communicating with the aircraft remote control 4 to communicate the focus control command to the aircraft remote control 4.
  • the second communication unit 34 can be wired or wireless.
  • the wired mode includes a connection through a communication port, such as a USB interface or the like.
  • the wireless method can employ any type of wireless communication system, such as Bluetooth, infrared, Wireless Fidelity (WiFi), cellular technology, satellite, and broadcast.
  • the cellular technology may include mobile communication technologies such as second generation (2G), third generation (3G), fourth generation (4G) or fifth generation (5G).
  • the 3G and 4G technologies are based on mobile communication standards conforming to international standards promulgated by the International Telecommunications Union (ITU).
  • 3G and 4G technologies can provide information transmission rates of 200 kilobits per second to several kilobits per second, making them widely suitable for transmitting high resolution images and video with large bandwidth.
  • 3G technology generally refers to technologies that meet the reliability and data transmission rates of the International Mobile Telecommunications 2000 (IMT-2000) standard.
  • Common commercial 3G technologies include, technology based on spread spectrum radio transmission systems and radio interfaces, such as standardized by the Third Generation Partnership Project (3 rd Generation Partnership Project, 3GPP ) UMTS systems, W-CDMA radio interface, proposed by China TD-SCDMA radio interface, HSPA+ UMTS release, CDMA2000 system, and EV-DO.
  • 3G includes, but is not limited to, any IMT-2000 compliant technology, including those mentioned herein.
  • 4G technology is widely understood as those that conform to the International Mobile Telecommunications Advanced (IMT-Advanced) specification, which requires a maximum speed of 100 megabits per second for high-mobility communications. A low-mobility communication achieves one gigabit per second.
  • IMT-Advanced International Mobile Telecommunications Advanced
  • the ITU-approved 4G standard included enhanced LTE and enhanced Wireless MAN-Advanced.
  • some commercial operators' 4G services are not fully compliant with IMT-Advanced specifications such as LTE, Mobile WiMAX, and TD-LTE.
  • the term "4G" as used herein includes, but is not limited to, these latter technologies, such as LTE, Mobile WiMAX and TD-LTE, and those that conform to IMT-Advanced, including those mentioned here. Those techniques.
  • 5G is the next-generation mobile communication standard that surpasses the current 4G / IMT-Advanced standard.
  • FIG. 6 is a block diagram of an aircraft remote controller 4 according to an embodiment of the present invention.
  • the aircraft remote controller 4 includes, but is not limited to, a third communication unit 40, an input unit 42, a controller 44, a fourth communication unit 46, and a fifth communication unit 48.
  • the third communication unit 40 corresponds to the second communication unit 34 for communicating with the second communication unit 34 to receive a focus control command from the focus remote controller 3.
  • the input unit 42 is an instruction input device of the aircraft remote controller 4, such as a remote control handle, a touch screen, etc., for generating an input command according to a user operation to control the flight of the aircraft 1.
  • the controller 44 is configured to generate a flight control command to control flight of the aircraft 1 in accordance with the input command.
  • the controller 44 is also operative to transmit a focus control command received by the third communication unit 40 to the aircraft control system 12 via the fourth communication unit 46.
  • the fourth communication unit 46 is a communication unit corresponding to the first communication unit 18, and adopts the same wireless communication method as the first communication unit 18, such as wireless radio frequency communication.
  • the fifth communication unit 48 is configured to be in communication with the terminal display screen 5 to transmit the flight data and/or the captured image to the terminal display screen 5.
  • the fifth communication unit 48 may adopt a wireless or wired communication manner, including but not limited to a wired manner connected through various communication ports such as USB, CAN, I2C, and the like; and Bluetooth, infrared, WiFi, 2G, 3G as described above.
  • Wireless communication methods such as 4G or 5G mobile communication networks.
  • FIG. 7 is a flowchart of an aerial focus control method 600 according to an embodiment of the present invention. The order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.
  • Step 602 the controller 33 of the focus remote controller 3 receives the rotation angle information of the knob structure 30 from the angle sensor 32.
  • Step 604 the controller 33 of the focus remote controller 3 converts the angle information into a focus control command.
  • Step 606 the controller 33 of the focus remote controller 3 transmits the focus control command to the aircraft remote controller 4 via the associated second communication unit 34. Specifically, the controller 33 converts the focus control command into a control command suitable for transmission by the second communication unit 34, and then transmits the format converted control command to the second communication unit 34 through the second communication unit 34.
  • the third communication unit 40 of the aircraft remote controller 4 is described.
  • Step 608 the aircraft remote controller 4 transmits the focus control command to the aircraft 1. Specifically, the aircraft remote controller 4 converts the focus control command received by the third communication unit 40 into a format suitable for transmission by the fourth communication unit 46, and then transmits the same to the fourth communication unit 46 to the fourth communication unit 46.
  • Step 610 the aircraft control system 12 transmits the focus control command received by the third communication unit 40 to the pan/tilt control system 20.
  • Step 612 the pan-tilt control system 20 transmits the control command to the follower motor 24 to control the follower motor 24 to rotate.
  • Step 614 the rotation of the follower motor 24 drives the lens of the camera to rotate to change the focal length or aperture effect of the lens.
  • FIG. 8 is a flowchart of an aerial photography follow-up control method 800 according to another embodiment of the present invention.
  • the order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.
  • step 802 the pan/tilt control system 20 acquires image information captured by the photographing device 23.
  • Step 804 the PTZ control system 20 transmits the acquired image information to the aircraft control system 12.
  • Step 806 the aircraft control system 12 transmits the image information to the aircraft remote control 4.
  • Step 808 the aircraft remote controller 4 transmits the image information to the terminal display screen 5 to display the image information. Based on the displayed image information, the user can adjust the aircraft remote control operation to adjust the flight attitude, position and angle of the aircraft, adjust the rotation angle of the knob structure 30 of the focus remote controller 3 to change the focus control command, and the like.
  • the pan/tilt control system 20 is directly in communication with the first communication unit 18 to The first communication unit 18 acquires the focus control command.
  • the pan/tilt control system 20 can be in communication with the first communication unit 18 by wired or wireless means as described above.
  • the aircraft control system 12 directly transmits the focus control command to the follower
  • the motor 24 controls the follower motor to rotate in accordance with the focus control command.
  • the focus control command can also be transmitted from the aircraft remote controller 4 to the first communication unit 18, and can be controlled by a separate control system (for example, independent of the aircraft control system 12, the gimbal).
  • the control system 20 controls the follower motor to drive the lens rotation of the camera 23 in accordance with the focus control command.
  • the image information captured by the camera 23 can also be transmitted directly to the aircraft control system 12 via the camera 23, which in turn transmits the image information to the aircraft remote control 4.
  • the aircraft control system 12 and the photographing device 23 are directly in communication connection by the wired or wireless method described above to acquire image information captured by the photographing device 23.
  • the aircraft control system 12 may also communicate the acquired image information directly to the terminal display screen 5.
  • the aircraft control system 12 can be communicatively coupled to the terminal display 5 via wireless communication, which can include a 2G, 3G, 4G or 5G mobile communication system and radio frequency as described above. Communication.
  • the focus control command and/or the flight control command may employ encryption techniques during transmission to facilitate secure transmission of the focus control command and/or the flight control command.
  • Suitable encryption methods include, but are not limited to, Internet Key Exchange, Internet Protocol Security (IPsec), Kerberos, Point-to-Point Protocol, and Transport Layer Security.
  • Wired Equivalent Privacy WEP
  • Wi-Fi Protected Access WPA
  • WPA2 Wi-Fi Protected Access
  • TKIP Temporal Key Integrity Protocol
  • Extensible Authentication Protocol Lightweight Extensible Authentication Protocol (LEAP)
  • LEAP Lightweight Extensible Authentication Protocol
  • PEAP Protected Extensible Authentication Protocol
  • the aircraft remote control 4 may separately distinguish the focus control command from the flight control command to facilitate the aircraft control system 12 to distinguish between the focus control command and the flight control command.
  • the aircraft remote controller 4 may not be limited to be in communication connection with the first communication unit 18, and may also be in communication connection with other sky-end communication units.
  • the platform control system 20 Each of the photographing devices 23 may be provided with a communication unit that communicates with the aircraft remote controller 4, and the aircraft remote controller 4 may directly communicate with the communication unit provided on the pan/tilt control system 20 or the photographing device 23 to directly transmit
  • the focus control command is sent to the pan/tilt control system 20 or the camera 23, and the focus control command is forwarded by the pan/tilt control system 20 or the camera 23 to the focus motor 24.

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  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

一种航拍跟焦控制系统，包括用于产生跟焦控制指令的跟焦遙控器（3），所述航拍跟焦控制系统还包括：飞行器遥控器（4），所述飞行器遥控器（4）与所述跟焦遙控器（3）通信连接以接收所述跟焦遙控器（3）传送的所述跟焦控制指令；天空端通信单元（18），用于与所述飞行器遥控器（4）通信连接以接收来自所述飞行器遥控器（4）的所述跟焦控制指令；及控制系统，用于根据所述天空端通信单元（18）所接收的跟焦控制指令控制跟焦器电机（24）驱动所述拍摄装置（23）的镜头转动。本发明还提供一种航拍跟焦方法及一种飞行器（1）。

Description

航拍跟焦控制系统、航拍跟焦控制方法及飞行器 技术领域
本发明涉及一种航拍跟焦控制系统与方法，尤其涉及一种基于无人机的航拍跟焦控制系统与方法，及使用该方法的飞行器。
背景技术
现有的跟焦系统一般包括手持遥控端及电机接收端，手持遥控端获取到手柄旋转位置后，通过无线射频模块发送指令给电机接收端，电机接收端接收到指令后再控制电机转动，从而带动相机镜头转动，实现镜头焦距或光圈的改变。现有跟焦系统与无人机的遥控及接收系统是相互独立的。
然而在航拍应用中，无人机的飞行距离已超过现有跟焦系统的遥控距离，且随着距离变远，会使得跟焦系统的手持遥控端及电机接收端的通信延时大为增大且出现卡顿，这就导致了无法将现有跟焦系统直接应用在无人机航拍领域。
发明内容
有鉴于此，有必要提供一种航拍跟焦控制系统、方法及飞行器。
一种航拍跟焦控制系统，包括用于产生跟焦控制指令的跟焦遙控器，所述航拍跟焦控制系统还包括：飞行器遥控器，所述飞行器遥控器与所述跟焦遙控器通信连接以接收所述跟焦遙控器传送的所述跟焦控制指令；天空端通信单元，用于与所述飞行器遥控器通信连接以接收来自所述飞行器遥控器的所述跟焦控制指令；及控制系统，用于根据所述天空端通信单元所接收的跟焦控制指令控制跟焦器电机驱动所述拍摄装置的镜头转动。
进一步地，所述天空端通信单元为无线射频收发器。
进一步地，所述无线射频收发器为用于执行收发微波信号的专用集成电路，其运行频率在5.728GHz – 5.85GHz的微波范围。
进一步地，所述天空端通信单元为所述拍摄装置上设置的通信单元。
进一步地，所述航拍跟焦控制系统还包括终端显示屏，所述终端显示屏用于实时显示所述拍摄装置所拍摄的图像信息。
进一步地，：所述终端显示屏为独立于所述飞行器遥控器的终端设备上设置的显示屏，所述终端设备与所述飞行器遥控器通信连接以通过所述飞行器遥控器接收所述拍摄装置拍摄的图像信息。
进一步地，所述终端显示屏与所述飞行器遥控器一体设置。
进一步地，所述终端显示屏与所述跟焦遥控器一体设置，所述跟焦遥控器从所述飞行器遥控器获取所述图像信息以显示所述图像信息于所述终端显示屏。
进一步地，所述图像信息通过所述天空端通信单元传送至所述飞行器遥控器。
进一步地，所述控制系统为飞行器控制系统，该飞行器控制系统与所述拍摄装置通信连接以接收所述图像信息，并将所述图像信息通过所述飞行器通信单元传送至所述飞行器遥控器。
进一步地，所述控制系统为云台控制系统，所述云台控制系统与所述拍摄装置通信连接用于获取所述拍摄装置拍摄的图像信息，并将所述图像信息通过所述天空端通信单元传送至所述飞行器遥控器。
进一步地，所述天空端通信单元设置在所述云台控制系统上。
进一步地，所述控制系统为云台控制系统，所述云台控制系统还与所述飞行器控制系统通信连接以接收所述跟焦控制指令。
进一步地，所述云台控制系统与所述飞行器控制系统通信连接以传送所述图像信息至所述飞行器控制系统，所述飞行器控制系统再将所述图像信息传送至所述飞行器遥控器。
进一步地，所述飞行器遥控器还包括输入单元，所述输入单元用于根据用户操作产生飞行控制指令以控制所述飞行器的飞行。
进一步地，所述跟焦遥控器与所述飞行器遥控器通过有线、蓝牙、红外、WIFI、移动通信网络中的其中一种或多种方式通信连接。
进一步地，所述的图像信息在传输时采用加密技术进行加密。
进一步地，：所述飞行器遥控器设有容置部，所述跟焦遙控器能够可拆卸地收纳在所述容置部内。
进一步地，所述容置部的内壁设有电连接部，所述跟焦遙控器设有与所述电连接部对应的连接端口，当所述跟焦遙控器收纳在所述容置部内时，所述连接端口与所述电连接部电连接。
进一步地，所述跟焦遙控器脱离所述容置部时，与所述飞行器遥控器无线通讯连接。
一种航拍跟焦控制方法，应用于一飞行器，所述飞行器上设置有拍摄装置及用于驱动所述拍摄装置的镜头转动的跟焦器电机，所述航拍跟焦控制方法包括：跟焦遥控器基于用户操作产生跟焦控制指令；所述跟焦遥控器传送所述跟焦控制指令至飞行器遥控器；所述飞行器遥控器传送所述跟焦控制指令至所述飞行器；所述飞行器根据所述跟焦控制指令控制所述跟焦器电机驱动所述拍摄装置的镜头转动。
进一步地，所述飞行器遥控器通过无线射频通信技术将所述跟焦控制指令传送至所述飞行器。
进一步地，所述飞行器包括飞行器控制系统，“根据所述跟焦控制指令控制所述跟焦器电机驱动所述拍摄装置的镜头转动”为所述飞行器控制系统所执行。
进一步地，所述飞行器包括云台控制系统，“根据所述跟焦控制指令控制所述跟焦器电机驱动所述拍摄装置的镜头转动”为所述云台控制系统所执行。
进一步地，所述航拍跟焦控制方法还包括：所述飞行器获取所述拍摄装置所拍摄的图像信息；所述飞行器传送所述图像信息至所述飞行器遥控器；及所述飞行器遥控器传送所述图像信息至一终端显示屏以显示所述图像信息于所述终端显示屏。
进一步地，所述航拍跟焦控制方法还包括：所述飞行器从设置在所述飞行器上的传感器获取所述飞行器的飞行数据；传送所述飞行数据至所述飞行器遥控器；及所述飞行器遥控器传送所述飞行数据至所述终端显示屏以显示所述图像信息于所述终端显示屏。
进一步地，所述航拍跟焦控制方法还包括：所述飞行器遥控器根据用户操作产生飞行控制指令；及所述飞行器遥控器传送所述飞行控制指令至所述飞行器以控制所述飞行器的飞行。
一种飞行器，包括云台，所述云台用于装载拍摄装置及跟焦器电机，所述跟焦器电机用于驱动所述拍摄装置的镜头转动，其特征在于：所述飞行器还包括：天空端通信单元，所述天空端通信单元用于从一飞行器遥控器接收跟焦控制指令；及控制系统，所述控制系统用于根据所述跟焦控制指令控制所述跟焦器电机驱动所述拍摄装置的镜头转动。
进一步地，所述天空端通信单元为飞行器通信单元，所述飞行器通信单元为无线射频收发器。
进一步地，所述飞行器通信单元还用于接收来自所述飞行器遥控器的飞行控制指令，所述控制系统还用于根据所述飞行控制指令控制所述飞行器的飞行。
进一步地，所述控制系统还用于从所述拍摄装置获取所述拍摄装置拍摄的图像信息，所述天空端通信单元还用于将所述图像信息传送至所述飞行器遥控器。
进一步地，所述云台包括云台控制系统，所述云台控制系统用于控制所述云台相对所述飞行器的机身绕多轴旋转。
进一步地，所述控制系统为云台控制系统，所述云台控制系统与所述天空端通信单元通信连接以接收所述跟焦遥控指令。
进一步地，所述天空端通信单元设置在所述云台控制系统上。
进一步地，所述天空端通信单元设置在所述拍摄装置上。
进一步地，所述拍摄装置所拍摄的图像信息直接通过所述天空端通信单元传送至所述飞行器遥控器。
进一步地，所述飞行器还包括传感器，所述传感器感测所述飞行器飞行过程中的飞行数据，所述控制系统还将所述飞行数据通过所述天空端通信单元传送至所述飞行器遥控器。
所述航拍跟焦系统及方法，可将跟焦控制指令借由飞行器遥控器传送至飞行器，实现了航拍领域中控制镜头焦距或光圈，可显著提升航拍效果。
 附图说明
图1是本发明实施方式提供的一种无人机的结构示意图。
图2是本发明实施方式提供的一种无人机的模块示意图。
图3是本发明实施方式提供的一种航拍跟焦系统的结构示意图。
图4是本发明实施方式提供的一种航拍跟焦控制系统的立体图。
图5是图3所示航拍跟焦控制系统的模块示意图。
图6是图本发明实施方式提供的一种飞行器遥控器的结构示意图。
图7为本发明实施方式提供的一种航拍跟焦方法的流程图。
图8为本发明另一实施方式提供的一种航拍跟焦方法的流程图。
主要元件符号说明
飞行器 1
机身 10
飞行器控制系统 12
存储装置 14
传感器 16
第一通信单元 18
云台 2
云台控制系统 20
连接机构 21
支撑机构 22
拍摄装置 23
跟焦器电机 24
跟焦遥控器 3
旋钮结构 30
角度传感器 32
控制器 33，44
第二通信单元 34
飞行器遥控器 4
第三通信单元 40
输入单元 42
第四通信单元 46
第五通信单元 48
终端显示屏 5
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1及图2所示，本发明实施方式提供一种飞行器1，所述飞行器1可为旋翼飞行器、固定翼飞行器或固定翼与旋翼混合的飞行器。其中所述旋翼可为单旋翼、双旋翼、三旋翼、四旋翼、六旋翼及八旋翼等。在本实施例中，所述飞行器1为旋翼无人飞行器（Unmanned Aerial Vehicle, UAV）。
所述飞行器1包括机身10、飞行器控制系统12、存储装置14、传感器16、第一通信单元18及云台2。本实施方式中，所述飞行器控制系统12、存储装置14、传感器16及第一通信单元18与云台2都设置在所述机身10上。可以理解的是，在其他的实施方式中，所述传感器16、所述第一通信单元18可以设置在所述飞行器1上除所述机身10外的其他位置，例如，飞行器1的机臂（图未标示）上。
所述飞行器控制系统12用于控制所述飞行器1的飞行，包括但不限于，控制飞行器1的飞行速度、高度、姿态等。在一实施方式中，所述传感器16的数量和类型可为多个，包括但不限于，惯性测量单元、气压传感器、温度传感器、加速度传感器、位置传感器等。所述传感器16及拍摄装置23通过有线或无线的方式与所述飞行器控制系统12通信连接，所述飞行器控制系统12能从所述传感器16获得所述飞行器1的各种飞行数据，包括但不限于，高度，加速度（俯仰、滚动，及偏航），姿势，地理位置，速度，外部空气温度，及/或气压等。所述飞行器控制系统12可以从拍摄装置23获取所述拍摄装置23拍摄的图像等。所获取的各种飞行数据可保存至所述飞行器1的存储装置14中。
所述第一通信单元18用于与一飞行器遥控器4（图3）通信连接，用于接收来自飞行器遥控器4的飞行指令。所述飞行器控制系统12根据所述第一通信单元18接收的飞行指令控制飞行器的飞行，包括起飞与降落、加速、减速、特定路线飞行、特定姿势飞行等。所述第一通信单元18采用无线通信方式，例如可以为一种无线射频收发器。在本实施例中，所述第一通信单元18还用于接收来自所述飞行器遥控器4的跟焦控制命令，所述跟焦控制命令用于控制所述拍摄装置23的镜头转动。所述飞行器控制系统12还用于将所述跟焦控制命令传送至所述云台2。
所述第一通信单元18可为一无线射频收发器，例示地，所述无线射频收发器可由几个元件组成，包括射频（Radio Frequency，RF）过滤器，所述RF过滤器仅允许指定信号波段通过。所述无线射频收发器还可包括一RF前端，所述RF前端是一集成电路，用于执行：降频转换所述RF信号至中频（Intermediate Frequency, IF）信号；放大所述IF信号，采用IF过滤器过滤所述信号及采用芯片内的模数转换器转换所述信号至两个数位分量：标记和量级。一锁相回路过滤器被用于将所述降频转换器与作为时基的参考晶体一起内置至所述RF前端。所述RF前端的IF放大器的增益可通过自动增益控制（Automatic gain control, AGC）信号控制。
在所述实施例中，所述无线射频收发器可为一用于执行收发微波信号的专用集成电路，其运行频率可在5.728GHz – 5.85GHz的微波范围。所述无线射频收发器可通过天线接收和传输无线电信号。
所述云台2包括云台控制系统20、连接机构21、及支撑机构22。所述云台控制系统20用于控制所述云台2相对所述飞行器1的机身10绕多轴旋转。所述云台控制系统20还用于与所述飞行器控制系统12通信连接以接收来自所述飞行器控制系统12的跟焦控制命令。所述云台控制系统20可通过无线或有线的方式与所述飞行器控制系统12通信连接，有线方式包括各种端口连接，例如通用串行总线(universal serial bus, USB)、控制器局域网（Controller area network，CAN）、串行及/或其他标准网络连接、集成电路间（Inter-Integrated Circuit，I2C）总线等；无线方式包括蓝牙、红外线、无线保真（Wireless Fidelity, WiFi）等。
所述支撑机构22通过连接机构21设置在机身10上，并用于承载拍摄装置23及跟焦器电机24。所述连接机构21可为多轴旋转机构，使得所述支撑机构22能够绕多轴旋转而变换所述拍摄装置23的拍摄方向及/或角度。所述跟焦器电机24与所述拍摄装置23的镜头相连，用于在云台控制系统20的控制下驱动所述拍摄装置23的镜头转动从而改变所述拍摄装置23的镜头焦距或者光圈效果。在本实施例中，所述跟焦器电机24通过齿轮（图未示）与所述拍摄装置23的镜头连接，所述跟焦器电机24在云台控制系统20的控制下旋转，通过齿轮传递动力至所述拍摄装置23的镜头，从而使得所述拍摄装置23的镜头转动。在其他实施方式中，所述跟焦器电机24还可以通过其他适宜的连接方式与所述拍摄装置23的镜头连接，只要能够带动所述拍摄装置23的镜头能在跟焦器电机24的动力驱动下旋转，譬如，皮带连接等。在本实施例中，所述跟焦器电机24独立于所述拍摄装置23设置，在其他实施例中，所述跟焦器电机24可以与所述拍摄装置23一体设置。
请参阅图3所示，为本发明实施方式提供的一种航拍跟焦系统的示意图。所述航拍跟焦系统包括飞行器控制系统12、云台控制系统20、拍摄装置23、跟焦器电机24、跟焦遥控器3、飞行器遥控器4及终端显示屏5。
所述跟焦遥控器3用于根据用户操作产生跟焦控制命令，所述跟焦控制命令以有线或无线的方式从所述跟焦遥控器3传送至所述飞行器遥控器4；所述飞行器遥控器4再将所述跟焦控制命令通过无线射频通信等无线通信方式传送至所述飞行器控制系统12，所述飞行器控制系统12将所述跟焦控制命令再传送至所述云台控制系统20。所述跟焦器电机24在所述云台控制系统20的控制下产生驱动力，驱使所述拍摄装置23的镜头转动以改变所述拍摄装置23的镜头焦距及/或光圈效果。
在一例示的实施例中，所述飞行器遥控器4可设有容置部，所述跟焦遙控器3能够可拆卸地收纳在所述容置部内。所述容置部的内壁设有电连接部，所述跟焦遙控器3设有与所述电连接部对应的连接端口，当所述跟焦遙控器3收纳在所述容置部内时，所述连接端口与所述电连接部电连接。所述跟焦遙控器3脱离所述容置部时，与所述飞行器遥控器无线通讯连接。
所述终端显示屏5可为一计算机设备的显示器，或手机、平板电脑等手持设备的显示屏。在其他实施方式中，所述终端显示屏5也可集成在所述飞行器遥控器4上作为所述飞行器遥控器4的一部分。在另一可替代实施方式中，所述终端显示屏5还可以集成在所述跟焦遥控器3上成为所述跟焦遥控器3的一部分。在再一可替代实施方式中，所述跟焦遥控器3和所述飞行器遥控器4均连接或设置有显示屏，分别用于显示所述拍摄装置23拍摄的图像及所述飞行器1在飞行过程中的飞行数据。所述终端显示屏5可用于实时显示所述飞行器1在飞行过程中的飞行数据及/或所述拍摄装置23在所述飞行器1的飞行过程中所拍摄的图像。
请参阅图4及图5所示，为本发明实施方式提供的一种跟焦遥控器3。所述跟焦遥控器3包括旋钮结构30、角度传感器32、控制器33及第二通信单元34。所述旋钮结构30可被操作以相对所述跟焦遥控器3的本体旋转。所述角度传感器32用于感测所述旋钮结构30的旋转角度信息。所述控制器33用于根据所述角度传感器32所感测的旋转角度信息产生跟焦控制命令。
所述第二通信单元34用于与所述飞行器遥控器4通信连接以将所述跟焦控制命令传送至所述飞行器遥控器4。所述第二通信单元34可采用有线或无线方式。所述有线方式包括通过通信端口连接，例如USB接口等。所述无线方式可采用任意类别的无线通信系统，例如，蓝牙、红外线、无线保真（Wireless Fidelity, WiFi）、蜂窝技术，卫星，及广播。其中所述蜂窝技术可包括第二代（2G）、第三代（3G）、第四代（4G）或第五代（5G）等移动通信技术。所述3G与4G技术基于符合所述国际电信联盟（International Telecommunications Union, ITU）颁布的国际规格的移动通信标准。所述3G与4G技术可提供每秒200千比特至每秒几千兆比特的信息传输速率，从而使得其广泛适用于采用大带宽传输高解析度影像和视频。3G技术通常是指那些符合国际移动通信2000（International Mobile Telecommunications 2000, IMT-2000）标准的可靠性和数据传输速率的技术。常见的商业3G技术包括，基于扩频无线电传输技术的系统和无线电接口，例如通过第三代合作伙伴计划（3rd Generation Partnership Project, 3GPP）标准化的UMTS系统，W-CDMA无线电接口，中国提议的TD-SCDMA无线电接口，HSPA+ UMTS发布，CDMA2000系统，及EV-DO。此外，其他技术，例如EDGE，DECT及移动WiMAX也符合IMT-2000，因而也被ITU批准作为3G标准。相应地，此处所用的“3G”这个词包括，但不限于，任何符合IMT-2000的技术，包括此处所提到的那些技术。
相较而言，4G技术被广泛地理解为那些符合高级国际移动通信（International Mobile Telecommunications Advanced，IMT-Advanced）规格的技术，其要求在高移动性通信时最高速度达到每秒100兆位，在低移动性通信时达到每秒一千兆比特。在2010年10月，ITU批准的4G标准包括增强LTE及增强无线城域网（WirelessMAN-Advanced）。但是，一些商业运营商发布的4G服务不完全符合IMT-Advanced规格，例如LTE、Mobile WiMAX，及TD-LTE。相应地，此处所提到的“4G”这个词包括，但不限于，这些后来的技术，例如LTE，Mobile WiMAX与TD-LTE，与那些符合IMT-Advanced的技术，包括此处所提到的那些技术。而5G是超越当前4G /IMT-Advanced标准的下一代移动通信标准。
如图6所示，为本发明实施方式提供的一种飞行器遥控器4的模块图。所述飞行器遥控器4包括，但不限于，第三通信单元40、输入单元42、控制器44、第四通信单元46、及第五通信单元48。所述第三通信单元40与所述第二通信单元34对应，用于与所述第二通信单元34通信以接收来自所述跟焦遥控器3的跟焦控制命令。
所述输入单元42为所述飞行器遥控器4的指令输入装置，例如遥控手柄、触摸屏等，用于根据用户操作产生输入指令以控制飞行器1的飞行。
所述控制器44用于根据所述输入指令产生飞行控制命令以控制飞行器1的飞行。所述控制器44还用于将通过第三通信单元40接收的跟焦控制命令通过第四通信单元46发送至所述飞行器控制系统12。
所述第四通信单元46为与所述第一通信单元18对应的通信单元，其与所述第一通信单元18采用相同的无线通信方式，例如无线射频通信。
所述第五通信单元48用于与所述终端显示屏5通信连接，以传输所述飞行数据及/或所拍摄的图像至所述终端显示屏5。所述第五通信单元48可采用无线或有线通信方式，包括但不限于，通过USB、CAN、I2C等各种通信端口连接的有线方式；及蓝牙、红外线、WiFi、如上所述的2G、3G、4G或5G移动通信网络等无线通信方式。
如图7所示，为本发明实施方式提供的一种航拍跟焦控制方法600的流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。
步骤602，所述跟焦遥控器3的控制器33从所述角度传感器32接收所述旋钮结构30的旋转角度信息。
步骤604，所述跟焦遥控器3的控制器33将所述角度信息转换为跟焦控制命令。
步骤606，所述跟焦遥控器3的控制器33通过所属第二通信单元34将所述跟焦控制命令传送至所述飞行器遥控器4。具体地，所述控制器33将所述跟焦控制命令转换为适宜于所述第二通信单元34传输的控制命令，然后将格式转换后的控制命令通过所述第二通信单元34传输至所述飞行器遥控器4的所述第三通信单元40。
步骤608，所述飞行器遥控器4将所述跟焦控制命令传送至所述飞行器1。具体地，所述飞行器遥控器4将通过所述第三通信单元40接收的跟焦控制命令转换成适宜所述第四通信单元46传输的格式，然后再通过所述第四通信单元46传输至所述飞行器1的第一通信单元18。
步骤610，所述飞行器控制系统12将通过所述第三通信单元40接收的所述跟焦控制命令传送至所述云台控制系统20。
步骤612，所述云台控制系统20将所述控制命令传送至所述跟焦器电机24以控制所述跟焦器电机24旋转。
步骤614，所述跟焦器电机24旋转带动所述拍摄装置镜头转动以改变所述镜头焦距或光圈效果。
如图8所示，为本发明另一实施方式提供的一种航拍跟焦控制方法800的流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。
步骤802，所述云台控制系统20获取拍摄装置23拍摄的图像信息。
步骤804，所述云台控制系统20将所获取的图像信息传送至所述飞行器控制系统12。
步骤806，所述飞行器控制系统12将所述图像信息传送至所述飞行器遥控器4。
步骤808，所述飞行器遥控器4将所述图像信息传送至所述终端显示屏5以显示所述图像信息。根据所显示的图像信息，使用者可调整飞行器遥控操作以调整飞行器飞行姿势、位置及角度等，调整跟焦遥控器3的旋钮结构30的旋转角度以改变跟焦控制命令等。
可以理解，所述跟焦控制命令也可以从所述飞行器遥控器4传送至所述第一通信单元18后，所述云台控制系统20直接与所述第一通信单元18通信连接以从所述第一通信单元18获取所述跟焦控制命令。所述云台控制系统20可以通过上所述的有线或无线方式与所述第一通信单元18进行通信连接。
可以理解，所述跟焦控制命令也可以从所述飞行器遥控器4传送至所述第一通信单元18后，所述飞行器控制系统12将所述跟焦控制命令直接传送至所述跟焦器电机24以控制所述跟焦器电机根据所述跟焦控制命令旋转。
可以理解，所述跟焦控制命令也可以从所述飞行器遥控器4传送至所述第一通信单元18后，可以由一单独的控制系统（例如，独立于所述飞行器控制系统12、云台控制系统20）来根据该跟焦控制命令控制所述跟焦器电机驱动所述拍摄装置23的镜头转动。
可以理解，所述拍摄装置23所拍摄的图像信息也可以通过所述拍摄装置23直接传送至所述飞行器控制系统12，所述飞行器控制系统12再将所述图像信息传送至飞行器遥控器4。在这种情况下，所述飞行器控制系统12与所述拍摄装置23通过上所述的有线或无线方式直接通信连接以获取所述拍摄装置23所拍摄的图像信息。
在其他实施方式中，所述飞行器控制系统12也可以直接将所获取的图像信息传送至所述终端显示屏5。在此种情况下，所述飞行器控制系统12可通过无线通信方式与所述终端显示屏5通信连接，所述无线通信方式可包括如上所述的2G、3G、4G或5G移动通信系统及射频通信。
可以理解，所述跟焦控制命令及/或所述飞行控制命令在传送过程中可采用加密技术，以利于跟焦控制命令及/或所述飞行控制命令的安全传送。适宜的加密方法包括，但不限于，因特网秘钥交换，因特网安全性协议（Internet Protocol Security，IPsec），Kerberos，端对端协议（Point-to-Point Protocol），安全传输层协议（Transport Layer Security），隐藏SSID，MAC ID过滤，静态IP地址分配（Static IP Addressing），802.11安全性，有线等效保密（Wired Equivalent Privacy，WEP)，无线上网保护接入（Wi-Fi Protected Access，WPA)，WPA2，暂时秘钥完整性协议（Temporal Key Integrity Protocol，TKIP)，可扩展认证协议（Extensible Authentication Protocol），轻量级可扩展认证协议（Lightweight Extensible Authentication Protocol，LEAP)，受保护的可扩展认证协议（Protected Extensible Authentication Protocol，PEAP)，及其他市售的加密技巧。
可以理解，所述飞行器遥控器4可将所述跟焦控制命令与所述飞行控制命令分别标示加以区分，以便于所述飞行器控制系统12区分所述跟焦控制命令及所述飞行控制命令。
可以理解，所述飞行器遥控器4可以不限于与所述第一通信单元18通信连接，还可以与其他天空端通信单元通信连接，例如，在其他实施例中，所述云台控制系统20、拍摄装置23上均可以设置有与所述飞行器遥控器4通信的通信单元，所述飞行器遥控器4可以直接与所述云台控制系统20或拍摄装置23上设置的通信单元通信连接，直接传送所述跟焦控制命令至所述云台控制系统20或拍摄装置23，再由所述云台控制系统20或拍摄装置23将所述跟焦控制命令转发至所述跟焦电机24。
另外，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (37)

  1. 一种航拍跟焦控制系统，包括用于产生跟焦控制指令的跟焦遙控器，其特征在于：所述航拍跟焦控制系统还包括：
    飞行器遥控器，所述飞行器遥控器与所述跟焦遙控器通信连接以接收所述跟焦遙控器传送的所述跟焦控制指令；
    天空端通信单元，用于与所述飞行器遥控器通信连接以接收来自所述飞行器遥控器的所述跟焦控制指令；及
    控制系统，用于根据所述天空端通信单元所接收的跟焦控制指令控制跟焦器电机驱动所述拍摄装置的镜头转动。
  2. 如权利要求1所述的航拍跟焦控制系统，其特征在于：所述天空端通信单元为飞行器通信单元，所述飞行器通信单元为无线射频收发器。
  3. 如权利要求2所述的航拍跟焦控制系统，其特征在于：所述无线射频收发器为用于执行收发微波信号的专用集成电路，其运行频率在5.728GHz – 5.85GHz的微波范围。
  4. 如权利要求1所述的航拍跟焦控制系统，其特征在于：所述天空端通信单元为所述拍摄装置上设置的通信单元。
  5. 如权利要求1所述的航拍跟焦控制系统，其特征在于：所述航拍跟焦控制系统还包括终端显示屏，所述终端显示屏用于实时显示所述拍摄装置所拍摄的图像信息。
  6. 如权利要求5所述的航拍跟焦控制系统，其特征在于：所述终端显示屏为独立于所述飞行器遥控器的终端设备上设置的显示屏，所述终端设备与所述飞行器遥控器通信连接以通过所述飞行器遥控器接收所述拍摄装置拍摄的图像信息。
  7. 如权利要求5所述的航拍跟焦控制系统，其特征在于：所述终端显示屏与所述飞行器遥控器一体设置。
  8. 如权利要求5所述的航拍跟焦控制系统，其特征在于：所述终端显示屏与所述跟焦遥控器一体设置，所述跟焦遥控器从所述飞行器遥控器获取所述图像信息以显示所述图像信息于所述终端显示屏。
  9. 如权利要求5所述的航拍跟焦控制系统，其特征在于：所述图像信息通过所述天空端通信单元传送至所述飞行器遥控器。
  10. 如权利要求9所述的航拍跟焦控制系统，其特征在于：所述控制系统为飞行器控制系统，该飞行器控制系统与所述拍摄装置通信连接以接收所述图像信息，并将所述图像信息通过所述天空端通信单元传送至所述飞行器遥控器。
  11. 如权利要求9所述的航拍跟焦控制系统，其特征在于：所述控制系统为云台控制系统，所述云台控制系统与所述拍摄装置通信连接用于获取所述拍摄装置拍摄的图像信息，并将所述图像信息通过所述天空端通信单元传送至所述飞行器遥控器。
  12. 如如权利要求11所述的航拍跟焦控制系统，其特征在于：所述天空端通信单元设置在所述云台控制系统上。
  13. 如权利要求9所述的航拍跟焦控制系统，其特征在于：所述控制系统为云台控制系统，所述云台控制系统还与所述飞行器控制系统通信连接以接收所述跟焦控制指令。
  14. 如权利要求9所述的航拍跟焦控制系统，其特征在于：所述云台控制系统与所述飞行器控制系统通信连接以传送所述图像信息至所述飞行器控制系统，所述飞行器控制系统再将所述图像信息传送至所述飞行器遥控器。
  15. 如权利要求1所述的航拍跟焦控制系统，其特征在于：所述飞行器遥控器还包括输入单元，所述输入单元用于根据用户操作产生飞行控制指令以控制所述飞行器的飞行。
  16. 如权利要求1所述的航拍跟焦控制系统，其特征在于：所述跟焦遥控器与所述飞行器遥控器通过有线、蓝牙、红外、WIFI、移动通信网络中的其中一种或多种方式通信连接。
  17. 如权利要求1所述的航拍跟焦控制系统，其特征在于：所述的图像信息在传输时采用加密技术进行加密。
  18. 如权利要求1所述的航拍跟焦系统，其特征在于：所述飞行器遥控器设有容置部，所述跟焦遙控器能够可拆卸地收纳在所述容置部内。
  19. 如权利要求18所述的航拍跟焦系统，其特征在于：所述容置部的内壁设有电连接部，所述跟焦遙控器设有与所述电连接部对应的连接端口，当所述跟焦遙控器收纳在所述容置部内时，所述连接端口与所述电连接部电连接。
  20. 如权利要求19所述的航拍跟焦系统，其特征在于：所述跟焦遙控器脱离所述容置部时，与所述飞行器遥控器无线通讯连接。
  21. 一种航拍跟焦控制方法，应用于一飞行器，所述飞行器上设置有拍摄装置及用于驱动所述拍摄装置的镜头转动的跟焦器电机，其特征在于：所述航拍跟焦控制方法包括：
    跟焦遥控器基于用户操作产生跟焦控制指令；
    所述跟焦遥控器传送所述跟焦控制指令至飞行器遥控器；
    所述飞行器遥控器传送所述跟焦控制指令至所述飞行器；
    所述飞行器根据所述跟焦控制指令控制所述跟焦器电机驱动所述拍摄装置的镜头转动。
  22. 如权利要求21所述的航拍跟焦控制方法，其特征在于：所述飞行器遥控器通过无线射频通信技术将所述跟焦控制指令传送至所述飞行器。
  23. 如权利要求21所述的航拍跟焦控制方法，其特征在于：所述飞行器包括飞行器控制系统，“根据所述跟焦控制指令控制所述跟焦器电机驱动所述拍摄装置的镜头转动”为所述飞行器控制系统所执行。
  24. 如权利要求21所述的航拍跟焦控制方法，其特征在于：所述飞行器包括云台控制系统，“根据所述跟焦控制指令控制所述跟焦器电机驱动所述拍摄装置的镜头转动”为所述云台控制系统所执行。
  25. 如权利要求21所述的航拍跟焦控制方法，其特征在于：所述航拍跟焦控制方法还包括：
    所述飞行器获取所述拍摄装置所拍摄的图像信息；
    所述飞行器传送所述图像信息至所述飞行器遥控器；及
    所述飞行器遥控器传送所述图像信息至一终端显示屏以显示所述图像信息于所述终端显示屏。
  26. 如权利要求25所述的航拍跟焦控制方法，其特征在于：所述航拍跟焦控制方法还包括：
    所述飞行器从设置在所述飞行器上的传感器获取所述飞行器的飞行数据；
    传送所述飞行数据至所述飞行器遥控器；及
    所述飞行器遥控器传送所述飞行数据至所述终端显示屏以显示所述图像信息于所述终端显示屏。
  27. 如权利要求21所述的航拍跟焦控制方法，其特征在于：所述航拍跟焦控制方法还包括：
    所述飞行器遥控器根据用户操作产生飞行控制指令；及
    所述飞行器遥控器传送所述飞行控制指令至所述飞行器以控制所述飞行器的飞行。
  28. 一种飞行器，包括云台，所述云台用于装载拍摄装置及跟焦器电机，所述跟焦器电机用于驱动所述拍摄装置的镜头转动，其特征在于：所述飞行器还包括：
    天空端通信单元，所述天空端通信单元用于从一飞行器遥控器接收跟焦控制指令；及
    控制系统，所述控制系统用于根据所述跟焦控制指令控制所述跟焦器电机驱动所述拍摄装置的镜头转动。
  29. 如权利要求28所述的飞行器，其特征在于：所述天空端通信单元为飞行器通信单元，所述飞行器通信单元为无线射频收发器。
  30. 如权利要求29所述的飞行器，其特征在于：所述飞行器通信单元还用于接收来自所述飞行器遥控器的飞行控制指令，所述控制系统还用于根据所述飞行控制指令控制所述飞行器的飞行。
  31. 如权利要求28所述的飞行器，其特征在于：所述控制系统还用于从所述拍摄装置获取所述拍摄装置拍摄的图像信息，所述天空端通信单元还用于将所述图像信息传送至所述飞行器遥控器。
  32. 如权利要求28所述的飞行器，其特征在于：所述云台包括云台控制系统，所述云台控制系统用于控制所述云台相对所述飞行器的机身绕多轴旋转。
  33. 如权利要求32所述的飞行器，其特征在于：所述控制系统为云台控制系统，所述云台控制系统与所述天空端通信单元通信连接以接收所述跟焦遥控指令。
  34. 如权利要求33所述的飞行器，其特征在于：所述天空端通信单元设置在所述云台控制系统上。
  35. 如权利要求28所述的飞行器，其特征在于：所述天空端通信单元设置在所述拍摄装置上。
  36. 如权利要求35所述的飞行器，其特征在于：所述拍摄装置所拍摄的图像信息直接通过所述天空端通信单元传送至所述飞行器遥控器。
  37. 如权利要求28所述的飞行器，其特征在于：所述飞行器还包括传感器，所述传感器感测所述飞行器飞行过程中的飞行数据，所述控制系统还将所述飞行数据通过所述天空端通信单元传送至所述飞行器遥控器。
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