WO2018232584A1

WO2018232584A1 - Unmanned aerial vehicle and control method therefor, and control terminal and control method thereof

Info

Publication number: WO2018232584A1
Application number: PCT/CN2017/089151
Authority: WO
Inventors: 谢卓; 吴忠谦; 陈一
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-06-20
Filing date: 2017-06-20
Publication date: 2018-12-27
Also published as: CN108496351B; CN108496351A

Abstract

An unmanned aerial vehicle and a control method therefor, and a control terminal and a control method thereof. At least two photographing apparatuses (11, 12) are provided on the unmanned aerial vehicle (10). The control method comprises: receiving a first photographing instruction sent by a control terminal; controlling, according to the first photographing instruction, the at least two photographing apparatuses (11, 12) to simultaneously perform photographing, or controlling, according to a second photographing instruction, at least one of the at least two photographing apparatuses (11, 12) to perform photographing. According to the unmanned aerial vehicle and the control method therefor, the photographing efficiency of photographing apparatuses is improved, and a high level of intelligence is provided.

Description

Unmanned aerial vehicle, control method thereof, control terminal and control method thereof

Technical field

The invention relates to the technical field of control, in particular to a drone and a control method thereof, a control terminal and a control method thereof.

Background technique

With the development of technology, drones are widely used in aerial photography, surveying, agriculture, security and other fields. A drone (such as an unmanned aerial vehicle) is equipped with a shooting device that can shoot the target object to achieve tasks such as photography, mapping, and monitoring. In some practical applications, multiple shooting devices may be required to shoot the target object (for example, one shooting device is required to perform overall shooting on the target object, and another shooting device is required to perform partial shooting on the target object). However, currently on the drone Setting only a single shooting device does not meet this shooting need. In addition, there is currently no control method for multiple shooting devices on the drone, which cannot meet the user's need to control multiple shooting devices.

Summary of the invention

The embodiment of the invention provides a drone, a control method thereof, a control terminal and a control method thereof, so as to meet the requirement of controlling a plurality of photographing devices on the drone.

In a first aspect, an embodiment of the present invention provides a method for controlling a drone, including:

Receiving a first shooting instruction sent by the control terminal;

The at least two photographing devices are controlled to simultaneously shoot according to the first photographing instruction.

In a second aspect, an embodiment of the present invention provides another method for controlling a drone, including:

Obtaining image data captured by the photographing device;

The image data is transmitted to the control terminal to cause the control terminal to save the image data.

In a third aspect, an embodiment of the present invention provides a control method for controlling a terminal, including:

Receiving the first operation;

After receiving the first operation, the first shooting instruction is sent to the drone to control at least two shooting devices set on the drone to simultaneously shoot.

In a fourth aspect, an embodiment of the present invention provides a drone, including:

a communication interface, configured to receive a first shooting instruction sent by the control terminal;

The one or more processors operate separately or in cooperation for controlling the at least two photographing devices to simultaneously capture according to the first photographing instruction.

In a fifth aspect, an embodiment of the present invention provides another drone, including:

a photographing device for taking image data;

One or more processors, operating separately or in concert, for transmitting the image data to a control terminal to cause the control terminal to save the image data.

In a sixth aspect, an embodiment of the present invention provides a control terminal, including:

An interaction device, configured to receive the first operation;

One or more processors operating separately or in cooperation for transmitting a first photographing instruction to the drone to control at least two photographing devices disposed on the drone while the interactive device receives the first operation Shooting.

In a seventh aspect, an embodiment of the present invention provides a computer readable storage medium storing a computer program, where the computer program is executed by a processor to implement the method in the first aspect.

In an eighth aspect, an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in the second aspect is implemented.

According to a ninth aspect, an embodiment of the present invention provides a computer readable storage medium storing a computer program, where the computer program is executed by a processor to implement the method in the third aspect.

In the embodiment of the present invention, when receiving the first shooting instruction sent by the control terminal, the drone can control at least two shooting devices set on the drone to simultaneously perform shooting according to the received first shooting instruction. It satisfies the user's need to control multiple shooting devices, improves the efficiency of shooting of the shooting device, and improves the flexibility of controlling the shooting device on the drone.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present invention. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a schematic diagram of an application scenario of control of a drone according to an embodiment of the present invention;

2 is a schematic flow chart of a method for controlling a drone according to an embodiment of the present invention;

3 is a schematic flow chart of another control method of a drone according to an embodiment of the present invention;

4 is a schematic flow chart of still another method for controlling a drone according to an embodiment of the present invention;

FIG. 5 is a schematic flowchart diagram of still another method for controlling a drone according to an embodiment of the present invention; FIG.

6 is a schematic flowchart of a control method of a control terminal according to an embodiment of the present invention;

FIG. 7 is a schematic flowchart diagram of another control method of a control terminal according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a drone according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic structural diagram of another drone according to an embodiment of the present invention; FIG.

FIG. 10 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It will be understood that the terms "plurality" and "at least two" have the same meaning when used in the specification and the appended claims.

FIG. 1 is a schematic diagram of an application scenario of control of a drone according to an embodiment of the present invention. As shown in FIG. 1, the application scenario includes a drone 10 and a control terminal 20. The drone 10 is provided with at least two photographing devices, which are schematically illustrated here by two photographing devices. The two photographing devices are a first photographing device 11 and a second photographing device 12, respectively. In a specific implementation, the first photographing device 11 and the second photographing device 12 can be fixed on the drone 10 through the pan/tilt, respectively.

It should be understood that the UAV 10 described in the embodiments of the present invention may include, but is not limited to, an unmanned aerial vehicle, an unmanned vehicle, and an unmanned vehicle. Here, the unmanned aerial vehicle is used as an unmanned aerial vehicle for illustrative description. The first photographing device 11 and the second photographing device 12 described may include, but are not limited to, an RGB camera, an infrared camera, a camera that can only acquire grayscale images (monocular camera, dual-head camera, etc.). The control terminal 20 described in the embodiments of the present invention may include a remote controller, a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a desktop computer, a mobile Internet device (MID), and a personal digital assistant (Personal). Digital Assistant, PDA), wearable device (watch, One or more of a bracelet, etc.).

In the control method of the drone according to the embodiment of the present invention, first, the control terminal 20 receives the first operation. The first operation is a user's shooting operation, and may include a touch screen click operation or a button click operation. Specifically, the control terminal 20 may receive a first operation on its interaction device, which may be one or more of a touch display screen, a keyboard, a button, a joystick, and a pulsator. After receiving the first operation, the control terminal 20 transmits a first shooting instruction to the drone 10. The first shooting instruction is used to instruct the first photographing device 11 and the second photographing device 12 disposed on the drone 10 to simultaneously perform photographing.

Further, after receiving the first operation, the control terminal 20 can detect the current shooting mode. Specifically, after receiving the first operation, the control terminal 20 transmits a first shooting instruction to the drone 10 if it detects that the current shooting mode is the first shooting mode. The first shooting mode is a simultaneous shooting mode of two shooting devices.

When receiving the first photographing instruction transmitted by the control terminal 20, the drone 10 controls the first photographing device 11 and the second photographing device 12 to simultaneously perform photographing according to the first photographing instruction. Among them, the shooting may include taking a picture or recording. Therefore, the drone 10 controlling the first photographing device 11 and the second photographing device 12 to simultaneously photograph according to the first photographing instruction may specifically include: the drone 10 controls the first photographing device 11 and the second photographing device according to the first photographing instruction. 12 Take a photo or video at the same time.

It should be noted that “simultaneously” described in the embodiments of the present invention does not merely mean that the first photographing device 11 and the second photographing device 12 simultaneously perform a photographing action. The UAV 10 controls the first photographing device 11 and the second photographing device 12 to simultaneously perform photographing according to the first photographing instruction, and can also be described as: the drone 10 simultaneously controls the first photographing device 11 and the second according to the first photographing instruction. The photographing device 12 performs photographing.

Specifically, the drone 10 controlling the first photographing device 11 and the second photographing device 12 to perform photographing according to the first photographing instruction may specifically include: the drone 10 controls the first photographing device 11 and the second photographing according to the first photographing instruction. The device 12 performs simultaneous shooting in accordance with the respective parameter configurations. Optionally, the parameter configuration when the photographing device takes a photo may include, but is not limited to, photo resolution, format, scale, and color; the parameter configuration when the photographing device is recorded may include, but is not limited to, video resolution, format, scale, color, and frame rate. .

In some embodiments, the parameter configuration of the first photographing device 11 and/or the second photographing device 12 may be carried in the first photographing instruction. Thus, if the first photographing instruction carries the first photographing device 11 And/or the parameter configuration of the second photographing device 12, the drone 10 can control the corresponding first photographing device 11 and/or the second photographing device 12 according to the parameter configuration carried in the first photographing instruction according to the first photographing instruction. Shooting; if the parameter configuration of the first photographing device 11 and/or the second photographing device 12 is not carried in the first photographing instruction, the drone 10 may control the corresponding first photographing device 11 and/or the first photographing instruction according to the first photographing instruction. Second, the photographing device 12 performs shooting according to the default parameter configuration.

Optionally, the drone 10 controlling the first photographing device 11 and the second photographing device 12 to perform photographing according to the first photographing instruction may specifically include: determining, by the drone 10, the first photographing device 11 and the first photographing instruction according to the first photographing instruction. 2. The control command corresponding to each of the photographing devices of the photographing device 12; the drone 10 controls the corresponding photographing devices of the first photographing device 11 and the second photographing device 12 to perform photographing according to the control command. It should be understood that the shooting may include taking a photo or recording. Specifically, after receiving the first shooting instruction, the drone 10 may determine a first control instruction for controlling the first photographing device 11 to perform photographing according to the first photographing instruction, and determine, according to the first photographing instruction, the second control unit. The photographing device 12 performs a second control command for photographing; the drone 10 controls the first photographing device 11 and the second photographing device 12 to perform photographing according to the first control command and the second control command, respectively.

The first photographing device 11 and the second photographing device 12 respectively perform photographing operations to obtain respective image data. After acquiring the image data, the drone 10 transmits image data captured by at least one of the first photographing device 11 and the second photographing device 12 to the control terminal to cause the control terminal to save the image data. .

Currently, in the field of drones, some shooting devices are equipped with a memory (such as a Secure Digital (SD) card), and image data captured by the shooting device is stored in the memory; in addition, some shooting devices are not photographed. The image data captured by the photographing device is stored in a memory configured on the drone, that is, the image data captured by each photographing device must be stored in a memory, or stored in a memory of the photographing device configuration, or stored. In the memory configured on the drone. However, in some cases, the user may forget to configure the memory for one or both of the first photographing device 11 and the second photographing device 12, for example, forgetting to configure the SD card for the first photographing device 11, at this time, the drone The image data captured by the first photographing device 11 can be transmitted to the control terminal, and the control terminal saves the image data. This ensures that the image data captured by the first photographing device 11 can be saved even if the SD card is forgotten to be configured for the first photographing device 11.

The first photographing device 11 and the second photographing device 12 respectively perform a photographing action to obtain respective image numbers It may be included that the first photographing device 11 captures image data; the second photographing device 12 captures image data. Further, the drone 10 transmits the image data captured by the first photographing device 11 to the control terminal 20; the drone 10 encodes the image data captured by the second photographing device 12, and encodes the encoded image data. It is sent to the control terminal 20. Specifically, some of the photographing devices have image processing capabilities, and the image data can be encoded. The image data output by the photographing device is the encoded image data, and the drone can directly transmit the image data to the control terminal. For example, the first photographing apparatus 11 has an image processing capability, and the drone 10 can directly transmit the image data photographed by the first photographing apparatus 11 to the control terminal 20. Some shooting devices do not have image data processing capability, and the drone needs to first encode the image data output by the shooting device, and then transmit the encoded image data to the control terminal. For example, the second photographing device 12 does not have an image. The processing capability, the drone 10 encodes the image data captured by the second imaging device 12 and transmits it to the control terminal 20.

Further, after receiving the first operation, the control terminal 20 transmits a second shooting instruction to the drone 10 if it detects that the current shooting mode is the second shooting mode. The second photographing instruction indicates one of the first photographing device 11 and the second photographing device 12 disposed on the drone 10 (in the embodiment of the present invention, the first photographing device 11 or the second photographing device may be 12). The second shooting mode is a single shooting device shooting mode.

When receiving the second photographing instruction transmitted by the control control 20, the drone 10 controls one of the first photographing device 11 and the second photographing device 12 indicated by the second photographing instruction to perform photographing according to the second photographing instruction. Among them, the shooting may include taking a picture or recording. Therefore, the drone 10 can control one of the first photographing device 11 and the second photographing device 12 indicated by the second photographing instruction to perform photographing or recording according to the second photographing instruction.

In some embodiments, the parameter configuration of one of the first photographing device 11 and the second photographing device 12 disposed on the drone 10 may be carried in the second photographing instruction. Therefore, if the second photographing instruction carries the parameter configuration of one of the first photographing device 11 and the second photographing device 12 indicated by the second photographing instruction, the drone 10 can control the second photographing according to the second photographing instruction. One of the first photographing device 11 and the second photographing device 12 instructed by the instruction to perform photographing according to a parameter configuration carried by the second photographing instruction; if the second photographing instruction does not carry the first photographing device 11 indicated by the second photographing instruction And a parameter configuration of one of the second photographing devices 12, the drone 10 can control one of the first photographing device 11 and the second photographing device 12 indicated by the second photographing instruction according to the second photographing instruction to follow The default parameter configuration is used for shooting.

It should be understood that the above description is exemplified by the provision of two photographing apparatuses (the first photographing apparatus 11 and the second photographing apparatus 12, respectively) in the drone 10. In the specific implementation, two or more imaging devices may be disposed in the UAV 10, which are not limited in the embodiment of the present invention.

In the embodiment of the present invention, the user performs simple operation on the control terminal, that is, controls the at least two shooting devices to simultaneously perform shooting, thereby improving the efficiency of shooting by the shooting device and satisfying the user's intelligent demand for shooting. The UAV according to the embodiment of the present invention, a control method thereof, a control terminal and a control method thereof will be described in detail below with reference to FIGS. 2-10.

2 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention. In particular, the method can be performed by a drone, on which at least two photographing devices are arranged. As shown in FIG. 2, the control method of the drone may include:

S101: Receive a first shooting instruction sent by the control terminal.

The drone may include, but is not limited to, an unmanned aerial vehicle, an unmanned vehicle, and an unmanned ship; the control terminal may include a remote controller, a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a desktop computer, a MID, a PDA. One or more of wearable devices (watches, bracelets, etc.).

Optionally, two shooting modes are set on the control terminal, which are a first shooting mode and a second shooting mode, respectively. The first shooting mode is specifically a simultaneous shooting mode of two shooting devices, and the second shooting mode is specifically a single shooting device shooting mode.

Further optionally, the first shooting instruction sent by the drone receiving control terminal may specifically include: in the first shooting mode, the drone receives the first shooting instruction sent by the control terminal.

The first shooting instruction is used to indicate that at least two shooting devices set on the drone are simultaneously shooting.

S102: Control the at least two shooting devices to simultaneously capture according to the first shooting instruction.

Wherein, the photographing device refers to a photographing device set on the drone, and the photographing device may include but is not limited to an RGB camera, an infrared camera, a camera that can only acquire grayscale images (monocular camera, double-head camera, etc.).

Among them, the shooting may include taking a picture or recording. Therefore, the drone can control the at least two photographing devices to simultaneously take a photo or video according to the first photographing instruction.

Specifically, the controlling the at least two shooting devices to simultaneously capture according to the first shooting instruction may specifically: controlling the at least two shooting devices to be configured according to respective parameters according to the first shooting instruction. Shoot at the same time. Optionally, the parameter configuration when the photographing device takes a photo may include, but is not limited to, photo resolution, format, scale, and color; the parameter configuration when the photographing device is recorded may include, but is not limited to, video resolution, format, scale, color, and frame rate. .

The parameter configuration may be a default parameter configuration of the photographing device. In some embodiments, the parameter configuration can be included in the first capture instruction.

In the embodiment of the present invention, when receiving the first shooting instruction sent by the control terminal, the drone may control at least two shooting devices set on the drone to simultaneously shoot according to the received first shooting instruction. At the same time, image data captured by a plurality of photographing devices is recorded. It satisfies the user's need to control multiple shooting devices, improves the efficiency of shooting of the shooting device, and improves the flexibility of controlling the shooting device on the drone.

Further, please refer to FIG. 3 , which is a schematic flowchart diagram of another method for controlling a drone according to an embodiment of the present invention. On the basis of the embodiment shown in FIG. 2, as shown in FIG. 3, the control method of the drone may include:

S201: Receive a first shooting instruction sent by the control terminal.

The specific methods and principles of step S201 and step S101 are the same, and are not described here.

S202: Control the at least two shooting devices to simultaneously capture according to the first shooting instruction.

The specific methods and principles of step S202 and step S102 are the same, and are not described here.

S203: Acquire image data output by the first photographing device of the at least two photographing devices, and send the image data output by the first photographing device to the control terminal, and obtain the second photographing device output of the at least two photographing devices. Image data, encoding image data output by the second photographing device, and transmitting the encoded image data to the control terminal.

Specifically, when the first photographing device of the at least two photographing devices has image processing capability, the image data output by the first photographing device is encoded image data, and the drone may directly send the image data to Control terminal. When the second photographing device of the at least two photographing devices does not have image processing capability, the image data output by the second photographing device is transmitted to the processor of the drone, and the processor of the drone is output to the second photographing device. The image data is encoded, and the drone can transmit the encoded image data to the control terminal. Here, for different types of shooting devices, the image data output by different types of shooting devices is processed correspondingly. For the specific explanation, please refer to the corresponding part. In this way, it is possible to effectively solve the problem of transmitting image data captured by different types of photographing devices to the control terminal. There are incompatible issues.

Further, please refer to FIG. 4 , which is a schematic flowchart diagram of still another method for controlling a drone according to an embodiment of the present invention. On the basis of the embodiment shown in FIG. 2, as shown in FIG. 4, the control method of the drone may include:

S301: Receive a first shooting instruction sent by the control terminal.

The specific methods and principles of step S301 and step S101 are the same, and are not described here.

S302: Control the at least two photographing devices to simultaneously capture according to the first photographing instruction.

S303: Send image data captured by at least one of the at least two shooting devices to the control terminal to cause the control terminal to save the image data.

Specifically, when the memory configured on the drone or the photographing device is insufficient, or the image data captured by one or more of the at least two photographing devices does not have a corresponding memory storage, After the image data obtained by the photographing device is captured, the image data captured by at least one of the at least two photographing devices may be sent to the control terminal, and the corresponding image data is saved by using the memory of the control terminal. Corresponding part. In this way, the storage problem when the photographing device performs photographing is effectively solved.

FIG. 5 is a schematic flowchart diagram of still another method for controlling a drone according to an embodiment of the present invention. As shown in FIG. 5, the control method of the drone may include:

S401: Acquire image data captured by the photographing device.

Specifically, the photographing device may be configured on the drone, wherein the photographing device may be an RGB camera, an infrared camera, or the like, and the photographing device photographs the target object to obtain image data.

In some embodiments, at least two photographic devices can be configured on the drone, as explained in detail in the foregoing section.

S402: Send the image data to the control terminal to cause the control terminal to save the image data.

Specifically, when the memory configured on the drone or the photographing device has insufficient memory, or the image data captured by the photographing device does not have corresponding memory storage, after acquiring the image data captured by the photographing device, the photographing device may be used. The captured image data is transmitted to the control terminal, and the corresponding image data is saved using the memory of the control terminal.

Sending the image data to the control terminal to cause the control terminal to save the image data when the at least two photographing devices are configured on the drone includes: photographing one or more of the at least two photographing devices The acquired image is sent to the control terminal to cause the control terminal to save the image data.

For the detailed explanation, please refer to the corresponding part above. In this way, the storage problem when the photographing device performs photographing is effectively solved.

FIG. 6 is a schematic flowchart of a control method of a control terminal according to an embodiment of the present invention. In particular, the method can be performed by a control terminal. As shown in FIG. 6, the control method of the control terminal may include:

S501: Receive a first operation on an interaction device of the control terminal.

The control terminal may include one or more of a remote controller, a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a desktop computer, a MID, a PDA, a wearable device (watch, a wristband, etc.).

Wherein, the control terminal is provided with an interaction device. The first operation is a user's shooting operation, and may be, for example, a touch screen click operation. Specifically, the first operation is a photographing operation performed by the user for one of the at least two photographing devices provided on the drone. Further specifically, the first operation may be a user clicking a shooting button on an interaction device of one of the at least two shooting devices set on the drone.

The drone may include, but is not limited to, an unmanned aerial vehicle, an unmanned vehicle, and an unmanned ship; the control terminal may include a remote controller, a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a desktop computer, a MID, a PDA. One or more of wearable devices (watches, bracelets, etc.); shooting devices may include, but are not limited to, RGB cameras, infrared cameras, cameras that only acquire grayscale images (monocular cameras, dual-head cameras, etc.) .

Taking two shooting devices on the drone as an example, on the interactive device, only one shooting device screen may be displayed, or two shooting device images may be simultaneously displayed.

When only the screen of one photographing device is displayed on the interactive device, the user can click the photographing button on the interactive device to implement the operation of the photographing device. Alternatively, the user can switch the screens of different photographing devices by sliding the screen left and right.

When the screens of the two photographing devices are simultaneously displayed on the interactive device, the first screen may be displayed on the first display interface and the second screen may be displayed on the second display interface. Wherein, the first display interface has the first In one size, the second display interface has a second size, the first size being greater than the second size. Further optionally, the first picture has a first code stream, and the second picture has a second code stream, the first code stream being larger than the second code stream. The user can click on the capture button on the interactive device to effect operation of the source camera of the first screen. Alternatively, the user can switch the screen by clicking on the second screen. The picture switching includes size switching and code stream switching. For example, if the source photographing device of the first screen is the first photographing device and the source photographing device of the second screen is the second photographing device, after the user clicks on the second screen, the screen of the second photographing device is displayed on the first display interface. The screen of the first photographing device is displayed in the second display interface. And, the code stream of the screen of the second photographing device displayed in the first display interface is adjusted by the second code stream to the first code stream, and the code stream of the screen of the first photographing device displayed in the second display interface is One code stream is adjusted to the second code stream.

It should be understood that in addition to receiving the second operation on the interactive device of the control terminal, the control terminal may also receive the second operation on its interactive device. The second operation is a shooting parameter setting operation of the user. Specifically, the second operation is a shooting parameter setting operation performed by the user for one of the at least two shooting devices set on the drone. In the embodiment of the present invention, the parameter settings of the at least two shooting devices set by the drone are independent of each other, that is, which shooting device is currently displayed on the interaction device regardless of whether the current shooting mode is the first shooting instruction or the second shooting instruction. The corresponding screen is parameterized for the shooting device.

S502: After receiving the first operation, send a first shooting instruction to the drone to control at least two shooting devices set on the drone to simultaneously capture.

After receiving the first operation, the control terminal can detect the current shooting mode. The current shooting mode may be the first shooting mode or the second shooting mode. If it is detected that the current shooting mode is the first shooting mode, the control terminal sends a first shooting instruction to the drone to cause the drone to control the at least two shooting devices to simultaneously capture according to the first shooting instruction. The first shooting instruction is used to indicate that at least two shooting devices set on the drone are simultaneously shooting. Among them, the shooting may include taking a picture or recording.

The switch button may be set on the control terminal or the switch button may be displayed on the interaction device on the control terminal, and the current shooting mode may be determined by the state of the switch button. Specifically, if The switch button is in an on state, then the current shooting mode is the first shooting mode; if the switch button is in the on state, the current shooting mode is the second shooting mode. Optionally, when the switch button is in an open state, an icon indicating that the at least two shooting devices are in a simultaneous control state (ie, the current shooting mode is the first shooting mode) is displayed in the shooting interface of the control terminal (icon) ). The user can determine the current shooting mode by viewing the icon to improve the user experience.

Specifically, after the user clicks the photo or video button during the flight, if the current shooting mode is the first shooting mode, the control terminal establishes a connection with the at least two shooting devices simultaneously, and the at least two shooting devices respectively Perform the shooting action.

The method further includes: if detecting that the current shooting mode is the second shooting mode, the control terminal sends a second shooting instruction to the drone to cause the drone to control the at least the second shooting instruction indication according to the second shooting instruction Shooting with one of the two shooting devices. Wherein, the second shooting instruction indicates one of the at least two shooting devices set on the drone.

In the embodiment of the present invention, the user performs simple operation on the control terminal, that is, controls the at least two shooting devices to simultaneously perform shooting, thereby improving the efficiency of shooting by the shooting device and satisfying the user's intelligent demand for shooting.

Further, please refer to FIG. 7, which is a schematic flowchart of another control method of a control terminal according to an embodiment of the present invention. On the basis of the embodiment shown in FIG. 6, as shown in FIG. 6, the control method of the control terminal may include:

S601: Receive a first operation on an interaction device of the control terminal.

The specific methods and principles of step S601 and step S501 are the same, and are not described here.

S602: After receiving the first operation, send a first shooting instruction to the drone to control at least two shooting devices set on the drone to simultaneously capture.

The specific methods and principles of step S602 and step S502 are the same, and are not described here.

S603: Receive image data captured by one or more of the at least two shooting devices sent by the drone, and save the image data in a memory of the control terminal.

Specifically, when the memory configured on the drone or the photographing device is insufficient, or the image data captured by one or more of the at least two photographing devices does not have a corresponding memory storage, After the image data captured by the photographing device is captured, image data captured by at least one of the at least two photographing devices may be transmitted to the control terminal for use. Control the memory of the terminal to save the corresponding image data. For the specific explanation, please refer to the corresponding part. In this way, the storage problem when the photographing device performs photographing is effectively solved.

FIG. 8 is a schematic structural diagram of a drone according to an embodiment of the present invention. As shown in FIG. 8, the drone 30 of an embodiment of the present invention may include one or more communication interfaces 31, one or more processors 32, and one or more memories 33. The one or more processors 32 may operate separately or in concert, and the one or more memories 33 may operate separately or in concert. The communication interface 31, the processor 32, and the memory 33 may be connected by, but not limited to, via a bus 34. It should be understood that the drone 30 of the embodiment of the present invention may further include a body, a power system, a flight control system, a navigation system, a positioning system, a pan/tilt head, a photographing device (such as a photographing device, a camera) that are not shown in FIG. 8 . , sensors (such as attitude sensors) and so on.

The processor 32 is used to store a computer program, and the processor 32 is used to execute a computer program stored in the memory 33.

Specifically, the communication interface 31 is configured to receive a first shooting instruction sent by the control terminal; further, the processor 32 calls a computer program stored in the memory 33, for controlling the at least two shooting devices according to the first shooting instruction. Shoot at the same time.

Optionally, the processor 32 calls the computer program stored in the memory 33 to perform the simultaneous control of the at least two shooting devices according to the first shooting instruction, specifically for controlling the at least two shooting devices according to the first shooting instruction. Take photos or videos at the same time.

Optionally, when the processor 32 calls the computer program stored in the memory 33 to perform the simultaneous shooting according to the first shooting instruction, the at least two shooting devices are determined to be determined according to the first shooting instruction and the at least two shootings. a control instruction corresponding to each of the shooting devices; and controlling, by the corresponding shooting device, the shooting of the at least two shooting devices according to the control instruction.

Optionally, when the communication interface 31 performs the first shooting instruction sent by the control terminal, specifically, the first shooting instruction sent by the control terminal is received in the first shooting mode.

Optionally, the communication interface 31 is further configured to receive, in the second shooting mode, a second shooting instruction sent by the control terminal; further optionally, the processor 32 calls a computer program stored in the memory 33, and is further configured to The second photographing instruction controls one of the at least two photographing devices indicated by the second photographing instruction to photograph.

Optionally, the processor 32 calls a computer program stored in the memory 33, and is also used to acquire the And image data output by the first photographing device of the at least two photographing devices, and image data output by the first photographing device is sent to the control terminal; and image data output by the second photographing device of the at least two photographing devices is acquired, The image data output by the second photographing device is encoded, and the encoded image data is transmitted to the control terminal.

Optionally, the processor 32 calls a computer program stored in the memory 33, and is further configured to send image data captured by at least one of the at least two shooting devices to the control terminal to cause the control terminal to save the image. data.

Optionally, the processor 32 calls the computer program stored in the memory 33 to perform the simultaneous control of the at least two shooting devices according to the first shooting instruction, specifically for controlling the at least two shooting devices according to the first shooting instruction. Simultaneous shooting according to the respective parameters.

It should be understood that, in the embodiment of the present invention, the processor 32 may be a central processing unit (CPU), and the processor may also be other general purpose processors, a digital signal processor (DSP), and a dedicated processor. Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The memory 33 may include a Read-Only Memory (ROM) and a Random Access Memory (RAM), and provides the computer program and data to the processor 32. A portion of the memory 33 may also include a non-volatile random access memory. For example, the memory 33 can also store information of the drone type.

In a specific implementation, the communication interface 31 and the processor 32 described in the embodiment of the present invention may implement the implementation method of the control method of the UAV described in FIG. 2, FIG. 3 or FIG. 4, and the specific technical details may refer to the present disclosure. Descriptions of related parts of the control method of the unmanned aerial vehicle of the embodiment of the present invention are not described herein again.

In the embodiment of the present invention, when receiving the first shooting instruction sent by the control terminal, the drone may control at least two shooting devices set on the drone to simultaneously shoot according to the received first shooting instruction. At the same time, the image data captured by a plurality of shooting devices is recorded, the efficiency of the shooting device is improved, and the user's intelligent demand for shooting is satisfied; the drone can perform corresponding processing on the image data output by different types of shooting devices. The problem of incompatibility when transmitting image data captured by different types of photographing devices to the control terminal can be effectively solved; and the drone can obtain the at least two after acquiring the image data captured by the photographing device At least one of the shooting devices The image data captured by the photographing device is transmitted to the control terminal, and the corresponding image data is saved by using the memory of the control terminal, thereby effectively solving the storage problem when the photographing device performs photographing.

A computer readable storage medium is provided in an embodiment of the present invention, the computer readable storage medium storing a computer program, which is executed by the processor 32 to implement the description of FIG. 2, FIG. 3 or FIG. 4 of the present application. The control method of the drone.

The computer readable storage medium may be an internal storage unit of the drone according to any of the embodiments of the present invention, such as a hard disk or a memory of the drone. The computer readable storage medium may also be an external storage device of the drone, such as a plug-in hard disk equipped on the drone, a smart memory card (SMC), an SD card, a flash memory card ( Flash Card) and so on. Further, the computer readable storage medium may also include both an internal storage unit of the drone and an external storage device. The computer readable storage medium is for storing the computer program and other programs and data required by the drone. The computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.

FIG. 9 is a schematic structural diagram of another unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 9, the drone 40 of the embodiment of the present invention may include a photographing device 41, one or more processors 42, and one or more memories 43. The one or more processors 42 may operate separately or in concert, and the one or more memories 43 may operate separately or in concert. The photographing device 41, the processor 42, and the memory 43 may be connected by, but not limited to, via a bus 44. It should be understood that the drone 40 of the embodiment of the present invention may further include a body, a power system, a flight control system, a navigation system, a positioning system, a pan/tilt head, a photographing device (such as a photographing device, a camera) that are not shown in FIG. 9 . , sensors (such as attitude sensors) and so on.

The processor 42 is used to store a computer program, and the processor 42 is used to execute a computer program stored in the memory 43.

Specifically, the photographing device 41 is configured to capture image data; further, the processor 42 calls a computer program stored in the memory 43 for transmitting the image data to the control terminal to cause the control terminal to save the image data. .

Optionally, the photographing device 41 is at least two photographing devices; the processor 42 calls a computer program stored in the memory 43 for specifically capturing one or more of the at least two photographing devices. The image data is sent to the control terminal to cause the control terminal to save the image data.

It should be understood that the processor 42 in the embodiment of the present invention may be the processor described in the foregoing embodiment, and the memory 43 in the embodiment of the present invention may be the memory described in the foregoing embodiment.

In a specific implementation, the photographing device 41 and the processor 42 described in the embodiment of the present invention may implement an implementation manner of the control method of the drone described in FIG. 5 of the present application. For specific technical details, reference may be made to the unmanned embodiment of the present invention. The description of the relevant parts of the control method of the machine will not be repeated here.

In the embodiment of the present invention, after acquiring the image data captured by the photographing device, the drone may send the image data captured by at least one of the at least two photographing devices to the control terminal, and use the memory of the control terminal. To save the corresponding image data, effectively solve the storage problem when the shooting device is shooting.

A computer readable storage medium is provided in an embodiment of the present invention, the computer readable storage medium storing a computer program that, when executed by the processor 42, implements the drone described in FIG. 5 of the present application Control Method.

It should be understood that the computer readable storage medium in the embodiments of the present invention may be the computer readable storage medium described in the foregoing embodiments.

FIG. 10 is a schematic structural diagram of a control terminal according to an embodiment of the present invention. As shown in FIG. 10, the control terminal 50 of the embodiment of the present invention may include an interaction device 51, one or more processors 52, and one or more memories 53. The one or more processors 52 can operate individually or in concert, and the one or more memories 53 can operate individually or in concert. The interaction device 51, the processor 52, and the memory 53 may be connected by, but not limited to, via a bus 54.

It should be understood that the definitions of the control terminal 50 and the interaction device 51 of the embodiments of the present invention can be referred to the foregoing part, and details are not described herein again.

The processor 52 is used to store a computer program, and the processor 52 is used to execute a computer program stored in the memory 53.

Specifically, the interaction device 51 is configured to receive the first operation; further, the processor 52 calls a computer program stored in the memory 53 for transmitting the first operation to the drone after the interaction device 51 receives the first operation. Shooting commands to control simultaneous shooting of at least two shooting devices set on the drone.

Optionally, the interaction device 51 is specifically configured to receive the first operation in the first shooting mode.

Optionally, the interaction device 51 is further configured to receive the first operation in the second shooting mode; further optionally, the processor 52 calls the computer program stored in the memory 53, and is also used in the interactive installation. After receiving the first operation, the set 51 sends a second shooting instruction to the drone to control one of the at least two shooting devices indicated by the second shooting instruction to take a picture.

Optionally, the processor 52 calls a computer program stored in the memory 53, and is further configured to receive image data captured by one or more of the at least two shooting devices sent by the drone, and The image data is saved in the memory of the control terminal.

It should be understood that the processor 52 in the embodiment of the present invention may be the processor described in any of the foregoing embodiments. The memory 53 in the embodiment of the present invention may be the memory described in any of the foregoing embodiments.

In an implementation, the interaction device 51 and the processor 52 in the embodiment of the present invention may be implemented in the control method of the control terminal described in FIG. 6 or FIG. 7 . The description of the relevant part of the control method of the control terminal will not be repeated here.

In the embodiment of the present invention, the user performs the simple operation on the control terminal, that is, the control of the at least two shooting devices to simultaneously perform the shooting, thereby improving the efficiency of the shooting of the shooting device and satisfying the intelligent demand of the user for shooting; The control terminal can save the image data captured by the one or more shooting devices of the at least two shooting devices in its memory, effectively solving the storage problem when the shooting device performs shooting.

A computer readable storage medium is provided in an embodiment of the invention, the computer readable storage medium storing a computer program that, when executed by the processor 52, implements the control described in FIG. 6 or FIG. 7 of the present application Terminal control method.

It should be understood that the computer readable storage medium in the embodiments of the present invention may be the computer readable storage medium described in any of the foregoing embodiments.

The above is only the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any equivalent person can be easily conceived within the technical scope of the present invention by any person skilled in the art. Modifications or substitutions are intended to be included within the scope of the invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

A control method for a drone, wherein at least two photographing devices are disposed on the drone, wherein the method comprises:

Receiving a first shooting instruction sent by the control terminal;

The at least two photographing devices are controlled to simultaneously shoot according to the first photographing instruction.
The method of claim 1 wherein

The controlling the at least two shooting devices to simultaneously capture according to the first shooting instruction comprises:

The at least two photographing devices are controlled to simultaneously take a photo or video according to the first photographing instruction.
Method according to claim 1 or 2, characterized in that

Controlling the simultaneous shooting of the at least two photographing devices according to the first photographing instruction includes:

Determining, according to the first photographing instruction, a control instruction corresponding to each of the at least two photographing devices;

Controlling, by the corresponding shooting device, the shooting of the at least two shooting devices according to the control instruction.
A method according to any one of claims 1 to 3, characterized in that

The first shooting instruction sent by the receiving control terminal includes:

In the first shooting mode, the first shooting instruction sent by the control terminal is received.
The method of claim 4, wherein the method further comprises:

In the second shooting mode, receiving a second shooting instruction sent by the control terminal;

Controlling, by one of the at least two photographing devices indicated by the second photographing instruction, according to the second photographing instruction.
The method according to any one of claims 1 to 5, wherein the method further comprises:

Obtaining image data output by the first photographing device of the at least two photographing devices;

Transmitting image data output by the first photographing device to the control terminal;

Acquiring image data output by the second photographing device of the at least two photographing devices;

Encoding image data output by the second photographing device;

The encoded image data is transmitted to the control terminal.
The method according to any one of claims 1 to 6, wherein the method further comprises:

And transmitting image data captured by at least one of the at least two photographing devices to the control terminal to cause the control terminal to save the image data.
Method according to any of claims 1-7, characterized in that

The controlling the at least two shooting devices to simultaneously capture according to the first shooting instruction comprises:

The at least two photographing devices are controlled to simultaneously photograph according to respective parameter configurations according to the first photographing instruction.
A control method for a drone, wherein the photographing device is disposed on the drone, wherein the method comprises:

Obtaining image data captured by the photographing device;

The image data is transmitted to the control terminal to cause the control terminal to save the image data.
The method of claim 9 wherein:

Setting at least two photographing devices on the drone;

The transmitting the image data to the control terminal to cause the control terminal to save the image data includes:

And transmitting image data captured by one or more of the at least two photographing devices to the control terminal to cause the control terminal to save the image data.
A control method for controlling a terminal, comprising:

Receiving the first operation;

After receiving the first operation, the first shooting instruction is sent to the drone to control at least two shooting devices set on the drone to simultaneously shoot.
The method of claim 11 wherein

The receiving the first operation includes:

In the first shooting mode, the first operation is received.
The method of claim 12, wherein the method further comprises:

Receiving a second operation in the second shooting mode;

After receiving the second operation, transmitting a second shooting instruction to the drone to control one of the at least two shooting devices indicated by the second shooting instruction to capture.
The method according to any one of claims 11 to 13, wherein the method further comprises:

Receiving image data captured by one or more of the at least two shooting devices sent by the drone;

The image data is saved in a memory of the control terminal.
A drone, wherein the drone is provided with at least two photographing devices, wherein the drone includes:

a communication interface, configured to receive a first shooting instruction sent by the control terminal;

The one or more processors operate separately or in cooperation for controlling the at least two photographing devices to simultaneously capture according to the first photographing instruction.
The drone according to claim 15, wherein

The one or more processors are specifically configured to control the at least two photographing devices to simultaneously take photos or videos according to the first photographing instruction.
The drone according to claim 15 or 16, wherein

When the one or more processors control the at least two photographing devices to simultaneously capture according to the first photographing instruction, specifically, determining, according to the first photographing instruction, a control corresponding to each of the at least two photographing devices And instructing, according to the control instruction, to control shooting of a corresponding one of the at least two photographing devices.
A drone according to any one of claims 15-17, characterized in that

The communication interface is specifically configured to receive, by the first shooting mode, a first shooting instruction sent by the control terminal.
The drone according to claim 18, characterized in that

The communication interface is further configured to receive, in the second shooting mode, a second shooting instruction sent by the control terminal;

The one or more processors are further configured to control, according to the second photographing instruction, one of the at least two photographing devices indicated by the second photographing instruction to photograph.
A drone according to any one of claims 15 to 19, characterized in that

The one or more processors are further configured to:

Obtaining image data output by the first photographing device of the at least two photographing devices,

Transmitting image data output by the first photographing device to the control terminal;

Acquiring image data output by the second photographing device of the at least two photographing devices;

Encoding image data output by the second photographing device;

The encoded image data is transmitted to the control terminal.
A drone according to any one of claims 15 to 20, characterized in that

The one or more processors are further configured to send image data captured by at least one of the at least two photographing devices to the control terminal to cause the control terminal to save the image data.
A drone according to any one of claims 15 to 21, characterized in that

When the one or more processors control the at least two photographing devices to simultaneously capture according to the first photographing instruction, specifically, the at least two photographing devices are controlled to simultaneously photograph according to respective parameter configurations according to the first photographing instruction.
A drone, characterized in that it comprises:

a photographing device for taking image data;

One or more processors, working individually or in concert, for transmitting the image data to the control The terminal is configured to cause the control terminal to save the image data.
The drone according to claim 23, characterized in that

Setting at least two photographing devices on the drone;

The one or more processors are specifically configured to send image data captured by one or more of the at least two photographing devices to the control terminal to cause the control terminal to save the image data.
A control terminal, comprising:

An interaction device, configured to receive the first operation;

One or more processors operating separately or in cooperation for transmitting a first photographing instruction to the drone to control at least two photographing devices disposed on the drone while the interactive device receives the first operation Shooting.
The control terminal according to claim 25, characterized in that

The interaction device is specifically configured to receive the first operation in the first shooting mode.
The control terminal according to claim 26, characterized in that

The interaction device is further configured to receive a second operation in the second shooting mode;

The one or more processors are further configured to: after the interaction device receives the second operation, send a second shooting instruction to the drone to control the at least two shooting devices indicated by the second shooting instruction Shooting on a shooting device.
A control terminal according to any one of claims 25-27, characterized in that

The one or more processors are further configured to receive image data captured by one or more of the at least two shooting devices sent by the drone, and save the image data in a memory of the control terminal in.
A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement any one of claims 1-8 Said method.
A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the method of claim 9 or 10.
A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the method of any one of claims 11-14.