WO2018232584A1 - Véhicule aérien sans pilote et son procédé de commande, et terminal de commande et procédé de commande associés - Google Patents

Véhicule aérien sans pilote et son procédé de commande, et terminal de commande et procédé de commande associés Download PDF

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Publication number
WO2018232584A1
WO2018232584A1 PCT/CN2017/089151 CN2017089151W WO2018232584A1 WO 2018232584 A1 WO2018232584 A1 WO 2018232584A1 CN 2017089151 W CN2017089151 W CN 2017089151W WO 2018232584 A1 WO2018232584 A1 WO 2018232584A1
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WO
WIPO (PCT)
Prior art keywords
photographing
shooting
drone
image data
control terminal
Prior art date
Application number
PCT/CN2017/089151
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English (en)
Chinese (zh)
Inventor
谢卓
吴忠谦
陈一
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 CN201780004747.6A priority Critical patent/CN108496351B/zh
Priority to PCT/CN2017/089151 priority patent/WO2018232584A1/fr
Publication of WO2018232584A1 publication Critical patent/WO2018232584A1/fr

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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
    • 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

Definitions

  • 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.
  • a drone such as an unmanned aerial vehicle
  • a shooting device that can shoot the target object to achieve tasks such as photography, mapping, and monitoring.
  • 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).
  • 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.
  • 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.
  • an embodiment of the present invention provides a method for controlling a drone, including:
  • the at least two photographing devices are controlled to simultaneously shoot according to the first photographing instruction.
  • an embodiment of the present invention provides another method for controlling a drone, including:
  • the image data is transmitted to the control terminal to cause the control terminal to save the image data.
  • an embodiment of the present invention provides a control method for controlling a terminal, including:
  • the first shooting instruction is sent to the drone to control at least two shooting devices set on the drone to simultaneously shoot.
  • 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.
  • an embodiment of the present invention provides another drone, including:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the drone when receiving the first shooting instruction sent by the control terminal, 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.
  • FIG. 1 is a schematic diagram of an application scenario of control of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic flow chart of another control method of a drone according to an embodiment of the present invention.
  • FIG. 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. 9 is a schematic structural diagram of another drone according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of an application scenario of control of a drone according to an embodiment of the present invention.
  • 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.
  • the first photographing device 11 and the second photographing device 12 can be fixed on the drone 10 through the pan/tilt, respectively.
  • 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.
  • 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.).
  • a smart phone such as an Android mobile phone, an iOS mobile phone, etc.
  • a tablet computer such as an Android mobile phone, an iOS mobile phone, etc.
  • MID mobile Internet device
  • PDA personal digital assistant
  • wearable device wear, One or more of a bracelet, etc.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 of the first photographing device 11 and/or the second photographing device 12 may be carried in the first photographing instruction.
  • 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.
  • the drone 10 may control the corresponding first photographing device 11 and/or the first photographing instruction according to the first photographing instruction.
  • the photographing device 12 performs shooting according to the default parameter configuration.
  • 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 shooting may include taking a photo or recording.
  • 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.
  • 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. .
  • 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.
  • 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.
  • the first photographing apparatus 11 has an image processing capability
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the default parameter configuration is used for shooting.
  • two photographing apparatuses the first photographing apparatus 11 and the second photographing apparatus 12, respectively
  • two or more imaging devices may be disposed in the UAV 10, which are not limited 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.
  • FIG. 2 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention.
  • the method can be performed by a drone, on which at least two photographing devices are arranged.
  • 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.
  • a smart phone such as an Android mobile phone, an iOS mobile phone, etc.
  • 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
  • the second shooting mode is specifically a single shooting device shooting mode.
  • 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.
  • 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.).
  • 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.
  • 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.
  • the parameter configuration may be a default parameter configuration of the photographing device.
  • the parameter configuration can be included in the first capture instruction.
  • the drone 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.
  • FIG. 3 is a schematic flowchart diagram of another method for controlling a drone according to an embodiment of the present invention.
  • the control method of the drone may include:
  • 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.
  • 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.
  • the image data output by the first photographing device is encoded image data
  • the drone may directly send the image data to Control terminal.
  • 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.
  • the image data output by different types of shooting devices is processed correspondingly.
  • FIG. 4 is a schematic flowchart diagram of still another method for controlling a drone according to an embodiment of the present invention.
  • the control method of the drone may include:
  • S301 Receive a first shooting instruction sent by the control terminal.
  • 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.
  • step S301 and step S101 are the same, and are not described here.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 6 is a schematic flowchart of a control method of a control terminal according to an embodiment of the present invention.
  • the method can be performed by a control terminal.
  • 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.).
  • 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.
  • 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.
  • a smart phone such as an Android mobile phone, an iOS mobile phone, etc.
  • a tablet computer such as an Android mobile phone, an iOS mobile phone, etc.
  • a tablet computer such as an Android mobile phone, an iOS mobile phone, etc.
  • a desktop computer such as an iPad, Samsung Galaxy Tabs, etc.
  • MID a personal digital assistant
  • PDA personal area network
  • 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.) .
  • only one shooting device screen may be displayed, or two shooting device images may be simultaneously displayed.
  • the user can click the photographing button on the interactive device to implement the operation of the photographing device.
  • the user can switch the screens of different photographing devices by sliding the screen left and right.
  • the first screen may be displayed on the first display interface and the second screen may be displayed on the second display interface.
  • 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.
  • the first picture has a first code stream
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the second shooting mode is specifically a single shooting device shooting mode.
  • the control terminal 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.
  • 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.
  • the control terminal 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.
  • the second shooting instruction indicates one of the at least two shooting devices set on the drone.
  • 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.
  • FIG. 7 is a schematic flowchart of another control method of a control terminal according to an embodiment of the present invention.
  • the control method of the control terminal may include:
  • S601 Receive a first operation on an interaction device of the control terminal.
  • 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.
  • 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.
  • 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
  • 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.
  • FIG. 8 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • DSP digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • 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.
  • the memory 33 can also store information of the drone type.
  • 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.
  • the drone 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 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 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • processor 42 in the embodiment of the present invention may be the processor described in the foregoing embodiment
  • the memory 43 in the embodiment of the present invention may be the memory described in the foregoing embodiment.
  • 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.
  • 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.
  • the drone 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the interaction device 51 is specifically configured to receive the first operation in the first shooting mode.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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Abstract

L'invention concerne un véhicule aérien sans pilote et son procédé de commande, ainsi qu'un terminal de commande et un procédé de commande associés Au moins deux appareils photographiques (11, 12) sont disposés sur le véhicule aérien sans pilote (10). Le procédé de commande consiste à : recevoir une première instruction de photographie envoyée par un terminal de commande ; commander, selon la première instruction de photographie, les deux, ou plus, appareils photographiques (11, 12) pour effectuer simultanément une photographie, ou commander, selon une seconde instruction de photographie, au moins l'un des deux, ou plus, appareils photographiques (11, 12) pour effectuer une photographie. Selon le véhicule aérien sans pilote et son procédé de commande, l'efficacité de photographie d'appareils photographiques est améliorée, et un niveau élevé d'intelligence est fourni.
PCT/CN2017/089151 2017-06-20 2017-06-20 Véhicule aérien sans pilote et son procédé de commande, et terminal de commande et procédé de commande associés WO2018232584A1 (fr)

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CN201780004747.6A CN108496351B (zh) 2017-06-20 2017-06-20 无人机及其控制方法、控制终端及其控制方法
PCT/CN2017/089151 WO2018232584A1 (fr) 2017-06-20 2017-06-20 Véhicule aérien sans pilote et son procédé de commande, et terminal de commande et procédé de commande associés

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PCT/CN2017/089151 WO2018232584A1 (fr) 2017-06-20 2017-06-20 Véhicule aérien sans pilote et son procédé de commande, et terminal de commande et procédé de commande associés

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