WO2018232686A1 - Photographing control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle - Google Patents

Photographing control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle Download PDF

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WO2018232686A1
WO2018232686A1 PCT/CN2017/089530 CN2017089530W WO2018232686A1 WO 2018232686 A1 WO2018232686 A1 WO 2018232686A1 CN 2017089530 W CN2017089530 W CN 2017089530W WO 2018232686 A1 WO2018232686 A1 WO 2018232686A1
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power supply
rechargeable battery
drone
power
external power
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PCT/CN2017/089530
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French (fr)
Chinese (zh)
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王佳迪
张永生
梁贵彬
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2017/089530 priority Critical patent/WO2018232686A1/en
Publication of WO2018232686A1 publication Critical patent/WO2018232686A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60Monitoring or controlling charging stations
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/232Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor
    • H04N5/23203Remote-control signaling for television cameras, cameras comprising an electronic image sensor or for parts thereof, e.g. between main body and another part of camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00Type of vehicles
    • B60L2200/10Air crafts
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations

Abstract

Disclosed is a photographing control method and apparatus for an unmanned aerial vehicle, and an unmanned aerial vehicle. The unmanned aerial vehicle comprises a body and a pan-tilt connected to the body, wherein the pan-tilt is used for carrying a photographing apparatus. The method comprises: acquiring a state of a charging interface of the unmanned aerial vehicle, wherein the charging interface is electrically connected to an external power supply device; and when the state of the charging interface involves same being electrically connected to the external power supply device, supplying, by using the external power supply device, power to a rechargeable battery carried by the unmanned aerial vehicle, and controlling the unmanned aerial vehicle such that same remains in a standby state. The photographing control method and apparatus for an unmanned aerial vehicle and the unmanned aerial vehicle provided by the present invention effectively ensure that when the unmanned aerial vehicle does not execute operations such as tracking and photographing, the state of full power can be maintained, thereby extending the working time of the unmanned aerial vehicle and devices provided thereon, making it convenient for the unmanned aerial vehicle to execute long photographing operations, and thereby effectively ensuring the practicability of the control method.

Description

无人机的拍摄控制方法、装置及无人机Shooting control method, device and drone of drone 技术领域Technical field
本发明涉及无人机技术领域,尤其涉及一种无人机的拍摄控制方法、装置及无人机。The invention relates to the technical field of drones, in particular to a shooting control method and device for a drone and a drone.
背景技术Background technique
随着科学技术的飞速发展,应用于拍摄领域的设备越来越多样化,一般情况下,在进行大制作航拍摄影时,常常需要无人机进行辅助拍摄,而拍摄装置设置于无人机的云台上,此时,无人机作为拍摄的辅助设备,可以有效地保证拍摄画面的精度和质量。With the rapid development of science and technology, the equipment used in the field of photography is more and more diversified. Under normal circumstances, when performing aerial photography, it is often necessary for the drone to perform auxiliary shooting, and the shooting device is set in the drone. On the gimbal, at this time, the drone can be used as an auxiliary device for shooting, which can effectively ensure the accuracy and quality of the captured picture.
现有技术中,无人机与充电电池均为一体化设计,电量只能单方向的由电池供给到无人机飞行端;然而,在利用无人机进行拍摄的过程中,当无人机设置于预定的拍摄位置之后,拍摄现场往往还需要调度现场人员以及拍摄环境等,此时,无人机无法立即进行正式的拍摄操作,需要在现场人员和拍摄环境准备完毕后方可升空进行拍摄操作;从而,在进行拍摄之前,无人机存在一段等待拍摄时间,而在该等待拍摄时间段内,无人机以及设置于无人机上的设备会浪费掉一些电量,若再次为充电电池进行供电,则较为繁琐、负责,因此,缩短了无人机以及设置于无人机上设备的工作时间,不利于无人机进行长时间的拍摄操作。In the prior art, the drone and the rechargeable battery are integrated design, and the power can only be supplied from the battery to the flying end of the drone in one direction; however, in the process of shooting with the drone, when the drone is used After being set at the predetermined shooting position, the shooting scene often needs to dispatch the on-site personnel and the shooting environment. At this time, the drone cannot immediately perform the official shooting operation, and it is necessary to take off the film after the scene personnel and the shooting environment are ready. Therefore, before the shooting, the drone has a waiting time for shooting, and during the waiting shooting period, the drone and the device set on the drone will waste some power, if the battery is charged again Power supply is more cumbersome and responsible. Therefore, the working time of the drone and the equipment installed on the drone is shortened, which is not conducive to the long-time shooting operation of the drone.
发明内容Summary of the invention
本发明提供了一种无人机的拍摄控制方法、装置及无人机,用于解决现有技术中存在的缩短了无人机以及设置于无人机上设备的工作时间,不利于无人机进行长时间的拍摄操作的问题。The invention provides a shooting control method and device for a drone and a drone, which are used for solving the working time of shortening the drone and the device installed on the drone in the prior art, which is disadvantageous to the drone The problem of performing long shooting operations.
本发明的第一方面是为了提供一种无人机的拍摄控制方法,所述无人机包括机体和与所述机体连接的云台,所述云台用于承载拍摄装置,所述方法 包括:A first aspect of the present invention is to provide a photographing control method for a drone, the drone including a body and a pan/tilt connected to the body, the pan head being used to carry a photographing device, and the method include:
获取所述无人机的充电接口的状态,其中,所述充电接口用于与外部供电设备电连接;Obtaining a state of a charging interface of the drone, wherein the charging interface is configured to be electrically connected to an external power supply device;
在所述充电接口的状态为与所述外部供电设备电连接时,利用所述外部供电设备给所述无人机承载的充电电池进行供电,并且控制所述无人机保持待机状态。When the state of the charging interface is electrically connected to the external power supply device, the external power supply device is used to supply power to the rechargeable battery carried by the drone, and the drone is controlled to maintain a standby state.
本发明的第二方面是为了提供了一种无人机的拍摄控制装置,所述无人机包括机体和与所述机体连接的云台,所述云台用于承载拍摄装置,所述装置包括:处理器和存储器,所述存储器用于存储程序指令,所述处理器的个数可以为1个或多个,且可以单独或协同工作,所述处理器用于运行所述存储器中存储的程序指令,以实现:A second aspect of the present invention is to provide a photographing control device for a drone, the drone including a body and a pan/tilt connected to the body, the pan head for carrying a photographing device, the device The processor includes a processor for storing program instructions, the number of the processors may be one or more, and may work separately or in cooperation, and the processor is configured to run the stored in the memory Program instructions to achieve:
获取所述无人机的充电接口的状态,其中,所述充电接口用于与外部供电设备电连接;Obtaining a state of a charging interface of the drone, wherein the charging interface is configured to be electrically connected to an external power supply device;
在所述充电接口的状态为与所述外部供电设备电连接时,利用所述外部供电设备给所述无人机承载的充电电池进行供电,并且控制所述无人机保持待机状态。When the state of the charging interface is electrically connected to the external power supply device, the external power supply device is used to supply power to the rechargeable battery carried by the drone, and the drone is controlled to maintain a standby state.
本发明的第三方面是为了提供了一种无人机的拍摄控制装置,所述无人机包括机体和与所述机体连接的云台,所述云台用于承载拍摄装置,所述装置包括:A third aspect of the present invention is to provide a photographing control device for a drone, the drone including a body and a pan/tilt connected to the body, the pan head being used to carry a photographing device, the device include:
获取模块,用于获取所述无人机的充电接口的状态,其中,所述充电接口用于与外部供电设备电连接;An acquiring module, configured to acquire a state of a charging interface of the drone, wherein the charging interface is configured to be electrically connected to an external power supply device;
控制模块,用于在所述充电接口的状态为与所述外部供电设备电连接时,利用所述外部供电设备给所述无人机承载的充电电池进行供电,并且控制所述无人机保持待机状态。a control module, configured to supply power to the rechargeable battery carried by the drone by using the external power supply device when the state of the charging interface is electrically connected to the external power supply device, and control the drone to maintain standby mode.
本发明的第四方面是为了提供一种无人机,包括:A fourth aspect of the present invention is to provide a drone comprising:
机体;Body
云台,与所述机体连接,所述云台上用于承载拍摄装置;以及 a cloud platform connected to the body, the pan/tilt is used to carry a camera; and
上述的无人机的拍摄控制装置。The above-described shooting control device for the drone.
本发明提供的无人机的拍摄控制方法、装置及无人机,通过获取无人机的充电接口的状态,并对充电接口的状态进行分析处理,当充电接口的状态为与外部供电设备电连接时,利用外部供电设备给无人机承载的充电电池进行供电,而充电电池可以为无人机上的其他设备进行供电,并且控制无人机保持待机状态,有效地保证了当无人机不进行跟踪拍摄等操作时,可以保持满电量状态,从而延长了无人机以及设置于无人机上设备的工作时间,便于无人机进行长时间的拍摄操作,进而有效地保证了该控制方法的实用性,有利于市场的推广与应用。The photographing control method, device and drone of the drone provided by the invention obtain the state of the charging interface of the drone, and analyze and process the state of the charging interface, when the state of the charging interface is electric with the external power supply device When connected, the external power supply device is used to supply power to the rechargeable battery carried by the drone, and the rechargeable battery can supply power to other devices on the drone, and control the drone to maintain the standby state, effectively ensuring that when the drone does not When performing tracking and other operations, the battery can be kept fully charged, thereby extending the working time of the drone and the device installed on the drone, and facilitating the long-time shooting operation of the drone, thereby effectively ensuring the control method. Practicality is conducive to the promotion and application of the market.
附图说明DRAWINGS
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.
图1为本发明实施例提供的一种无人机的拍摄控制方法的流程示意图;1 is a schematic flowchart of a shooting control method of a drone according to an embodiment of the present invention;
图2为本发明实施例提供的另一种无人机的拍摄控制方法的流程示意图;FIG. 2 is a schematic flowchart diagram of another shooting control method of a drone according to an embodiment of the present invention; FIG.
图3为本发明实施例提供的利用所述外部供电设备给所述无人机承载的充电电池进行供电的流程示意图;3 is a schematic flowchart of supplying power to a rechargeable battery carried by the unmanned aerial vehicle by using the external power supply device according to an embodiment of the present invention;
图4为本发明实施例提供的根据所述电量信息控制所述外部供电设备为所述充电电池进行供电的流程示意图一;4 is a schematic flowchart 1 of controlling an external power supply device to supply power to the rechargeable battery according to the power information according to an embodiment of the present invention;
图5为本发明实施例提供的获取所述充电电池的供电模式的流程示意图;FIG. 5 is a schematic flowchart of acquiring a power supply mode of the rechargeable battery according to an embodiment of the present disclosure;
图6为本发明实施例提供的根据所述电量信息控制所述外部供电设备为所述充电电池进行供电的流程示意图二;FIG. 6 is a second schematic flowchart of controlling the external power supply device to supply power to the rechargeable battery according to the power quantity information according to an embodiment of the present disclosure;
图7为本发明实施例提供的又一种无人机的拍摄控制方法的流程示意图;FIG. 7 is a schematic flowchart diagram of still another method for shooting control of a drone according to an embodiment of the present invention;
图8为本发明实施例提供的充电电池与无人机供电系统的连接结构示意图一;8 is a schematic diagram 1 of a connection structure between a rechargeable battery and a power supply system of a drone according to an embodiment of the present invention;
图9为本发明实施例提供的充电电池与无人机供电系统的连接结构示意图二;FIG. 9 is a second schematic structural diagram of a connection structure between a rechargeable battery and a power supply system of a drone according to an embodiment of the present invention; FIG.
图10为本发明实施例提供的一种无人机的拍摄控制装置的结构示意图 一;FIG. 10 is a schematic structural diagram of a shooting control device for a drone according to an embodiment of the present invention; One;
图11为本发明实施例提供的一种无人机的拍摄控制装置的结构示意图二;11 is a schematic structural diagram 2 of a shooting control device for a drone according to an embodiment of the present invention;
图12为本发明实施例提供的一种无人机的结构示意图一;12 is a schematic structural diagram 1 of a drone according to an embodiment of the present invention;
图13为本发明实施例提供的一种无人机的结构示意图二。FIG. 13 is a schematic structural diagram 2 of a drone according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.
下面结合附图,对本发明的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特性可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The characteristics of the embodiments and examples described below can be combined with each other without conflict.
图1为本发明实施例提供的一种无人机的拍摄控制方法的流程示意图;参考附图1所示,本实施例提供了一种无人机的拍摄控制方法,其中,无人机包括机体和与机体连接的云台,该云台可以设置于机体的上方或者下方,云台用于承载拍摄装置,该控制方法包括:FIG. 1 is a schematic flowchart of a method for controlling a shooting of a drone according to an embodiment of the present invention; and referring to FIG. 1 , the embodiment provides a shooting control method for a drone, wherein the drone includes The body and the pan/tilt connected to the body, the pan/tilt can be disposed above or below the body, and the pan/tilt is used to carry the camera. The control method includes:
S1:获取无人机的充电接口的状态,其中,充电接口用于与外部供电设备电连接。S1: Obtain a state of a charging interface of the drone, wherein the charging interface is used to electrically connect with the external power supply device.
其中,无人机上设置有充电接口,该充电接口可以设置于机体上,通过该充电接口,无人机可以与外部供电设备进行连接,以实现外部供电设备为无人机进行供电;另外,该充电接口的状态可以包括:与外部供电设备相连接的状态和与外部供电设备断开连接的状态;而具体获取充电接口状态的实现方式可以为:获取充电接口的电流或者电压信息,当电流或者电压信息大 于预设的电流阈值或者电压阈值时,则说明该充电接口的状态为与外部供电设备相连接的状态;若电流或者电压信息小于或等于预设的电流阈值或者电压阈值时,则说明该充电接口的状态为与外部供电设备断开连接的状态。当然的,本领域技术人员还可以采用其他的方式来获取无人机的充电接口的状态,只要能够保证充电接口状态获取的准确可靠性即可,在此不再赘述。Wherein, the unmanned aerial vehicle is provided with a charging interface, and the charging interface can be disposed on the body, through which the drone can be connected with the external power supply device, so that the external power supply device supplies power to the drone; The state of the charging interface may include: a state connected to the external power supply device and a state disconnected from the external power supply device; and the specific acquisition of the state of the charging interface may be: obtaining current or voltage information of the charging interface, when current or Large voltage information When the preset current threshold or voltage threshold is used, the state of the charging interface is connected to the external power supply device; if the current or voltage information is less than or equal to the preset current threshold or voltage threshold, the charging is indicated The state of the interface is the state of disconnection from the external power supply device. Certainly, those skilled in the art can also use other methods to obtain the state of the charging interface of the drone, as long as the accuracy and reliability of the charging interface state can be ensured, and details are not described herein again.
S2:在充电接口的状态为与外部供电设备电连接时,利用外部供电设备给无人机承载的充电电池进行供电,并且控制无人机保持待机状态。S2: When the state of the charging interface is electrically connected to the external power supply device, the external power supply device is used to supply power to the rechargeable battery carried by the drone, and the drone is controlled to remain in the standby state.
在获取到无人机的充电接口的状态之后,可以对充电接口的状态进行分析处理,若确定充电接口的状态为与外部供电设备电连接的状态时,此时,无人机与外部供电设备通过充电接口相连接,进而可以利用该外部供电设备给无人机进行供电,具体的,外部供电设备的供电对象可以为无人机上承载的充电电池,其中,该充电电池可以用于在无人机处于飞行状态时,为机体、云台以及拍摄装置进行供电;也即,外部供电设备通过充电接口与无人机电连接,从而可以为无人机上的充电电池进行供电,此时,该充电电池可以处于充电状态;此外,为了保证供电的稳定可靠性,可以控制无人机保持待机状态。After obtaining the state of the charging interface of the drone, the state of the charging interface can be analyzed and processed. If the state of the charging interface is determined to be electrically connected to the external power supply device, at this time, the drone and the external power supply device The charging interface is connected, and the external power supply device can be used to supply power to the drone. Specifically, the power supply object of the external power supply device can be a rechargeable battery carried on the drone, wherein the rechargeable battery can be used in no one. When the machine is in flight, power is supplied to the body, the pan/tilt head and the photographing device; that is, the external power supply device is connected to the unmanned electromechanical device through the charging interface, so that the rechargeable battery on the drone can be powered. At this time, the rechargeable battery It can be in a charging state; in addition, in order to ensure the stable reliability of the power supply, the drone can be controlled to remain in the standby state.
本实施例提供的无人机的拍摄控制方法,通过获取无人机的充电接口的状态,并对充电接口的状态进行分析处理,当充电接口的状态为与外部供电设备电连接时,利用外部供电设备给无人机承载的充电电池进行供电,而充电电池可以为无人机上的其他设备进行供电,并且控制无人机保持待机状态,有效地保证了当无人机不进行跟踪拍摄等操作时,可以保持满电量状态,从而延长了无人机以及设置于无人机上设备的工作时间,便于无人机进行长时间的拍摄操作,进而有效地保证了该控制方法的实用性,有利于市场的推广与应用。The photographing control method of the drone provided by the embodiment provides the state of the charging interface of the drone and analyzes the state of the charging interface. When the state of the charging interface is electrically connected to the external power supply device, the external use is performed. The power supply device supplies power to the rechargeable battery carried by the drone, and the rechargeable battery can supply power to other devices on the drone, and controls the drone to maintain the standby state, thereby effectively ensuring that the drone does not perform tracking and the like. When the state of full charge can be maintained, the working time of the drone and the device set on the drone is prolonged, and the drone is allowed to perform long-time shooting operations, thereby effectively ensuring the practicability of the control method, which is beneficial to the utility model. Market promotion and application.
图2为本发明实施例提供的另一种无人机的拍摄控制方法的流程示意图;在上述实施例的基础上,参考附图2可知,本实施例中的拍摄控制方法还可以包括:FIG. 2 is a schematic flowchart of a shooting control method of another UAV according to an embodiment of the present invention. On the basis of the foregoing embodiment, referring to FIG. 2, the shooting control method in this embodiment may further include:
S101:获取无人机的工作状态。S101: Obtain the working state of the drone.
无人机的工作状态可以包括待机状态和飞行状态,其中,待机状态是指:无人机保持开机、但不执行任何的实质性的操作,例如:飞行、悬停、跟踪 拍摄等操作;飞行状态是指:无人机保持开机、且可以执行任何的实质性的操作,例如:飞行、悬停、跟踪拍摄等操作。The working state of the drone may include a standby state and a flight state, wherein the standby state means that the drone remains powered on, but does not perform any substantial operations, such as: flying, hovering, tracking Shooting and other operations; flight status means that the drone remains on and can perform any substantial operations such as flight, hover, tracking and other operations.
S102:判断无人机的工作状态。S102: Determine the working state of the drone.
在获取到无人机的工作状态之后,可以判断该无人机的工作状态的类型,具体的,可以将所获取的无人机的工作状态参数与预设的标准状态参数进行分析对比,进而可以确定无人机的工作状态。After obtaining the working state of the drone, the type of the working state of the drone can be determined. Specifically, the working state parameter of the obtained drone can be analyzed and compared with the preset standard state parameter, and then You can determine the working status of the drone.
S103:当无人机处于待机状态时,获取无人机的充电接口的状态。S103: Acquire the state of the charging interface of the drone when the drone is in the standby state.
在对无人机的工作状态进行分析处理之后,确定无人机处于待机状态时,则可以获取无人机的充电接口的状态参数,该状态参数可以包括电流信息和/或电压信息;具体的,当充电接口的状态参数为电流信息时,可以通过电流传感器采集获取充电接口的电流信息;当充电接口的状态参数为电压信息时,可以通过电压传感器采集获取充电接口的电压信息;当然的,本领域技术人员还可以采用其他的方式来获取无人机的充电接口的状态参数,只要能够保证充电接口的状态获取的准确可靠性即可,在此不再赘述。After analyzing and analyzing the working state of the drone, determining that the drone is in the standby state, the state parameter of the charging interface of the drone may be acquired, and the state parameter may include current information and/or voltage information; When the state parameter of the charging interface is current information, the current information of the charging interface can be acquired by the current sensor; when the state parameter of the charging interface is voltage information, the voltage information of the charging interface can be collected by the voltage sensor; of course, A person skilled in the art may also use other methods to obtain the state parameters of the charging interface of the drone, as long as the accuracy and reliability of the state of the charging interface can be ensured, and details are not described herein.
S104:当无人机处于飞行状态时,控制充电电池给无人机以及拍摄装置进行供电。S104: When the drone is in a flight state, the rechargeable battery is controlled to supply power to the drone and the photographing device.
在对无人机的工作状态进行分析处理之后,确定无人机处于飞行状态时,即无人机可以进行跟踪拍摄等实质性的操作,在进行上述操作时,无人机的飞行速度、飞行高度会发生不断的变化,此时,为了保证对无人机进行供电的安全可靠性,外部供电设备不会对无人机进行供电,可以控制充电电池给无人机以及拍摄装置进行供电;从而保证了无人机与拍摄装置进行工作时具有足够的电能,进而有效地延长了无人机与拍摄装置的工作时间。After analyzing and processing the working state of the drone, it is determined that the drone is in a flight state, that is, the drone can perform substantial operations such as tracking and shooting, and the flying speed and flight of the drone are performed during the above operation. The height will change constantly. At this time, in order to ensure the safety and reliability of the power supply to the drone, the external power supply device does not supply power to the drone, and can control the rechargeable battery to supply power to the drone and the photographing device; It ensures that the drone has enough power when working with the camera, which effectively extends the working time of the drone and the camera.
本实施例提供的无人机的拍摄控制方法,通过获取无人机的工作状态,并对无人机的工作状态进行分析处理,当无人机处于待机状态时,获取无人机的充电接口的状态,以判断是否利用外部供电设备为无人机上的充电电池进行供电,进而可以实现,在无人机没有进行任何实质性操作时,使得无人机以及无人机上的设备保持满电量状态;当无人机处于飞行状态时,为了保证对无人机飞行的安全可靠性,控制充电电池给无人机以及拍摄装置进行供电,从而保证了无人机与拍摄装置进行工作时具有足够的电能,进而有效地延长了无人机与拍摄装置的工作时间,进一步提高了该控制方法使用的稳定 可靠性。The photographing control method of the drone provided by the embodiment obtains the working state of the drone and analyzes and processes the working state of the drone, and acquires the charging interface of the drone when the drone is in the standby state. State to determine whether the external power supply device is used to supply power to the rechargeable battery on the drone, thereby enabling the drone and the devices on the drone to remain fully charged when the drone is not performing any substantial operations. When the drone is in flight, in order to ensure the safety and reliability of the drone flight, the rechargeable battery is controlled to supply power to the drone and the camera, thereby ensuring that the drone and the camera have sufficient work. The electric energy, which effectively extends the working time of the drone and the camera, further improves the stability of the control method. reliability.
图3为本发明实施例提供的利用外部供电设备给无人机承载的充电电池进行供电的流程示意图,在上述实施例的基础上,继续参考附图3所示,在充电接口的状态为与外部供电设备电连接时,本实施例对于利用外部供电设备给无人机承载的充电电池进行供电的具体实现方式不做限定,本领域技术人员可以根据具体的设计需求进行设置,较为优选的,利用外部供电设备给无人机承载的充电电池进行供电可以包括:FIG. 3 is a schematic flowchart of supplying power to a rechargeable battery carried by an unmanned aerial vehicle by using an external power supply device according to an embodiment of the present invention. On the basis of the foregoing embodiment, referring to FIG. 3, the state of the charging interface is When the external power supply device is electrically connected, the specific implementation manner for the power supply of the rechargeable battery carried by the unmanned device by using the external power supply device is not limited, and those skilled in the art may set according to specific design requirements, and more preferably, Powering the rechargeable battery carried by the drone with an external power supply device may include:
S21:获取充电电池的电量信息;S21: Acquire power information of the rechargeable battery;
其中,充电电池的电量信息可以包括:满电量和未满电量;具体获取充电电池的电量信息的方式可以包括:先获取充电电池的电参量,通过对电参量的分析判断来确定充电电池的电量信息,其中,电参量可以包括如下至少一种:电池的电压信息、电池的荷电状态、电池的电能存储单元的电压,电池的电能存储单元的荷电状态等,例如:当电参量为电池的电压信息时,可以利用电压检测装置来获取充电电池的电压信息,而后将所获取的电压信息与预设的电压阈值范围进行分析对比,若电压信息满足预设的电压阈值范围,则确定该电池的电量信息为满电量;若电压信息不满足预设的电压阈值范围,则确定该电池的电量信息为未满电量。The power information of the rechargeable battery may include: full power and less than full power; the manner of obtaining the power information of the rechargeable battery may include: first obtaining the electrical parameter of the rechargeable battery, and determining the power of the rechargeable battery by analyzing and judging the electrical parameter. The information, wherein the electrical parameter may include at least one of: voltage information of the battery, a state of charge of the battery, a voltage of the electrical energy storage unit of the battery, a state of charge of the electrical energy storage unit of the battery, etc., for example, when the electrical parameter is a battery When the voltage information is used, the voltage detecting device may be used to obtain the voltage information of the rechargeable battery, and then the obtained voltage information is compared with a preset voltage threshold range. If the voltage information meets the preset voltage threshold range, the method is determined. The battery power information is full; if the voltage information does not meet the preset voltage threshold range, it is determined that the battery power information is not full.
S22:根据电量信息控制外部供电设备为充电电池进行供电。S22: Control the external power supply device to supply power to the rechargeable battery according to the power information.
在获取到电量信息之后,可以对电量信息进行分析处理,并根据分析处理结果控制外部供电设备对充电电池进行供电;其中,参考附图4可知,一种可实现的方式为,该根据电量信息控制外部供电设备为充电电池进行供电可以包括以下步骤S221-S222或者步骤S223-步骤S225。After the power information is obtained, the power information may be analyzed and processed, and the external power supply device is controlled to supply power to the rechargeable battery according to the analysis processing result. Referring to FIG. 4, an achievable manner is: Controlling the external power supply device to supply power to the rechargeable battery may include the following steps S221-S222 or steps S223-S225.
S221:获取充电电池的供电模式。S221: Acquire a power supply mode of the rechargeable battery.
其中,充电电池的供电模式可以包括智能供电模式和普通供电模式,在充电电池处于智能供电模式时,利用外部供电设备不仅可以为充电电池供电,并且该外部供电设备还可以通过充电电池的内部线路为无人机、云台或者拍摄装置进行供电;在充电电池处于普通供电模式时,利用外部供电设备可以单独为充电电池进行供电。The power supply mode of the rechargeable battery may include an intelligent power supply mode and a normal power supply mode. When the rechargeable battery is in the smart power supply mode, the external power supply device can not only supply power to the rechargeable battery, but the external power supply device can also pass the internal circuit of the rechargeable battery. Powering the drone, pan/tilt or camera; when the rechargeable battery is in the normal power mode, the external battery can be used to power the rechargeable battery separately.
另外,本实施例对于获取充电电池的供电模式的具体实现方式不做限定,本领域技术人员可以根据具体的设计需求进行设置,进一步的,参考附图8-9 所示,可以在充电电池10上设置有第一充电端口40和第二充电端口20,第一充电端口40为单独对充电电池10进行供电的接口,第二充电端口20为充电接口;也即,第一充电端口40可以为与普通供电模式相对应的连接端口,第二充电端口20可以为与智能供电模式相对应的连接端口。In addition, the specific implementation manner for obtaining the power supply mode of the rechargeable battery is not limited in this embodiment, and those skilled in the art may set according to specific design requirements. Further, refer to FIG. 8-9. As shown, the first charging port 40 and the second charging port 20 may be disposed on the rechargeable battery 10, the first charging port 40 is an interface for separately supplying power to the rechargeable battery 10, and the second charging port 20 is a charging interface; that is, The first charging port 40 may be a connection port corresponding to a normal power supply mode, and the second charging port 20 may be a connection port corresponding to the smart power supply mode.
在附图8中,无人机供电系统30可以管理充电电池10,充电电池10上设置有第一充电端口40和第二充电端口20,充电电池10与无人机供电系统30电连接,具体的,无人机供电系统30通过第一充电端口40与充电电池10电连接,以实现无人机供电系统30通过该第一充电端口40为充电电池10进行供电,此时,外部供电设备可以直接通过第二充电端口20与充电电池10电连接。在附图9中,与附图8中结构不同的是,在无人机供电系统30上设置有第二充电端口20,此时,外部供电设备可以通过无人机供电系统30上的第二充电端口20与充电电池10实现电连接,或者,也可以直接通过充电电池10上的第二充电端口20与充电电池10实现电连接。In FIG. 8, the drone power supply system 30 can manage the rechargeable battery 10, and the rechargeable battery 10 is provided with a first charging port 40 and a second charging port 20, and the rechargeable battery 10 is electrically connected to the drone power supply system 30, specifically The UAV power supply system 30 is electrically connected to the rechargeable battery 10 through the first charging port 40, so that the UAV power supply system 30 supplies power to the rechargeable battery 10 through the first charging port 40. At this time, the external power supply device can The rechargeable battery 10 is electrically connected directly through the second charging port 20. In FIG. 9, different from the structure of FIG. 8, a second charging port 20 is disposed on the drone power supply system 30. At this time, the external power supply device can pass the second on the drone power supply system 30. The charging port 20 is electrically connected to the rechargeable battery 10, or alternatively, the charging port 10 can be electrically connected directly through the second charging port 20 on the rechargeable battery 10.
基于上述充电电池的结构,继续参考附图5所示,获取充电电池的供电模式可以包括以下步骤S2211-步骤S2214。Based on the structure of the above rechargeable battery, with reference to FIG. 5, the acquisition of the power supply mode of the rechargeable battery may include the following steps S2211 - S2214.
S2211:获取充电电池上充电端口的电参量。S2211: Acquire the electrical parameter of the charging port on the rechargeable battery.
其中,充电端口包括第一充电端口和第二充电端口,而电参量可以包括电流信息、电压信息、电流变化率信息或者电压变化率信息等等;当电参量为电流信息时,可以通过电流传感器采集充电电池上的充电端口的电流信息;当电参量为电压信息时,可以通过电压传感器采集充电电池上的充电端口的电压信息;而当电参量为电流变化率或者电压变化率时,可以在预设的时间段内采集充电端口的电流信息或电压信息,并对所采集的电流信息或电压信息进行分析处理,以获取到电流变化率信息或电压变化率信息等等;当然的,本领域技术人员还可以将电参量设置为其他类型参数,只要能够实现相应的功能效果即可,在此不再赘述。The charging port includes a first charging port and a second charging port, and the electrical parameter may include current information, voltage information, current rate of change information, or voltage change rate information, etc.; when the electrical parameter is current information, the current sensor may pass Collecting current information of the charging port on the rechargeable battery; when the electrical parameter is voltage information, the voltage information of the charging port on the rechargeable battery can be collected by the voltage sensor; and when the electrical parameter is the current change rate or the voltage change rate, Collecting current information or voltage information of the charging port within a preset time period, and analyzing and processing the collected current information or voltage information to obtain current change rate information or voltage change rate information, etc.; of course, the field The technician can also set the electrical parameters to other types of parameters, as long as the corresponding functional effects can be achieved, and will not be described here.
S2212:判断充电电池上充电端口的电参量。S2212: Determine the electrical parameter of the charging port on the rechargeable battery.
在获取到充电端口的电参量之后,可以对充电端口的电参量进行分析处理,以确定该电参量所对应的具体充电端口,例如:可以获取到电参量的标识信息,根据标识信息确定所对应的充电端口。After obtaining the electrical parameter of the charging port, the electrical parameter of the charging port may be analyzed and processed to determine a specific charging port corresponding to the electrical parameter, for example, the identification information of the electrical parameter may be obtained, and the corresponding information is determined according to the identification information. Charging port.
S2213:若充电端口的电参量为第一充电端口所对应的预设的第一标准电 参量,则确认电池的供电模式为普通供电模式。S2213: If the electrical parameter of the charging port is the preset first standard power corresponding to the first charging port The parameter confirms that the battery's power supply mode is the normal power supply mode.
当分析结果为充电端口的电参量为第一充电端口所对应的预设的第一标准电参量时,则确定该电参量所对应的端口为第一充电端口,而第一充电端口所对应的供电模式为普通供电模式,进而可以确认普通供电模式即为充电电池的供电模式。When the analysis result is that the electrical parameter of the charging port is the preset first standard electrical parameter corresponding to the first charging port, determining that the port corresponding to the electrical parameter is the first charging port, and the first charging port corresponds to The power supply mode is the normal power supply mode, and it can be confirmed that the normal power supply mode is the power supply mode of the rechargeable battery.
S2214:若充电端口的电参量为第二充电端口所对应的预设的第二标准电参量,则确认电池的供电模式为智能供电模式。S2214: If the electrical parameter of the charging port is the preset second standard electrical parameter corresponding to the second charging port, confirm that the power supply mode of the battery is the smart power supply mode.
当分析结果为充电端口的电参量为第二充电端口所对应的预设的第一标准电参量时,则确定该电参量所对应的端口为第二充电端口,而第二充电端口所对应的供电模式为智能供电模式,进而可以确认普智能供电模式即为充电电池的供电模式。When the analysis result is that the electrical parameter of the charging port is the preset first standard electrical parameter corresponding to the second charging port, determining that the port corresponding to the electrical parameter is the second charging port, and the second charging port corresponds to The power supply mode is the smart power supply mode, and it can be confirmed that the smart power supply mode is the power supply mode of the rechargeable battery.
S222:根据电量信息和供电模式控制外部供电设备为充电电池进行供电。S222: Control the external power supply device to supply power to the rechargeable battery according to the power information and the power supply mode.
在获取到电量信息和供电模式之后,可以对电量信息和供电模式进行综合的分析处理,并根据分析处理结果控制外部供电设备为充电电池进行供电,具体的,根据电量信息和供电模式控制外部供电设备为充电电池进行供电可以包括以下步骤S2221-步骤S2224。After obtaining the power information and the power supply mode, the power information and the power supply mode can be comprehensively analyzed and processed, and the external power supply device is controlled to supply power to the rechargeable battery according to the analysis processing result. Specifically, the external power supply is controlled according to the power consumption information and the power supply mode. The device for supplying power to the rechargeable battery may include the following step S2221-step S2224.
S2221:判断电量信息和供电模式。S2221: Determine the power information and the power supply mode.
由于电量信息可以包括满电量和未满电量的状态,供电模式可以包括智能供电模式和普通供电模式,因此,在获取到电量信息和供电模式之后,可以先判断电量信息和供电模式的具体种类,以确定控制外部供电设备为充电电池进行供电的具体策略。Since the power information may include the states of the full power and the low power, the power supply mode may include the smart power supply mode and the normal power supply mode. Therefore, after the power information and the power supply mode are acquired, the specific types of the power information and the power supply mode may be determined. To determine the specific strategy for controlling the external power supply to power the rechargeable battery.
S2222:若充电电池的电量信息为满电量、且充电电池的供电模式为预设的智能供电模式,则控制外部供电设备停止为充电电池进行供电。S2222: If the power information of the rechargeable battery is full, and the power supply mode of the rechargeable battery is the preset smart power supply mode, the external power supply device is controlled to stop supplying power to the rechargeable battery.
当分析结果为充电电池的电量信息为满电量信息,即充电电池的电量信息为满电量,因此,为了节约电能,可以不需要对充电电池进行供电,进而则可以控制外部供电设备停止为充电电池进行供电;进一步的,由于充电电池处于智能供电模式,对于外部供电设备而言,在充电电池处于智能供电模式时,利用外部供电设备不仅可以为充电电池进行供电,还可以通过充电电池为机架、云台和/或拍摄装置进行供电,因此,在停止充电电池进行供电的情况下,还可以利用外部供电设备为机架、云台或者拍摄装置进行供电,从 而减少机架、云台或者拍摄装置的能源消耗,进而实现充电电池以及无人机上的设备均可以尽可能的保持满电量状态,以延长无人机的工作时间。When the analysis result is that the power information of the rechargeable battery is full power information, that is, the power information of the rechargeable battery is full power, therefore, in order to save power, it is not necessary to supply power to the rechargeable battery, and then the external power supply device can be controlled to stop charging. Further, since the rechargeable battery is in the smart power supply mode, for the external power supply device, when the rechargeable battery is in the smart power supply mode, the external power supply device can not only supply power to the rechargeable battery, but also can be powered by the rechargeable battery. Power is supplied to the pan/tilt and/or the camera. Therefore, when the rechargeable battery is stopped for power supply, the external power supply device can be used to supply power to the rack, pan/tilt or camera. By reducing the energy consumption of the rack, the pan/tilt or the camera, the rechargeable battery and the devices on the drone can be kept as full as possible to extend the working time of the drone.
S2223:若充电电池的电量信息为未满电量、且充电电池的供电模式为预设的智能供电模式,则控制外部供电设备为充电电池进行供电。S2223: If the power information of the rechargeable battery is not full, and the power supply mode of the rechargeable battery is the preset smart power supply mode, the external power supply device is controlled to supply power to the rechargeable battery.
当分析结果为充电电池的电量信息为未满电量,此时,对于充电电池而言,为了尽可能的使得充电电池保持满电量,需要为充电电池进行供电,进而可以控制外部供电设备为充电电池进行供电,而由于充电电池的供电模式为预设的智能供电模式,对于外部供电设备而言,在充电电池处于智能供电模式时,利用外部供电设备不仅可以为充电电池进行供电,还可以通过充电电池为机架、云台和/或拍摄装置进行供电,因此,在控制外部供电设备为充电电池进行供电的同时,还可以利用外部供电设备为机架、云台或者拍摄装置进行供电,从而减少机架、云台或者拍摄装置的能源消耗,进而实现充电电池以及无人机上的设备均可以尽可能的保持满电量状态,以延长无人机的工作时间。When the analysis result is that the power information of the rechargeable battery is not full, at this time, for the rechargeable battery, in order to keep the rechargeable battery as full as possible, it is necessary to supply power to the rechargeable battery, and then the external power supply device can be controlled as a rechargeable battery. Power is supplied, and since the power supply mode of the rechargeable battery is the preset intelligent power supply mode, for the external power supply device, when the rechargeable battery is in the smart power supply mode, the external power supply device can not only supply power to the rechargeable battery, but also can be charged. The battery supplies power to the rack, pan/tilt, and/or camera. Therefore, while controlling the external power supply device to supply power to the rechargeable battery, it can also use external power supply devices to supply power to the rack, pan/tilt, or camera. The energy consumption of the rack, the pan/tilt or the camera, so that the rechargeable battery and the equipment on the drone can be kept as full as possible to extend the working time of the drone.
S2224:若充电电池的供电模式为预设的普通供电模式,则控制外部供电设备为充电电池进行供电。S2224: If the power supply mode of the rechargeable battery is the preset normal power supply mode, the external power supply device is controlled to supply power to the rechargeable battery.
当充电电池的供电模式为普通供电模式时,对于外部供电设备而言,利用外部供电供电设备只能够单独对充电电池进行供电,此时,无论充电电池的电量信息是满电量状态还是未满电量状态,均可以控制外部供电设备为充电电池进行供电,以保证充电电池可以实时地处于满电量状态。When the charging mode of the rechargeable battery is the normal power supply mode, for the external power supply device, the external power supply device can only supply power to the rechargeable battery separately. At this time, regardless of whether the battery information of the rechargeable battery is full or not full. The state can control the external power supply device to supply power to the rechargeable battery to ensure that the rechargeable battery can be fully charged in real time.
此外,无人机上还可以包括用于管理充电电池的电池管理器,该电池管理器与充电电池电连接,该电池管理器用于控制外部供电设备为充电电池进行供电,进而对于根据电量信息控制外部供电设备为充电电池进行供电的具体方式而言,参考附图6可知,存在另一种可实现的方式,具体的,根据电量信息控制外部供电设备为充电电池进行供电可以包括以下步骤S223-步骤S225。In addition, the drone may further include a battery manager for managing the rechargeable battery, the battery manager is electrically connected to the rechargeable battery, and the battery manager is configured to control the external power supply device to supply power to the rechargeable battery, thereby controlling the external device according to the power information. For a specific manner of supplying power to the charging battery, referring to FIG. 6 , there is another achievable manner. Specifically, controlling the external power supply device to supply power to the rechargeable battery according to the power information may include the following steps S223-step. S225.
S223:判断电量信息。S223: Determine the power information.
其中,电量信息可以包括满电量状态和未满电量状态,具体的,本实施例中的判断电量信息的具体实现方式以及实现效果与上述步骤中的S21的具体实现方式以及实现效果相类似,具体可参考上述陈述内容,在此不再赘述。 The power information may include a full power state and a low power state. Specifically, the specific implementation manner and the implementation effect of the determining the power information in the foregoing embodiment are similar to the specific implementation manner and the implementation effect of the S21 in the foregoing steps. Reference may be made to the above statement, and details are not described herein again.
S224:若充电电池的电量信息为满电量,则通过电池管理器控制外部供电设备停止为充电电池进行供电。S224: If the charging information of the rechargeable battery is full, the external power supply device is controlled by the battery manager to stop supplying power to the rechargeable battery.
当分析结果为充电电池的电量信息为满电量信息,即充电电池的电量信息为满电量,因此,为了节约电能,可以不需要对充电电池进行供电,进而则可以通过电池管理器控制外部供电设备停止为充电电池进行供电。When the analysis result is that the power information of the rechargeable battery is full power information, that is, the power information of the rechargeable battery is full power, therefore, in order to save power, it is not necessary to supply power to the rechargeable battery, and then the external power supply device can be controlled by the battery manager. Stop supplying power to the rechargeable battery.
S225:若充电电池的电量信息为未满电量,则通过电池管理器控制外部供电设备为充电电池进行供电。S225: If the power information of the rechargeable battery is not full, the external power supply device is controlled by the battery manager to supply power to the rechargeable battery.
当分析结果为充电电池的电量信息为未满电量,此时,对于充电电池而言,为了尽可能的使得充电电池保持满电量,需要为充电电池进行供电,进而可以通过电池管理器控制外部供电设备为充电电池进行供电。When the analysis result is that the power information of the rechargeable battery is not full, at this time, for the rechargeable battery, in order to keep the rechargeable battery as full as possible, it is necessary to supply power to the rechargeable battery, and then the external power supply can be controlled by the battery manager. The device supplies power to the rechargeable battery.
本实施例中通过获取充电电池的电量信息,并可以根据电量信息控制外部供电设备为充电电池进行供电,有效地保证了在充电电池处于未满电量状态时,利用外部充电设备对充电电池进行供电;在充电电池处于满电量状态时,为了节约电能,可以停止为充电电池进行供电;有效地实现了为充电电池供电的智能化控制,使得充电电池可以实时保持满电量状态,延长了无人机的工作时间,便于对无人机的拍摄控制。In this embodiment, the power information of the rechargeable battery is obtained, and the external power supply device can be controlled to supply power to the rechargeable battery according to the power information, thereby effectively ensuring that the rechargeable battery is powered by the external charging device when the rechargeable battery is in an under-charged state. In the state of full charge of the rechargeable battery, in order to save power, it can stop supplying power to the rechargeable battery; effectively realize intelligent control for charging the rechargeable battery, so that the rechargeable battery can maintain the state of full charge in real time, prolonging the drone Working hours are convenient for shooting control of drones.
图7为本发明实施例提供的又一种无人机的拍摄控制方法的流程示意图;在上述实施例的基础上,参考附图7所示,获取无人机的充电接口的状态之后,该拍摄方法还可以包括:FIG. 7 is a schematic flowchart diagram of still another method for shooting control of a drone according to an embodiment of the present invention; on the basis of the foregoing embodiment, referring to FIG. 7, after acquiring the state of the charging interface of the drone, The shooting method can also include:
S3:在充电接口的状态为与外部供电设备断开连接时,停止利用外部供电设备给无人机承载的充电电池进行供电,并且控制无人机保持飞行状态。其中,充电接口可以为快脱接口,充电线上可以设置有可快拆的快脱接头;当快脱接头与快脱接口的连接阻力大于预设的阻力阈值时,快脱接头与快脱接口断开连接,使得充电接口的状态为与外部供电设备断开连接。通过快脱接口和快脱接头实现充电接口与外部供电设备的连接,有效地实现了在无需人为操作的情况下,当无人飞行器需要起飞时,快脱接头会自动断开(在无人机上行的力牵扯下),进而并不飞影响无人机的正常起飞,保证了无人机飞行的安全可靠性。S3: When the state of the charging interface is disconnected from the external power supply device, the external power supply device is stopped to supply power to the rechargeable battery carried by the drone, and the drone is controlled to maintain the flight state. The charging interface may be a quick release interface, and the charging line may be provided with a quick release connector that can be quickly disassembled; when the connection resistance of the quick release connector and the quick release interface is greater than a preset resistance threshold, the quick release connector and the quick release interface Disconnected so that the state of the charging interface is disconnected from the external power supply. The connection between the charging interface and the external power supply device is realized by the quick release interface and the quick release connector, which effectively realizes that the quick release connector is automatically disconnected when the unmanned aerial vehicle needs to take off without human operation (on the drone) The force of the line is involved, and then does not fly to affect the normal take-off of the drone, ensuring the safety and reliability of the drone flight.
在获取到无人机的充电接口的状态之后,可以对充电接口的状态进行分析处理,若确定充电接口的状态为与外部供电设备断开连接的状态时,无人 机可以进入到飞行状态,并且可以停止利用外部供电设备给无人机承载的充电电池进行供电,此时,充电电池可以为无人机以及无人机上的设备进行供电,以保证无人机的正常飞行状态。After obtaining the state of the charging interface of the drone, the state of the charging interface can be analyzed and processed, and if it is determined that the state of the charging interface is disconnected from the external power supply device, no one The machine can enter the flight state, and can stop using the external power supply equipment to supply power to the rechargeable battery carried by the drone. At this time, the rechargeable battery can supply power to the drone and the equipment on the drone to ensure the drone's Normal flight status.
另外,在上述实施例的基础上,为了进一步提高该拍摄控制方法的实用性,可以将该拍摄控制方法设置为还包括:In addition, based on the above embodiment, in order to further improve the practicability of the shooting control method, the shooting control method may be further configured to further include:
S4:在利用外部供电设备给无人机承载的充电电池进行供电时,控制拍摄设备处于待机状态,以减少拍摄装置启动拍摄操作时所需要的准备时间。S4: When the external power supply device is used to supply power to the rechargeable battery carried by the drone, the shooting device is controlled to be in a standby state to reduce the preparation time required for the shooting device to start the shooting operation.
在利用无人机进行跟踪拍摄时,拍摄设备是最主要的图像获取装置,其在工作过程中可以不断地获取到图像信息,此时会消耗大量的电能,因此,为了尽可能地延长拍摄设备的工作时间,在利用外部供电设备给充电电池进行供电时,无人机处于待机状态,进而也可以控制拍摄设备处于待机状态,从而实现了在节约电能的同时,可以有效地减少拍摄装置启动拍摄操作时所需要的准备时间,使得无人机和拍摄装置在拍摄现场候场时,可以时刻保持电池满电量状态,并且可以随时进入到相应的工作状态,为分秒必争的拍摄现场提供了更充裕的时间,进一步提高了该拍摄控制方法使用的稳定可靠性。When using a drone for tracking shooting, the shooting device is the most important image acquisition device, and it can continuously acquire image information during the work process, which consumes a large amount of electric energy. Therefore, in order to extend the shooting device as much as possible During the working hours, when the external power supply device is used to supply power to the rechargeable battery, the drone is in a standby state, and thus the shooting device can be controlled to be in a standby state, thereby realizing the reduction of the shooting of the camera while saving power. The preparation time required for operation enables the drone and the camera to maintain the battery full charge state at the time of shooting the scene, and can enter the corresponding working state at any time, providing more abundant for the shooting scene of the minute and second. The time further improves the stable reliability of the shooting control method.
图10为本发明实施例提供的一种无人机的拍摄控制装置的结构示意图一,参考附图10所示,本实施例提供了一种无人机的拍摄控制装置,其中,无人机可以包括机体和与机体连接的云台,该云台可以设置于机体的上方或者下方,云台用于承载拍摄装置,装置包括:处理器1和存储器2,存储器2用于存储程序指令,处理器的个数可以为1个或多个,且可以单独或协同工作,处理器1用于运行存储器中存储的程序指令,以实现:FIG. 10 is a schematic structural diagram of a camera control device for a drone according to an embodiment of the present invention. Referring to FIG. 10, the embodiment provides a camera control device for a drone, wherein the drone is provided. The utility model may include a body and a pan/tilt connected to the body. The pan/tilt head may be disposed above or below the body. The pan/tilt head is used to carry the photographing device. The device includes: a processor 1 and a memory 2, and the memory 2 is configured to store program instructions and process The number of devices may be one or more, and may work separately or in cooperation. The processor 1 is used to execute program instructions stored in the memory to implement:
获取无人机的充电接口的状态,其中,充电接口用于与外部供电设备电连接;在充电接口的状态为与外部供电设备电连接时,利用外部供电设备给无人机承载的充电电池进行供电,并且控制无人机保持待机状态。Obtaining the state of the charging interface of the drone, wherein the charging interface is used for electrically connecting with the external power supply device; when the state of the charging interface is electrically connected with the external power supply device, the external power supply device is used for charging the rechargeable battery carried by the unmanned aerial vehicle Power is supplied and the drone is controlled to remain in standby.
本实施例提供的无人机的拍摄控制装置的具体原理和实现方式均与图1所示的实施例类似,此处不再赘述。The specific principles and implementations of the imaging control device of the UAV provided in this embodiment are similar to the embodiment shown in FIG. 1, and are not described herein again.
本实施例提供的无人机的拍摄控制装置,通过处理器1获取无人机的充电接口的状态,并对充电接口的状态进行分析处理,当充电接口的状态为与外部供电设备电连接时,利用外部供电设备给无人机承载的充电电池进行供 电,而充电电池可以为无人机上的其他设备进行供电,并且控制无人机保持待机状态,有效地保证了当无人机不进行跟踪拍摄等操作时,可以保持满电量状态,从而延长了无人机以及设置于无人机上设备的工作时间,便于无人机进行长时间的拍摄操作,进而有效地保证了该控制装置的实用性,有利于市场的推广与应用。The photographing control device of the drone provided by the embodiment obtains the state of the charging interface of the drone through the processor 1 and analyzes the state of the charging interface. When the state of the charging interface is electrically connected to the external power supply device Using external power supply equipment to supply rechargeable batteries carried by the drone Electric, and the rechargeable battery can supply power to other devices on the drone, and control the drone to maintain standby state, effectively ensuring that when the drone does not perform tracking and other operations, it can maintain the full state, thus extending the The working time of the drone and the equipment installed on the drone is convenient for the drone to perform long-time shooting operations, thereby effectively ensuring the practicability of the control device and facilitating the promotion and application of the market.
在上述实施例的基础上,继续参考附图10所示,本装置中的处理器1还可以用于执行:获取无人机的工作状态;当无人机处于待机状态时,获取无人机的充电接口的状态。当无人机处于飞行状态时,控制充电电池给无人机以及拍摄装置进行供电。On the basis of the above embodiment, with reference to FIG. 10, the processor 1 in the device can also be used to: obtain the working state of the drone; and acquire the drone when the drone is in the standby state. The status of the charging interface. When the drone is in flight, the rechargeable battery is controlled to supply power to the drone and the camera.
本实施例提供的无人机的拍摄控制装置的具体原理和实现方式均与图2所示的实施例类似,此处不再赘述。The specific principles and implementations of the imaging control device of the UAV provided in this embodiment are similar to the embodiment shown in FIG. 2, and details are not described herein again.
本实施例提供的无人机的拍摄控制装置,通过获取处理器1无人机的工作状态,并对无人机的工作状态进行分析处理,当无人机处于待机状态时,获取无人机的充电接口的状态,以判断是否利用外部供电设备为无人机上的充电电池进行供电,进而可以实现,在无人机没有进行任何实质性操作时,使得无人机以及无人机上的设备保持满电量状态;当无人机处于飞行状态时,为了保证对无人机飞行的安全可靠性,控制充电电池给无人机以及拍摄装置进行供电,从而保证了无人机与拍摄装置进行工作时具有足够的电能,进而有效地延长了无人机与拍摄装置的工作时间,进一步提高了该控制装置使用的稳定可靠性。The shooting control device of the UAV provided by the embodiment obtains the working state of the UAV of the processor 1 and analyzes and processes the working state of the UAV. When the UAV is in the standby state, the UAV is acquired. The status of the charging interface to determine whether the external power supply device is used to supply power to the rechargeable battery on the drone, thereby enabling the drone and the devices on the drone to remain in the absence of any substantial operation of the drone Full power state; when the drone is in flight, in order to ensure the safety and reliability of the drone flight, the rechargeable battery is controlled to supply power to the drone and the camera, thereby ensuring that the drone and the camera operate. The utility model has sufficient electric energy, thereby effectively extending the working time of the drone and the photographing device, and further improving the stability and reliability of the use of the control device.
在上述实施例的基础上,继续参考附图10所示,在充电接口的状态为与外部供电设备电连接时,本实施例对于处理器1利用外部供电设备给无人机承载的充电电池进行供电的具体实现方式不做限定,本领域技术人员可以根据具体的设计需求进行设置,较为优选的,该处理器1在执行利用外部供电设备给无人机承载的充电电池进行供电时,可以用于执行:获取充电电池的电量信息;根据电量信息控制外部供电设备为充电电池进行供电。On the basis of the foregoing embodiment, with reference to FIG. 10, when the state of the charging interface is electrically connected to the external power supply device, the embodiment uses the external power supply device for the processor 1 to charge the rechargeable battery carried by the unmanned aerial vehicle. The specific implementation manner of the power supply is not limited, and those skilled in the art can set according to specific design requirements. Preferably, the processor 1 can use the external power supply device to supply power to the rechargeable battery carried by the drone. Execution: Obtain the power information of the rechargeable battery; control the external power supply device to supply power to the rechargeable battery according to the power information.
其中,处理器1根据电量信息控制外部供电设备为充电电池进行供电的一种实现方式为:处理器1用于执行以下步骤:获取充电电池的供电模式;根据电量信息和供电模式控制外部供电设备为充电电池进行供电。The processor 1 controls the external power supply device to supply power to the rechargeable battery according to the power information. The processor 1 is configured to: perform the following steps: acquire a power supply mode of the rechargeable battery; and control the external power supply device according to the power information and the power supply mode. Power the rechargeable battery.
具体的,充电电池上可以设置有第一充电端口和第二充电端口,第一充 电端口为单独对充电电池进行供电的接口,第二充电端口为充电接口;处理器1获取充电电池的供电模式时,可以用于执行以下步骤:获取充电电池上充电端口的电参量;若充电端口的电参量为第一充电端口所对应的预设的第一标准电参量,则确认电池的供电模式为普通供电模式;或者,若充电端口的电参量为预设的第二标准电参量,则确认电池的供电模式为智能供电模式。Specifically, the rechargeable battery can be provided with a first charging port and a second charging port, the first charging The electrical port is an interface for separately supplying power to the rechargeable battery, and the second charging port is a charging interface; when the processor 1 obtains the power supply mode of the rechargeable battery, the processor 1 can be used to perform the following steps: obtaining the electrical parameter of the charging port on the rechargeable battery; The electrical parameter of the port is a preset first standard electrical parameter corresponding to the first charging port, and the power supply mode of the battery is determined to be a normal power supply mode; or, if the electrical parameter of the charging port is a preset second standard electrical parameter, Then confirm that the battery's power supply mode is the smart power supply mode.
并且,处理器1根据电量信息和供电模式控制外部供电设备为充电电池进行供电时,可以用于执行以下步骤:若充电电池的电量信息为满电量、且充电电池的供电模式为预设的智能供电模式,则控制外部供电设备停止为充电电池进行供电;或者,若充电电池的电量信息为未满电量、且充电电池的供电模式为预设的智能供电模式,则控制外部供电设备为充电电池进行供电;或者,若充电电池的供电模式为预设的普通供电模式,则控制外部供电设备为充电电池进行供电。Moreover, when the processor 1 controls the external power supply device to supply power to the rechargeable battery according to the power information and the power supply mode, the processor 1 may be configured to perform the following steps: if the power information of the rechargeable battery is full, and the power supply mode of the rechargeable battery is a preset smart In the power supply mode, the external power supply device is controlled to stop supplying power to the rechargeable battery; or, if the power information of the rechargeable battery is not full, and the power supply mode of the rechargeable battery is the preset smart power supply mode, the external power supply device is controlled to be a rechargeable battery. Power is supplied; or, if the power supply mode of the rechargeable battery is the preset normal power supply mode, the external power supply device is controlled to supply power to the rechargeable battery.
另外,无人机还包括用于管理充电电池的电池管理器;此时,处理器1根据电量信息控制外部供电设备为充电电池进行供电的另一种实现方式为:处理器1用于执行以下步骤:若充电电池的电量信息为满电量,则通过电池管理器控制外部供电设备停止为充电电池进行供电;或者,若充电电池的电量信息为未满电量,则通过电池管理器控制外部供电设备为充电电池进行供电。In addition, the drone further includes a battery manager for managing the rechargeable battery; at this time, the processor 1 controls another external power supply device to supply power to the rechargeable battery according to the power information: the processor 1 is configured to execute the following Step: If the power information of the rechargeable battery is full, the external power supply device is controlled by the battery manager to stop supplying power to the rechargeable battery; or, if the power information of the rechargeable battery is not full, the external power supply device is controlled by the battery manager. Power the rechargeable battery.
本实施例提供的无人机的拍摄控制装置的具体原理和实现方式均与图3-图6所示的实施例类似,此处不再赘述。The specific principles and implementations of the imaging control device of the UAV provided by this embodiment are similar to those of the embodiment shown in FIG. 3 to FIG. 6, and details are not described herein again.
本实施例中的处理器1通过获取充电电池的电量信息,并可以根据电量信息控制外部供电设备为充电电池进行供电,有效地保证了在充电电池处于未满电量状态时,利用外部充电设备对充电电池进行供电;在充电电池处于满电量状态时,为了节约电能,可以停止为充电电池进行供电;有效地实现了为充电电池供电的智能化控制,使得充电电池可以实时保持满电量状态,延长了无人机的工作时间,便于对无人机的拍摄控制。The processor 1 in this embodiment obtains the power information of the rechargeable battery, and can control the external power supply device to supply power to the rechargeable battery according to the power information, thereby effectively ensuring that when the rechargeable battery is in an under-charged state, the external charging device is utilized. The rechargeable battery is used for power supply; when the rechargeable battery is in a fully charged state, in order to save power, the charging battery can be stopped; the intelligent control of the charging battery is effectively realized, so that the rechargeable battery can maintain the full state in real time and prolong The working time of the drone is convenient for shooting control of the drone.
在上述实施例的基础上,继续参考附图10所示,该装置中的处理器1还可以用于执行以下步骤:获取无人机的充电接口的状态之后,在充电接口的状态为与外部供电设备断开连接时,停止利用外部供电设备给无人机承载的充电电池进行供电,并且控制无人机保持飞行状态。其中,充电接口为快脱 接口,充电线上设置有可快拆的快脱接头;当快脱接头与快脱接口的连接阻力大于预设的阻力阈值时,快脱接头与快脱接口断开连接,使得充电接口的状态为与外部供电设备断开连接。On the basis of the above embodiments, with reference to FIG. 10, the processor 1 in the device can also be used to perform the following steps: after acquiring the state of the charging interface of the drone, the state of the charging interface is external When the power supply device is disconnected, the external power supply device is stopped to supply power to the rechargeable battery carried by the drone, and the drone is controlled to remain in flight. Among them, the charging interface is fast off The interface is provided with a quick release connector that can be quickly disassembled; when the connection resistance between the quick release connector and the quick release interface is greater than a preset resistance threshold, the quick release connector is disconnected from the quick release interface, so that the state of the charging interface is made. Disconnect from external power supply equipment.
本实施例提供的无人机的拍摄控制装置的具体原理和实现方式均与图7所示的实施例类似,此处不再赘述。The specific principles and implementations of the imaging control device of the UAV provided by this embodiment are similar to the embodiment shown in FIG. 7, and details are not described herein again.
另外,在上述实施例的基础上,继续参考附图10可知,为了进一步提高该拍摄控制装置的实用性,可以将该拍摄控制装置中的处理器1还可以用于执行以下步骤;In addition, based on the above embodiments, with reference to FIG. 10, in order to further improve the utility of the shooting control device, the processor 1 in the shooting control device can also be used to perform the following steps;
在利用外部供电设备给无人机承载的充电电池进行供电时,控制拍摄设备处于待机状态,以减少拍摄装置启动拍摄操作时所需要的准备时间。When the externally powered device is used to supply power to the rechargeable battery carried by the drone, the shooting device is controlled to be in a standby state to reduce the preparation time required for the photographing device to start the shooting operation.
本实施例提供的无人机的拍摄控制装置的具体原理和实现方式均与上述实施例中的步骤S4的具体原理和实现方式类似,此处不再赘述。The specific principles and implementations of the camera control device of the UAV provided in this embodiment are similar to the specific principles and implementations of the step S4 in the foregoing embodiment, and details are not described herein again.
图11为本发明实施例提供的一种无人机的拍摄控制装置的结构示意图二,参考附图11所示,进一步的,本实施例提供了另一种无人机的拍摄控制装置,其中,无人机可以包括机体和与机体连接的云台,该云台可以设置于机体的上方或者下方,云台用于承载拍摄装置,该装置包括:FIG. 11 is a schematic structural diagram 2 of a camera control device for a drone according to an embodiment of the present invention. Referring to FIG. 11 , further, the embodiment provides another camera control device for a drone, wherein The drone may include a body and a pan/tilt connected to the body, and the pan/tilt may be disposed above or below the body, and the pan/tilt is used to carry the photographing device, and the device includes:
获取模块200,用于获取无人机的充电接口的状态,其中,充电接口用于与外部供电设备电连接;The acquiring module 200 is configured to acquire a state of a charging interface of the drone, wherein the charging interface is configured to be electrically connected to the external power supply device;
控制模块201,用于在充电接口的状态为与外部供电设备电连接时,利用外部供电设备给无人机承载的充电电池进行供电,并且控制无人机保持待机状态。The control module 201 is configured to supply power to the rechargeable battery carried by the drone by using the external power supply device when the state of the charging interface is electrically connected to the external power supply device, and control the drone to maintain the standby state.
本实施例提供的无人机的拍摄控制装置的具体原理和实现方式均与图1所示的实施例类似,此处不再赘述。另外,可以理解的是,本实施例中的获取模块200和控制模块201还可以执行与图2-图9所对应的无人机的拍摄控制方法,并且所实现的具体原理和实现方式与图2-图9中所示的实施例类似,在此不再赘述。The specific principles and implementations of the imaging control device of the UAV provided in this embodiment are similar to the embodiment shown in FIG. 1, and are not described herein again. In addition, it can be understood that the acquisition module 200 and the control module 201 in this embodiment can also perform the shooting control method of the unmanned aerial vehicle corresponding to FIG. 2 to FIG. 9 , and the specific principles and implementation manners and implementations of the implemented The embodiment shown in FIG. 9 is similar, and details are not described herein again.
本实施例提供的无人机的拍摄控制装置,通过获取模块200获取无人机的充电接口的状态,并对充电接口的状态进行分析处理,当充电接口的状态为与外部供电设备电连接时,控制模块201利用外部供电设备给无人机承载 的充电电池进行供电,而充电电池可以为无人机上的其他设备进行供电,并且控制无人机保持待机状态,有效地保证了当无人机不进行跟踪拍摄等操作时,可以保持满电量状态,从而延长了无人机以及设置于无人机上设备的工作时间,便于无人机进行长时间的拍摄操作,进而有效地保证了该控制装置的实用性,有利于市场的推广与应用。The photographing control device of the drone provided by the embodiment obtains the state of the charging interface of the drone through the acquiring module 200, and analyzes the state of the charging interface, when the state of the charging interface is electrically connected to the external power supply device. , the control module 201 uses an external power supply device to carry the drone The rechargeable battery is used to supply power, and the rechargeable battery can supply power to other devices on the drone, and control the drone to maintain standby state, which effectively ensures that when the drone does not perform tracking and other operations, it can maintain the full charge state. This extends the working time of the drone and the equipment installed on the drone, and facilitates the long-time shooting operation of the drone, thereby effectively ensuring the practicability of the control device and facilitating the promotion and application of the market.
图12为本发明实施例提供的一种无人机的结构示意图一;图13为本发明实施例提供的一种无人机的结构示意图二;参考附图12-13所示,本实施例提供了一种无人机100,该无人机100包括:FIG. 12 is a schematic structural diagram 1 of a UAV according to an embodiment of the present invention; FIG. 13 is a schematic structural diagram 2 of an unmanned aerial vehicle according to an embodiment of the present invention; A drone 100 is provided, the drone 100 comprising:
机体101;Body 101;
云台102,与机体101连接,云台102上用于承载拍摄装置;以及a pan/tilt 102 connected to the body 101, and the pan/tilt 102 is used to carry a photographing device;
上述任意一个实施例中的无人机的拍摄控制装置103。The photographing control device 103 of the drone in any of the above embodiments.
本实施例提供的无人机100,通过在无人机100上设置拍摄控制装置103,而具体可以通过拍摄控制装置103获取无人机100的充电接口的状态,并对充电接口的状态进行分析处理,当充电接口的状态为与外部供电设备电连接时,利用外部供电设备给无人机100承载的充电电池进行供电,而充电电池可以为无人机100上的其他设备进行供电,并且控制无人机100保持待机状态,有效地保证了当无人机100不进行跟踪拍摄等操作时,可以保持满电量状态,从而延长了无人机100以及设置于无人机100上设备的工作时间,便于无人机100进行长时间的拍摄操作,进而有效地保证了该无人机100的实用性,有利于市场的推广与应用。The drone 100 provided in this embodiment can obtain the state of the charging interface of the drone 100 and analyze the state of the charging interface by setting the shooting control device 103 on the drone 100. Processing, when the state of the charging interface is electrically connected to the external power supply device, the external power supply device is used to supply power to the rechargeable battery carried by the drone 100, and the rechargeable battery can supply power to other devices on the drone 100, and control The drone 100 maintains the standby state, effectively ensuring that when the drone 100 does not perform operations such as tracking shooting, the state of full power can be maintained, thereby extending the working time of the drone 100 and the device disposed on the drone 100. The UAV 100 can be used for long-time shooting operations, thereby effectively ensuring the utility of the UAV 100, and is beneficial to the promotion and application of the market.
以上各个实施例中的技术方案、技术特性在与本相冲突的情况下均可以单独,或者进行组合,只要未超出本领域技术人员的认知范围,均属于本申请保护范围内的等同实施例。The technical solutions and technical features in the above various embodiments may be separate or combined in the case of conflicting with the present invention, and the equivalent embodiments within the protection scope of the present application are not included in the scope of the knowledge of those skilled in the art. .
在本发明所提供的几个实施例中,应该理解到,所揭露的相关装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,模块或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个系统,或一些特性可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合 或通信连接,可以是电性,机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the related apparatus and method disclosed may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling through some interface, device or unit. Or a communication connection, which may be in electrical, mechanical or other form.
作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外,在本发明各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得计算机处理器101(processor)执行本发明各个实施例方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。An integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer processor 101 to perform all or part of the steps of the various embodiments of the present invention. The foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.
以上仅为本发明的实施例,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本发明的专利保护范围内。The above are only the embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特性进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (23)

  1. 一种无人机的拍摄控制方法,其特性在于,所述无人机包括机体和与所述机体连接的云台,所述云台用于承载拍摄装置,所述方法包括:A photographing control method for a drone, characterized in that the drone includes a body and a pan/tilt connected to the body, the pan/tilt is used to carry a photographing device, and the method includes:
    获取所述无人机的充电接口的状态,其中,所述充电接口用于与外部供电设备电连接;Obtaining a state of a charging interface of the drone, wherein the charging interface is configured to be electrically connected to an external power supply device;
    在所述充电接口的状态为与所述外部供电设备电连接时,利用所述外部供电设备给所述无人机承载的充电电池进行供电,并且控制所述无人机保持待机状态。When the state of the charging interface is electrically connected to the external power supply device, the external power supply device is used to supply power to the rechargeable battery carried by the drone, and the drone is controlled to maintain a standby state.
  2. 根据权利要求1所述的方法,其特性在于,所述方法还包括:The method of claim 1 wherein the method further comprises:
    获取所述无人机的工作状态;Obtaining the working state of the drone;
    当所述无人机处于待机状态时,获取所述无人机的充电接口的状态。When the drone is in a standby state, the state of the charging interface of the drone is acquired.
  3. 根据权利要求2所述的方法,其特性在于,所述方法还包括:The method of claim 2, wherein the method further comprises:
    当所述无人机处于飞行状态时,控制所述充电电池给所述无人机以及所述拍摄装置进行供电。When the drone is in a flight state, the rechargeable battery is controlled to supply power to the drone and the photographing device.
  4. 根据权利要求1所述的方法,其特性在于,所述利用所述外部供电设备给所述无人机承载的充电电池进行供电,包括:The method of claim 1 , wherein the powering the rechargeable battery carried by the drone by using the external power supply device comprises:
    获取所述充电电池的电量信息;Obtaining the power information of the rechargeable battery;
    根据所述电量信息控制所述外部供电设备为所述充电电池进行供电。The external power supply device is controlled to supply power to the rechargeable battery according to the power amount information.
  5. 根据权利要求4所述的方法,其特性在于,根据所述电量信息控制所述外部供电设备为所述充电电池进行供电,包括:The method according to claim 4, wherein controlling the external power supply device to supply power to the rechargeable battery according to the power amount information comprises:
    获取所述充电电池的供电模式;Obtaining a power supply mode of the rechargeable battery;
    根据所述电量信息和供电模式控制所述外部供电设备为所述充电电池进行供电。The external power supply device is controlled to supply power to the rechargeable battery according to the power amount information and the power supply mode.
  6. 根据权利要求5所述的方法,其特性在于,根据所述电量信息和供电模式控制所述外部供电设备为所述充电电池进行供电,包括:The method according to claim 5, wherein controlling the external power supply device to supply power to the rechargeable battery according to the power amount information and the power supply mode comprises:
    若所述充电电池的电量信息为满电量、且所述充电电池的供电模式为预设的智能供电模式,则控制所述外部供电设备停止为所述充电电池进行供电;或者,If the power information of the rechargeable battery is full, and the power supply mode of the rechargeable battery is a preset smart power supply mode, controlling the external power supply device to stop supplying power to the rechargeable battery; or
    若所述充电电池的电量信息为未满电量、且所述充电电池的供电模式为 预设的智能供电模式,则控制所述外部供电设备为所述充电电池进行供电;或者,If the power information of the rechargeable battery is not full, and the power supply mode of the rechargeable battery is a preset smart power supply mode, wherein the external power supply device is controlled to supply power to the rechargeable battery; or
    若所述充电电池的供电模式为预设的普通供电模式,则控制所述外部供电设备为所述充电电池进行供电。If the power supply mode of the rechargeable battery is a preset normal power supply mode, the external power supply device is controlled to supply power to the rechargeable battery.
  7. 根据权利要求5所述的方法,其特性在于,所述充电电池上设置有第一充电端口和第二充电端口,所述第一充电端口为单独对所述充电电池进行供电的接口,所述第二充电端口为所述充电接口;The method according to claim 5, wherein the rechargeable battery is provided with a first charging port and a second charging port, and the first charging port is an interface for separately supplying power to the rechargeable battery, The second charging port is the charging interface;
    获取所述充电电池的供电模式,包括:Obtaining a power supply mode of the rechargeable battery, including:
    获取所述充电电池上充电端口的电参量;Obtaining an electrical parameter of the charging port on the rechargeable battery;
    若所述充电端口的电参量为所述第一充电端口所对应的预设的第一标准电参量,则确认所述电池的供电模式为普通供电模式;或者,If the electrical parameter of the charging port is a preset first standard electrical parameter corresponding to the first charging port, confirm that the power supply mode of the battery is a normal power supply mode; or
    若所述充电端口的电参量为预设的第二标准电参量,则确认所述电池的供电模式为智能供电模式。If the electrical parameter of the charging port is a preset second standard electrical parameter, it is confirmed that the power supply mode of the battery is the smart power supply mode.
  8. 根据权利要求4所述的方法,其特性在于,所述无人机还包括用于管理所述充电电池的电池管理器;The method of claim 4 wherein said drone further comprises a battery manager for managing said rechargeable battery;
    根据所述电量信息控制所述外部供电设备为所述充电电池进行供电,包括:Controlling the external power supply device to supply power to the rechargeable battery according to the power information, including:
    若所述充电电池的电量信息为满电量,则通过所述电池管理器控制所述外部供电设备停止为所述充电电池进行供电;或者,If the power information of the rechargeable battery is full, controlling, by the battery manager, the external power supply device to stop supplying power to the rechargeable battery; or
    若所述充电电池的电量信息为未满电量,则通过所述电池管理器控制所述外部供电设备为所述充电电池进行供电。If the power information of the rechargeable battery is not full, the external power supply device is controlled by the battery manager to supply power to the rechargeable battery.
  9. 根据权利要求1-8中任意一项所述的方法,其特性在于,获取所述无人机的充电接口的状态之后,所述方法还包括:The method according to any one of claims 1-8, characterized in that, after acquiring the state of the charging interface of the drone, the method further comprises:
    在所述充电接口的状态为与所述外部供电设备断开连接时,停止利用所述外部供电设备给所述无人机承载的充电电池进行供电,并且控制所述无人机保持飞行状态。When the state of the charging interface is disconnected from the external power supply device, stopping power supply to the rechargeable battery carried by the unmanned aerial vehicle by the external power supply device, and controlling the drone to maintain a flight state.
  10. 根据权利要求9所述的方法,其特性在于,所述充电接口为快脱接口,所述充电线上设置有可快拆的快脱接头;当所述快脱接头与所述快脱接口的连接阻力大于预设的阻力阈值时,所述快脱接头与所述快脱接口断开连接,使得所述充电接口的状态为与所述外部供电设备断开连接。 The method according to claim 9, wherein the charging interface is a quick release interface, and the charging line is provided with a quick release quick release connector; when the quick release connector is connected to the quick release interface When the connection resistance is greater than a preset resistance threshold, the quick release connector is disconnected from the quick release interface such that the state of the charging interface is disconnected from the external power supply device.
  11. 根据权利要求1-8中任意一项所述的方法,其特性在于,所述方法还包括:The method of any of claims 1-8, wherein the method further comprises:
    在利用所述外部供电设备给所述无人机承载的充电电池进行供电时,控制所述拍摄设备处于待机状态,以减少所述拍摄装置启动拍摄操作时所需要的准备时间。When power is supplied to the rechargeable battery carried by the drone by the external power supply device, the photographing device is controlled to be in a standby state to reduce a preparation time required when the photographing device starts a photographing operation.
  12. 一种无人机的拍摄控制装置,其特性在于,所述无人机包括机体和与所述机体连接的云台,所述云台用于承载拍摄装置,所述装置包括:处理器和存储器,所述存储器用于存储程序指令,所述处理器的个数可以为1个或多个,且可以单独或协同工作,所述处理器用于运行所述存储器中存储的程序指令,以实现:A photographing control device for a drone, characterized in that the drone includes a body and a pan/tilt connected to the body, the pan/tilt is used to carry a photographing device, and the device comprises: a processor and a memory The memory is used to store program instructions, the number of the processors may be one or more, and may work separately or in cooperation, and the processor is configured to run program instructions stored in the memory to implement:
    获取所述无人机的充电接口的状态,其中,所述充电接口用于与外部供电设备电连接;Obtaining a state of a charging interface of the drone, wherein the charging interface is configured to be electrically connected to an external power supply device;
    在所述充电接口的状态为与所述外部供电设备电连接时,利用所述外部供电设备给所述无人机承载的充电电池进行供电,并且控制所述无人机保持待机状态。When the state of the charging interface is electrically connected to the external power supply device, the external power supply device is used to supply power to the rechargeable battery carried by the drone, and the drone is controlled to maintain a standby state.
  13. 根据权利要求12所述的装置,其特性在于,所述处理器,还用于:The device according to claim 12, wherein the processor is further configured to:
    获取所述无人机的工作状态;Obtaining the working state of the drone;
    当所述无人机处于待机状态时,获取所述无人机的充电接口的状态。When the drone is in a standby state, the state of the charging interface of the drone is acquired.
  14. 根据权利要求13所述的装置,其特性在于,所述处理器,还用于:The device according to claim 13, wherein the processor is further configured to:
    当所述无人机处于飞行状态时,控制所述充电电池给所述无人机以及所述拍摄装置进行供电。When the drone is in a flight state, the rechargeable battery is controlled to supply power to the drone and the photographing device.
  15. 根据权利要求12所述的装置,其特性在于,所述处理器,用于:The apparatus according to claim 12, wherein said processor is configured to:
    获取所述充电电池的电量信息;Obtaining the power information of the rechargeable battery;
    根据所述电量信息控制所述外部供电设备为所述充电电池进行供电。The external power supply device is controlled to supply power to the rechargeable battery according to the power amount information.
  16. 根据权利要求15所述的装置,其特性在于,所述处理器,用于:The apparatus according to claim 15, wherein said processor is configured to:
    获取所述充电电池的供电模式;Obtaining a power supply mode of the rechargeable battery;
    根据所述电量信息和供电模式控制所述外部供电设备为所述充电电池进行供电。The external power supply device is controlled to supply power to the rechargeable battery according to the power amount information and the power supply mode.
  17. 根据权利要求16所述的装置,其特性在于,所述处理器,用于: The apparatus of claim 16 wherein said processor is operative to:
    若所述充电电池的电量信息为满电量、且所述充电电池的供电模式为预设的智能供电模式,则控制所述外部供电设备停止为所述充电电池进行供电;或者,If the power information of the rechargeable battery is full, and the power supply mode of the rechargeable battery is a preset smart power supply mode, controlling the external power supply device to stop supplying power to the rechargeable battery; or
    若所述充电电池的电量信息为未满电量、且所述充电电池的供电模式为预设的智能供电模式,则控制所述外部供电设备为所述充电电池进行供电;或者,If the power information of the rechargeable battery is not full, and the power supply mode of the rechargeable battery is a preset smart power supply mode, controlling the external power supply device to supply power to the rechargeable battery; or
    若所述充电电池的供电模式为预设的普通供电模式,则控制所述外部供电设备为所述充电电池进行供电。If the power supply mode of the rechargeable battery is a preset normal power supply mode, the external power supply device is controlled to supply power to the rechargeable battery.
  18. 根据权利要求16所述的装置,其特性在于,所述充电电池上设置有第一充电端口和第二充电端口,所述第一充电端口为单独对所述充电电池进行供电的接口,所述第二充电端口为所述充电接口;所述处理器,用于:The device according to claim 16, wherein the rechargeable battery is provided with a first charging port and a second charging port, and the first charging port is an interface for separately supplying power to the rechargeable battery, The second charging port is the charging interface; the processor is configured to:
    获取所述充电电池上充电端口的电参量;Obtaining an electrical parameter of the charging port on the rechargeable battery;
    若所述充电端口的电参量为所述第一充电端口所对应的预设的第一标准电参量,则确认所述电池的供电模式为普通供电模式;或者,If the electrical parameter of the charging port is a preset first standard electrical parameter corresponding to the first charging port, confirm that the power supply mode of the battery is a normal power supply mode; or
    若所述充电端口的电参量为预设的第二标准电参量,则确认所述电池的供电模式为智能供电模式。If the electrical parameter of the charging port is a preset second standard electrical parameter, it is confirmed that the power supply mode of the battery is the smart power supply mode.
  19. 根据权利要求15所述的装置,其特性在于,所述无人机还包括用于管理所述充电电池的电池管理器;所述处理器,用于:The apparatus of claim 15 wherein said drone further comprises a battery manager for managing said rechargeable battery; said processor for:
    若所述充电电池的电量信息为满电量,则通过所述电池管理器控制所述外部供电设备停止为所述充电电池进行供电;或者,If the power information of the rechargeable battery is full, controlling, by the battery manager, the external power supply device to stop supplying power to the rechargeable battery; or
    若所述充电电池的电量信息为未满电量,则通过所述电池管理器控制所述外部供电设备为所述充电电池进行供电。If the power information of the rechargeable battery is not full, the external power supply device is controlled by the battery manager to supply power to the rechargeable battery.
  20. 根据权利要求12-19中任意一项所述的装置,其特性在于,所述处理器,还用于:The apparatus according to any one of claims 12 to 19, wherein the processor is further configured to:
    获取所述无人机的充电接口的状态之后,在所述充电接口的状态为与所述外部供电设备断开连接时,停止利用所述外部供电设备给所述无人机承载的充电电池进行供电,并且控制所述无人机保持飞行状态。After obtaining the state of the charging interface of the drone, when the state of the charging interface is disconnected from the external power supply device, stopping using the external power supply device to charge the rechargeable battery carried by the drone Power is supplied and the drone is controlled to remain in flight.
  21. 根据权利要求20所述的装置,其特性在于,所述充电接口为快脱接口,所述充电线上设置有可快拆的快脱接头;当所述快脱接头与所述快脱接口的连接阻力大于预设的阻力阈值时,所述快脱接头与所述快脱接口断开连 接,使得所述充电接口的状态为与所述外部供电设备断开连接。The device according to claim 20, wherein the charging interface is a quick release interface, the charging line is provided with a quick release quick release joint; and when the quick release joint is connected with the quick release interface The quick release connector is disconnected from the quick release interface when the connection resistance is greater than a preset resistance threshold The state of the charging interface is disconnected from the external power supply device.
  22. 根据权利要求12-19中任意一项所述的装置,其特性在于,所述处理器,还用于:The apparatus according to any one of claims 12 to 19, wherein the processor is further configured to:
    在利用所述外部供电设备给所述无人机承载的充电电池进行供电时,控制所述拍摄设备处于待机状态,以减少所述拍摄装置启动拍摄操作时所需要的准备时间。When power is supplied to the rechargeable battery carried by the drone by the external power supply device, the photographing device is controlled to be in a standby state to reduce a preparation time required when the photographing device starts a photographing operation.
  23. 一种无人机,其特征在于,包括:A drone, characterized in that it comprises:
    机体;Body
    云台,与所述机体连接,所述云台上用于承载拍摄装置;以及a cloud platform connected to the body, the pan/tilt is used to carry a camera; and
    权利要求12-22中任意一项所述的无人机的拍摄控制装置。 The imaging control device for the drone according to any one of claims 12-22.
PCT/CN2017/089530 2017-06-22 2017-06-22 Photographing control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle WO2018232686A1 (en)

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