WO2019183808A1 - 控制方法、控制装置、成像系统、飞行器和存储介质 - Google Patents

控制方法、控制装置、成像系统、飞行器和存储介质 Download PDF

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Publication number
WO2019183808A1
WO2019183808A1 PCT/CN2018/080718 CN2018080718W WO2019183808A1 WO 2019183808 A1 WO2019183808 A1 WO 2019183808A1 CN 2018080718 W CN2018080718 W CN 2018080718W WO 2019183808 A1 WO2019183808 A1 WO 2019183808A1
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WIPO (PCT)
Prior art keywords
imaging device
view
visible light
field
fill light
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PCT/CN2018/080718
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English (en)
French (fr)
Inventor
陈翔宇
陈汉平
杨勇
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.)
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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 CN201880013279.3A priority Critical patent/CN110622064A/zh
Priority to PCT/CN2018/080718 priority patent/WO2019183808A1/zh
Publication of WO2019183808A1 publication Critical patent/WO2019183808A1/zh

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units

Definitions

  • the present invention relates to the field of imaging technologies, and in particular, to a control method, a control device, an imaging system, an aircraft, and a computer readable storage medium.
  • a dark light environment is disadvantageous for an image capturing device to acquire an image, for example, an image forming device cannot capture an image or a captured image is relatively blurred in a dark light environment.
  • Embodiments of the present invention provide a control method, control device, imaging system, aircraft, and computer readable storage medium.
  • control method of the embodiment of the present invention is applied to a movable platform, and the movable platform is provided with a visible light imaging device and a fill light, and the control method includes:
  • adjusting the first focal length of the fill light such that the field of view of the fill light at least partially overlaps the field of view of the visible light imaging device.
  • the control device of the embodiment of the present invention is applied to a movable platform, and the movable platform is provided with a visible light imaging device and a fill light, the control device includes a processor, and the processor is configured to detect whether a zoom trigger event occurs, And adjusting a first focal length of the fill light when a zoom trigger event occurs such that a field of view of the fill light at least partially overlaps a field of view of the visible light imaging device.
  • An imaging system includes a visible light imaging device, a fill light, and the above control device.
  • the aircraft includes a center frame, a machine arm coupled to the center frame, and a power unit coupled to the arm, the aircraft further including the imaging system described above.
  • a computer readable storage medium has stored thereon a computer program executable by a processor to perform the above control method.
  • the control method, the control device, the imaging system, the aircraft, and the computer readable storage medium of the embodiments of the present invention cause the field of view of the visible light imaging device to at least partially overlap with the field of view of the fill light by adjusting the first focal length of the fill light, thereby
  • the brightness of the field of view of the visible light imaging device and the fill light can be increased by the fill light, and the brightness of the field of view of the visible light imaging device can be improved, and the visible light imaging device can image or collect a clearer image.
  • FIG. 1 is a schematic flow chart of a control method according to an embodiment of the present invention.
  • FIG. 2 is a schematic view of an imaging system according to an embodiment of the present invention.
  • FIG. 3 is a schematic view of an aircraft according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a scene of a first focal length change of a fill light according to an embodiment of the present invention
  • FIG. 5 is a schematic flow chart of a control method according to another embodiment of the present invention.
  • FIG. 6 is a schematic diagram showing the positional relationship between a visible light imaging device, a fill light, and a target imaged object according to an embodiment of the present invention
  • FIG. 7 is a schematic flow chart of a control method according to still another embodiment of the present invention.
  • FIG. 8 is a schematic flow chart of a control method according to still another embodiment of the present invention.
  • FIG. 9 is a schematic flow chart of a control method according to still another embodiment of the present invention.
  • FIG. 10 is a schematic flow chart of a control method according to still another embodiment of the present invention.
  • FIG. 11 is a connection diagram of an imaging system and a computer readable storage medium according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • control method of the embodiment of the present invention can be applied to a movable platform, and the visible light imaging device 10 and the fill light 20 are disposed on the movable platform.
  • Control methods include:
  • the first focal length of the fill light 20 is adjusted such that the field of view of the fill light 20 at least partially overlaps the field of view of the visible light imaging device 10.
  • the control device 30 of the embodiment of the present invention may be applied to a mobile platform.
  • the control device 30 may be a device that is independent and movable, or may be disposed on a movable platform and is movable. Part of the platform.
  • the control device 30 can also be applied to the imaging system 100 on the movable platform, that is, the imaging system 100 can include the control device 30, the visible light imaging device 10, and the fill light 20.
  • the control device 30 includes a processor 32 for detecting whether a zoom trigger event occurs, and adjusting a first focal length of the fill light 20 when a zoom trigger event occurs such that the field of view of the fill light 20 and the visible light imaging device 10 The field of view at least partially overlaps.
  • control method of the embodiment of the present invention can be implemented by the control device 30 of the embodiment of the present invention, wherein the step 01 and the step 03 can be implemented by the processor 32.
  • the control method and control device 30 of the embodiment of the present invention adjusts the first focal length of the fill light 20 such that the field of view of the visible light imaging device 10 at least partially overlaps the field of view of the fill light 20, thereby causing the visible light imaging device 10 and the fill light
  • the brightness of the field of view overlapped by the lamps 20 can be enhanced by the fill light 20 and is advantageous for increasing the brightness of the field of view of the visible light imaging device 10, so that the visible light imaging device 10 can image or capture a sharper image.
  • the image after the visible light imaging device 10 is imaged may be acquired, and the image may be displayed on the control device 10 .
  • the image can be a continuous image (ie video) or a single or multiple images.
  • the movable platform refers to a platform that can be moved, for example, including an aircraft 1000, a car, or a robot.
  • the mobile platform 1000 is taken as an example for description.
  • the visible light imaging device 10 may be a device that collects visible light to form an image, such as a visible light camera, and is, for example, a visible light camera.
  • the fill light 20 includes a light source and a fill light lens disposed on the light source of the light source.
  • the first focal length of the fill light 20 can be adjusted by adjusting the distance between the light source and the fill light lens.
  • the distance between the light source and the fill light lens can be adjusted by controlling the movement of the light source and/or the fill light lens, that is, the light source can be controlled to adjust the distance between the light source and the fill light lens, or to control the fill light lens. Move to adjust the distance between the light source and the fill light lens, or control the light source and fill light lens to move at the same time to adjust the distance between the light source and the fill light lens.
  • controlling the light source and/or the fill light lens movement may be implemented by, for example, a motor, such as a microelectronic motor.
  • the distance between the light source and the fill light lens can be adjusted by controlling the movement of the fill light lens.
  • the fill light lens is, for example, a lens group, and the lens group includes a plurality of lenses.
  • the field of view of the fill light 20 can be changed accordingly.
  • the field of view of the fill light 20 may not overlap with the field of view of the visible light imaging device 10; by adjusting the first focal length of the fill light 20,
  • the first focal length of the fill light 20 is B (A>B)
  • the field of view of the fill light 20 is increased, so that the field of view of the fill light 20 overlaps with the field of view of the visible light imaging device 10. Therefore, the field of view of the fill light 20 can be adjusted by adjusting the first focal length of the fill light 20 such that the field of view of the fill light 20 on the movable platform can at least partially overlap the field of view of the visible light imaging device 10.
  • the field of view of the fill light 20 may refer to the coverage of the illuminating light of the fill light 20, and the field of view of the visible light imaging device 10 may refer to the collection range of the collected light by the visible light imaging device 10.
  • the field of view of the fill light 20 overlaps at least partially with the field of view of the visible light imaging device 10. It can be understood that the field of view of the fill light 20 partially overlaps the field of view of the visible light imaging device 10, or the field of view of the fill light 20 is The field of view of the visible light imaging device 10 is completely overlapped. The field of view of the fill light 20 overlaps the field of view of the visible light imaging device 10, and the field of view of the fill light 20 may cover the field of view of the visible light imaging device 10 or the field of view of the visible light imaging device 10 may be covered. The field of view of the light 20 or the field of view of the visible light imaging device 10 coincides with the field of view of the fill light 20.
  • the field of view of the fill light 20 at least partially overlaps the field of view of the visible light imaging device 10, and may cover the field of view of the visible light imaging device 10 or the field of view of the visible light imaging device 10 for the field of view of the fill light 20
  • the range coincides with the field of view of the fill light 20, so that the fill light 20 can fully and accurately fill all the objects in the field of view of the visible light imaging device 10.
  • control device 30 can control the visible light imaging device 10 to acquire an image when the adjusted fill light 20 is illuminated. In this manner, the visible light imaging device 10 can image or acquire a clear visible light image with respect to the fill light without the fill light.
  • step 01 may be re-entered to re-detect whether a zoom trigger event has occurred.
  • the detection of whether the zoom triggering event occurs may be real-time, or may be an interval detection, or may be an untimed detection, which is not specifically limited herein.
  • the zoom triggering event includes at least one of the following:
  • the first zoom command for the visible light imaging device 10 the second zoom command for the fill light 20, the field of view of the fill light 20, and the field of view of the visible light imaging device 10 do not overlap, and the brightness of the environment is less than the preset brightness.
  • the first focal length of the fill light 20 can be adjusted at a suitable timing by properly setting the zoom trigger event.
  • step 03 when the zoom triggering event is to receive the first zooming instruction for the visible light imaging device 10, step 03 includes:
  • the processor 32 when the zoom triggering event is receiving the first zooming instruction for the visible light imaging device 10, the processor 32 is configured to adjust the second of the visible light imaging device 10 according to the first zooming instruction.
  • the focal length and the first focal length of the fill light 20 are adjusted according to the adjusted second focal length such that the field of view of the fill light 20 at least partially overlaps the field of view of the visible light imaging device 10.
  • step 032 can be implemented by processor 32.
  • the first focal length of the fill light 20 can be controlled to change correspondingly as the second focal length of the imaging device 10 changes.
  • the second focal length of the visible light imaging device 10 is adjusted according to the first zooming instruction, thereby causing a change in the field of view of the visible light imaging device 10.
  • the second focal length of the second focal length adjusts the first focal length of the fill light 20, and the field of view of the fill light 20 can be changed, that is, the field of view of the fill light 20 changes with the change of the field of view of the visible light imaging device 10, thereby making The field of view of the fill light 20 can at least partially overlap with the field of view of the visible light imaging device 10.
  • the first focal length and the second focal length can be positively correlated.
  • the first zoom command is to reduce the second focal length of the visible light imaging device 10
  • the field of view of the visible light imaging device 10 becomes larger, and at this time, the first focal length of the fill light 20 is imaged with visible light.
  • the second focal length of the device 10 becomes smaller and smaller, the field of view of the fill light 20 can be adjusted to be larger, so that the field of view of the fill light 20 can cover as much as possible the field of view of the visible light imaging device 10. And can provide a better fill light effect for the visible light imaging device 10.
  • the first zoom command is to increase the second focal length of the visible light imaging device 10
  • the field of view of the visible light imaging device 10 becomes smaller
  • the first focal length of the fill light 20 at the time follows the second focal length of the visible light imaging device 10.
  • the field of view of the fill light 20 can be adjusted to be smaller, so that the fill light 20 can provide a better light intensity for the field of view in which the visible light imaging device 10 and the fill light 20 overlap.
  • step 032 the change of the second focal length of the visible light imaging device 10 and the change of the first focal length of the fill light lamp 20 may occur synchronously, that is, after the control device 30 receives the first zoom instruction, control The device 30 can simultaneously control the visible light imaging device 10 to adjust the second focal length and the fill light 20 to adjust the first focal length, and determine the first of the fill light 20 according to the change multiple of the second focal length analyzed according to the first zoom command.
  • the change of the focal length, or the adjustment of the second focal length of the visible light imaging device 10 can be controlled to adjust the first focal length, which is not specifically limited herein.
  • the synchronized zoom of the visible light imaging device 10 and the fill light 20 may be based on the first zoom command and the second zoom command, for example, the control device 30, in addition to the first zoom command.
  • the first zoom instruction for the visible light imaging device 10 and the second zoom command for the fill light 20 can be received, and the control device 30 can simultaneously perform zoom control on the visible light imaging device 10 and the fill light 20 according to the two zoom commands. To achieve zoom synchronization.
  • the synchronized zoom of the visible light imaging device 10 and the fill light 20 can reduce the overlap of the field of view of the visible light imaging device 10 and the fill light 20 during zooming with respect to the front and rear zoom of the visible light imaging device 10 and the fill light 20 Part of the abrupt change, especially when the field of view of the fill light 20 covers the field of view of the visible light imaging device 10.
  • the zoom synchronization occurring for the first zoom instruction can realize the automatic following zoom of the fill light 20 to the visible light imaging device 10 with respect to the zoom synchronization occurring for the first zoom instruction and the second zoom instruction, which is advantageous for Intelligent control.
  • the first focal length of the fill light 20 can be directly adjusted according to the second zooming command of the fill light 20.
  • the second zoom command is to increase the first focal length of the fill light 20
  • the first focal length of the fill light 20 is increased according to the second zoom command.
  • the second zoom command is to reduce the first focal length of the fill light 20, and the first focal length of the fill light 20 is reduced according to the second zoom command.
  • the degree of overlap of the field of view of the fill light 20 with the field of view of the visible light imaging device 10 can be directly adjusted, and the field of view of the fill light 20 and the visible light imaging device can be adjusted.
  • the brightness of the overlapping area of the field of view of 10 is set to meet different shooting requirements of the visible light imaging device 10.
  • the first zoom instruction and/or the second zoom instruction may be generated according to a user's operation. In this way, the first focal length of the fill light 20 can be made more suitable for the actual needs of the user.
  • the user controls the second focal length increase of the visible light imaging device 10 by the first zoom instruction in order to more clearly view the distant scene, so that the first focal length of the fill light 20 can correspond to visible light imaging.
  • the second focal length of the device 10 becomes larger, that is, the user can adjust the first focal length of the fill light 20 by the first zoom command.
  • the user after viewing the image acquired by the visible light imaging device 10, the user finds that the fill light effect of the fill light 20 is not good, and the first focal length corresponding to the fill light 20 can be controlled by the second zoom command.
  • the change is such that the fill light 20 fills the photographing scene of the visible light imaging device 10.
  • the user's operations include at least one of an operation for a virtual button, an operation for a physical button, a touch operation, a gesture operation, a voice operation.
  • the user can generate a first zoom command and/or a second zoom command through a variety of operations.
  • the virtual button includes an icon, and the user can generate a first zoom instruction and/or a second zoom instruction by clicking the icon.
  • the physical buttons include mechanical buttons, capacitive buttons, joysticks, and dials, and the user can generate a first zoom command and/or a second zoom command by operating the physical buttons.
  • the control device 30 can include a touch area (for example, a touch screen), and the user can generate a first zoom instruction by clicking (one or more times) or sliding (single or multi-point) on the touch area. And / or a second zoom command.
  • the control device 30 may further include a gesture recognition system, such as a camera (recognizing a gesture by image processing) or a somatosensory device (for example, setting a motion sensor on a user's hand), etc., by recognizing a user gesture operation by a gesture recognition system, thereby generating a first zoom command and/or a second zoom command.
  • a gesture recognition system such as a camera (recognizing a gesture by image processing) or a somatosensory device (for example, setting a motion sensor on a user's hand), etc., by recognizing a user gesture operation by a gesture recognition system, thereby generating a first zoom command and/or a second zoom command.
  • Control device 30 may also include an acoustical component (eg, a microphone) through which the user inputs a voice operation to generate a first zoom command and/or a second zoom command.
  • the first zoom instruction and/or the second zoom instruction may be directly generated by the control device 30 to recognize the user's operation, or the first zoom command and/or the second zoom command.
  • the user may perform related operations on the control end of the mobile platform, such as a remote control device, and then the control terminal transmits the first zoom command and/or the second zoom command to the control device 30 of the movable platform.
  • control device 30 may be a flight controller of the aircraft 1000, or may be a device other than the flight controller, such that the first zoom When the command and/or the second zoom command is transmitted by the control terminal of the aircraft 1000, the flight controller may transmit the first zoom command and/or the second zoom command to the control device 30.
  • the first zoom command and/or the second zoom command may also be automatically generated.
  • the first zoom instruction and/or the second zoom instruction may be automatically generated by image processing.
  • the first zoom instruction may be generated based on the position of the target photographing object by processing the image of the visible light imaging device 10 to obtain the position of the target photographing object. Specifically, if the target subject is obtained by processing the image of the visible light imaging device 10 relatively far (the object distance is relatively large), a first zoom instruction for increasing the second focal length of the visible light imaging device 10 may be generated; if the visible light imaging device is processed The image obtained after the image of 10 is relatively close to the target object (the object distance is small), and a first zooming instruction for reducing the second focal length of the visible light imaging device 10 can be generated.
  • the second zoom instruction may be generated according to the brightness of the image by processing the image of the visible light imaging device 10 to obtain the brightness of the image. Specifically, if the brightness of the image is found to be low after processing the image of the visible light imaging device 10, a second zooming instruction that increases the first focal length of the fill light 20 can be generated to increase the field of view of the fill light 20.
  • the zoom trigger event is such that the field of view of the fill light 20 does not overlap with the field of view of the visible light imaging device 10.
  • the position, orientation, and field of view of the fill light 20 and the position, orientation, and field of view of the visible light imaging device 10 are known, the position, orientation, field of view, and visible light imaging device of the fill light 20 are utilized.
  • the position, orientation, and field of view of 10 can determine whether or not the field of view of the fill light 20 overlaps with the field of view of the visible light imaging device 10, and does not overlap with the field of view of the visible light imaging device 10 in the field of view of the fill light 20.
  • the first focal length of the fill light 20 can be adjusted, such as by reducing the first focal length of the fill light 20 such that the field of view of the fill light 20 at least partially overlaps the field of view of the visible light imaging device 10.
  • the zoom trigger event is that the brightness of the environment is less than the preset brightness. Specifically, when the brightness of the environment in which the visible light imaging device 10 is located is less than the preset brightness, the visible light imaging device 10 is difficult to form a clear image or cannot be imaged. In this case, the fill light 20 is required to cooperate with the visible light imaging device 10 to acquire a clear image or image.
  • the first focal length of the fill light 20 can be adjusted such that the field of view of the fill light 20 at least partially overlaps the field of view of the visible light imaging device 10, whereby, the visible light imaging device 10 can be better equipped to perform different degrees of fill light for the field of view of the visible light imaging device 10.
  • the value of the preset brightness may be preset or determined by the user during the operation or set at the factory.
  • the brightness of the environment can be obtained by processing the image captured by the visible light imaging device 10 or by detecting the light sensor, and is not specifically limited herein.
  • the target subject is included in both the field of view of the visible light imaging device 10 and the field of view of the fill light 20.
  • the fill light 20 can fill the target object
  • the visible light imaging device 10 can image the target object so that the target object can be imaged or clearly imaged under dark light or insufficient light.
  • the first focal length of the fill light 20 such that the field of view of the fill light 20 at least partially overlaps the field of view of the visible light imaging device 10 and causes the field of view of the visible light imaging device 10 and the fill light 20
  • the target subject is included in the field of view, that is, the target subject is placed in the overlapping portion of the field of view of the visible light imaging device 10 and the fill light 20.
  • the target photographic subject may be located at the center of the field of view of the visible light imaging device 10 and at the center of the field of view of the fill light 20 .
  • the field of view of the visible light imaging device 10 and the field of view of the fill light 20 achieve a large degree of overlap, and the fill light 20 can fill the scene of the visible light imaging device 10 to a large extent, which is beneficial to the target object.
  • the imaging effect also facilitates a wide range of observations of the surrounding scene of the target subject to be applied to specific scenes such as detection.
  • the visible light imaging device 10 is disposed on the first platform 200 of the movable platform, and the fill light 20 is disposed on the second platform 300 of the movable platform.
  • the visible light imaging device 10 can be controlled to move by the first pan/tilt head 200
  • the fill light lamp 20 can be controlled to move by the second pan/tilt head 300.
  • the visible light imaging device 10 and the fill light 20 can also be disposed on the same pan/tilt of the movable platform, such that the fill light 20 can move synchronously with the visible light imaging device 10 even if In the case where the position of the fill lamp 20 is moved, the overlap of the field of view of the fill light 20 with the field of view of the visible light imaging device 10 is also facilitated, and at the same time, since the fill light 20 can follow the zoom of the visible light imaging device 10 The zooming is such that the field of view of the fill light 20 can be at least partially overlapped with the field of view of the visible light imaging device 10, even if the field of view of the fill light 20 completely covers the field of view of the visible light imaging device 10.
  • the zoom trigger event further includes the first pan/tilt 200 rotating.
  • the first focal length of the fill light 20 can be adjusted such that the field of view of the fill light 20 at least partially overlaps the field of view of the visible light imaging device 10.
  • the orientation of the visible light imaging device 10 may change when the first pan/tilt head 200 rotates, thereby causing the field of view of the visible light imaging device 10 to be filled with the fill light.
  • the relationship of the field of view of 20 varies.
  • the position of the field of view may deviate from the original position, possibly resulting in the field of view of the visible light imaging device 10 and the field of view of the fill light 20
  • the ranges become independent of each other at least partially overlapping, so the first focal length of the fill light 20 needs to be adjusted.
  • the field of view of the fill light 20 can be increased by adjusting the first focal length of the fill light 20 such that the field of view of the fill light 20 can cover at least the field of view of the visible light imaging device 10.
  • control method further includes:
  • the processor 32 is further configured to control the second pan/tilt head 300 to follow the rotation when the first pan/tilt head 200 rotates.
  • step 05 can be implemented by processor 32.
  • Coordinating the work by the first pan/tilt head 200 and the second pan/tilt head 300 can enrich the cooperation of the visible light imaging device 10 and the fill light lamp 20.
  • the aircraft 1000 can carry the first cloud platform 200 and the second cloud platform 300, the first cloud platform 200 can support the visible light imaging device 10, and the second cloud platform can support the fill light 20 .
  • the first pan/tilt head 200 rotates, the orientation of the visible light imaging device 10 changes. Therefore, the second pan/tilt head 300 can be controlled to follow the rotation, so that the orientation of the fill lamp 20 also follows the change, thereby making the field of view of the visible light imaging device.
  • the field of view of the fill light 20 is closer or overlapping.
  • step 05 may be performed before step 01.
  • step 05 and step 01 may also be performed at the same time, which is not specifically limited herein.
  • the first pan-tilt 200 rotates at the same angle as the second pan-tilt 300.
  • the first pan/tilt head 200 and the second pan/tilt head 300 can be rotated synchronously, and their relative positions are unchanged, that is, the relative positions and relative orientations of the visible light imaging device 10 and the fill light lamp 20 are unchanged.
  • the second focal length of the device 10 and the first focal length of the fill light 20 are not changed, the relationship between the field of view of the visible light imaging device 10 and the field of view of the fill light 20 is unchanged, and then the second portion of the fill light 20 is adjusted.
  • a focal length enables the field of view of the visible light imaging device 10 and the field of view of the fill light 20 to at least partially overlap.
  • the angle at which the second pan/tilt head 300 rotates may be determined according to an angle at which the first pan/tilt head 200 rotates.
  • the target photographing object can be determined according to the visible light imaging device 10 on the first pan-tilt 200, and the second pan-tilt 300 is controlled to rotate according to the position of the target photographing object, and only needs to satisfy the second cloud.
  • the fill light 20 on the stage 300 can fill the target object with light.
  • the first focal length of the fill light 20 can be adjusted after the second pan-tilt head 300 is rotated following the rotation of the first pan-tilt head 200.
  • the second pan-tilt head 300 following the rotation of the first pan-tilt head 200 can make the orientation of the visible light imaging device 10 and the orientation of the fill light 20 more suitable, and adjusting the first focal length of the fill light lamp 20 can adjust the field of view of the fill light lamp 20.
  • the field of view of the visible light imaging device 10 and the field of view of the fill light 20 are more likely to at least partially overlap, or more partial overlap occurs.
  • step 05 includes:
  • Step 052 Control the first pan-tilt head 200 to rotate the first angle to make the target photographing object at the center of the field of view of the visible light imaging device 10;
  • Step 054 Control the second pan/tilt head 300 to rotate the second angle so that the target photographing object is at the center of the field of view of the fill light lamp 20.
  • the processor 32 is configured to control the first pan-tilt head 200 to rotate a first angle to make the target photographing object at the center of the field of view of the visible light imaging device 10, and to control the second head.
  • the second angle is rotated 300 so that the target subject is at the center of the field of view of the fill light 20.
  • steps 052 and 054 can be implemented by processor 32.
  • the step 052 may be performed simultaneously with the step 054, or may be performed before the step 054.
  • Coordinating the work by the first pan/tilt head 200 and the second pan/tilt head 300 can cause the target photographing object to be at the center of the field of view of the visible light imaging device 10 and the center of view of the fill light lamp 20 at the same time.
  • the first object can be rotated by the first angle so that the target subject is at the center of the field of view of the visible light imaging device 10, so that the user can view the image of the target subject acquired by the visible light imaging device 10.
  • the second pan-tilt head 300 can be controlled to rotate the second angle such that the target photographing object is at the center of the field of view of the fill light 20 so that the fill light lamp 20 fills the target photographing object to facilitate the visible light imaging device 10 to target the object. Imaging.
  • the first angle at which the first platform 200 rotates is the same as the second angle at which the second platform 300 rotates.
  • the target photographing object may be at the center of the field of view of the visible light imaging device 10, and then the second pan-tilt head 300 rotates at the same second angle as the first angle, and the target photographing object is detachable.
  • the target subject is also at the center of the field of view of the fill light 20.
  • the second angle of rotation of the second platform 300 may be determined according to a first angle of rotation of the first platform 200 such that the target subject is simultaneously located in the field of view of the visible light imaging device 10 and the fill light 20 center.
  • the first pan/tilt head 200 can be synchronously controlled to rotate the first angle while the first pan/tilt head 200 is rotated, and then the target photographing object can be determined according to the visible light imaging device 10 on the first pan/tilt head 200, and according to The position of the target object is automatically controlled based on the first angle to automatically rotate the second pan-tilt 300 to rotate the additional angle, that is, the second angle may be the sum of the first angle and the additional angle, or the difference between the first angle and the additional angle So that the target subject is simultaneously located at the center of the field of view of the visible light imaging device 10 and the fill light 20.
  • first pan-tilt head 200 can be simultaneously rotated to rotate the first angle and the second pan-tilt head 300 to rotate the second angle, and the second angle is before the first pan-tilt head 200 and the second pan-tilt head 300 are controlled to rotate according to the first angle and
  • the position of the target subject is calculated such that the target subject is simultaneously located at the center of the field of view of the visible light imaging device 10 and the fill light 20.
  • the first object distance D1 between the target photographing object and the visible light imaging device 10 and the second object distance D2 between the detection target photographing object and the fill light lamp 20 may be acquired according to the position of the target photographing object, and then The angle ⁇ is calculated according to the preset distance D between the visible light imaging device 10 and the fill light 20, the first object distance D1, and the second object distance D2, and the second angle is calculated according to the first angle and the angle ⁇ .
  • the rotation direction of the second pan-tilt head 300 may be different from the rotation direction of the first pan-tilt head 200, or may be based on the coincidence degree of the center of view of the visible light imaging device 10 and the fill light lamp 20 in the rotation direction of the first pan-tilt head 200. Make adjustments accordingly.
  • control instruction of the first cloud platform 200 and the control instruction of the second cloud platform 300 may be separately transmitted by two control commands, or the control command of the second cloud platform 300 may be controlled according to the first cloud platform.
  • Instruction transfer For example, the user can separately transmit two control commands to the mobile platform through the corresponding device (such as the control end of the mobile platform), and the mobile platform can transmit the two control commands to the first cloud platform 200 and the second through the control device 30 respectively.
  • the second cloud platform 300 may also be that the user transmits a control instruction for the first cloud platform 200 to the mobile platform through a corresponding device (such as a control terminal of the mobile platform), and the mobile platform transmits the first cloud to the first cloud via the control device 30.
  • the control command of the station 200 is transmitted to the first pan/tilt head 200, and the control command is also transmitted to the second pan/tilt head 300, especially when the first angle and the second angle are the same.
  • the rotation of the additional angle of the second pan/tilt head 300 may not be triggered by the corresponding control command, but may occur automatically, which is beneficial to the realization of intelligence, and is beneficial to strengthen the complementary light 20 to the imageable device. 10 precise fill light effect.
  • the first pan/tilt head 200 and the second pan/tilt head 300 are separately controlled according to two control commands, and the synchronous panning is performed.
  • the synchronous panning includes the first pan-tilt head 200 and the second pan-tilt head 300 respectively performing the first angle.
  • the synchronous rotation of the second angle may also include that the first pan/tilt head and the second pan/tilt head 300 simultaneously rotate at a first angle, and then the second pan/tilt head performs an additional angle of rotation), thereby facilitating the improvement of the first pan/tilt head 200, The response speed of the second pan/tilt head 300.
  • the control device 30 is disposed on the aircraft 1000, and the user transmits two control commands through the control end of the aircraft 1000 (eg, the APP of the remote control terminal), and the two control commands are respectively the first pan/tilt head 200 Control the command and the control command of the second pan/tilt head 300, the first pan/tilt head 200 rotates the first angle according to the control instruction of the first pan/tilt head 200, and the second pan/tilt head 300 rotates the first angle according to the control instruction of the second pan/tilt head 300 Thereafter, the second pan/tilt head 300 can control the second pan/tilt head 300 to rotate an additional angle according to the position of the target photographing object such that the center of the field of view of the visible light imaging device 10 overlaps the center of the field of view of the fill light lamp 20.
  • the two control commands are respectively the first pan/tilt head 200 Control the command and the control command of the second pan/tilt head 300
  • the first pan/tilt head 200 rotates the first
  • the first focal length of the fill light 20 can be changed following the change of the second focal length of the visible light imaging device 10, so that the field of view of the fill light 20 covers the visible light imaging device.
  • the field of view of 10 or the field of view of the fill light 20 coincides with the field of view of the visible light imaging device 10, thereby achieving a better light-filling effect of the fill light 20 on the visible light imaging device 10.
  • first angle and the second angle may be automatically generated or input by a user, and are not specifically limited herein.
  • control method further includes:
  • the processor 32 is further configured to adjust the operating power of the fill light 20 according to the adjusted first focal length.
  • step 07 can be implemented by processor 32.
  • the intensity of the illuminating light per unit area of the fill light lamp 20 can be made a preset intensity by adjusting the operating power of the fill light lamp 20.
  • the field of view of the fill light 20 and the intensity of the light ray per unit area of the fill light 20 also change.
  • the intensity of the illuminating light per unit area of the fill light 20 is greater; the smaller the first focal length of the fill light 20 is, the larger the field of view of the fill light 20 is, and the operating power of the fill light 20 is unchanged. In the case, the intensity of the illuminating light per unit area of the fill lamp 20 is smaller.
  • the operating power of the fill light 20 can be adjusted according to the first focal length of the adjusted fill light 20, so that the total light intensity of the light of the fill light 20 follows the change, thereby eliminating the change of the field of view of the fill light 20.
  • the influence of the intensity of the illuminating light per unit area of the fill lamp 20 is such that the intensity of the illuminating light per unit area of the fill lamp 20 is maintained within a certain intensity range. .
  • the first focal length of the fill light 20 may be negatively correlated with the operating power, that is, when the first focal length of the fill light 20 is larger, the operating power of the fill light 20 may be reduced, in the fill light 20
  • the relationship between the first focal length of the fill light 20 and the working power may be preset or set by the user during operation or before leaving the factory.
  • the operation power of the fill light lamp 20 can be adjusted by adjusting the working voltage and the operating current of the fill light lamp 20, and is not specifically limited herein.
  • the fill light 20 includes at least one of an infrared fill light and a visible fill light.
  • the infrared fill light refers to a fill light that emits infrared light
  • the visible light fill light refers to a fill light that emits visible light.
  • the fill light 20 is an infrared fill light
  • the visible light imaging device 10 includes an infrared cut filter and a switch (not shown), and the infrared cut filter is used.
  • the control method further includes:
  • Step 09 The control switch removes the infrared cut filter from the light collecting path of the visible light imaging device 10.
  • the fill light 20 is an infrared fill light
  • the visible light imaging device 10 includes an infrared cut filter and a switch
  • the infrared cut filter is used to filter infrared light
  • the processor 32 is also used to control the switch to remove the infrared cut filter from the light collecting path of the visible light imaging device 10.
  • step 09 can be implemented by processor 32.
  • the infrared fill light can be used to assist in imaging the visible light imaging device 10.
  • the visible light imaging device 10 generally includes an infrared cut filter.
  • the infrared light is filtered by the infrared cut filter to enable visible light imaging.
  • the image sensor of device 10 does not receive infrared light.
  • the visible light imaging device 10 needs to acquire an image by means of the fill light 20, and if the fill light 20 is an infrared fill light, if the infrared cut filter is still The working state may make the infrared fill light unable to perform any light filling effect, so that the switch can be controlled to remove the infrared cut filter from the light collecting path of the visible light imaging device 10, thereby making the image of the visible light imaging device 10
  • the sensor is capable of receiving infrared light of the infrared fill light to improve the imaging effect of the visible light imaging device 10.
  • the switch can be a motor, such as a microelectronic motor.
  • control device 30 further includes a memory (not shown) for storing a program corresponding to the control method of any of the above embodiments.
  • the processor 32 executes a program stored in the memory to implement the control method of any of the above embodiments.
  • an embodiment of the present invention further provides an imaging system 100 that includes a visible light imaging device 10, a fill light 20, and a control device 30 of any of the above embodiments.
  • an imaging system 100 there may be multiple visible light imaging devices 10, and a plurality of fill lamps 20 may be used. If a visible light device and a fill light 20 are a set of imaging sets, then one control The device 30 can control a plurality of component sets, or the control device 30 can also be multiple. A set of imaging sets can correspond to a control device 30, which is not specifically limited herein.
  • an embodiment of the present invention further provides an aircraft 1000.
  • the aircraft 1000 includes a center frame, an arm connected to the center frame, and a power unit (not shown) connected to the arm.
  • the aircraft 1000 further includes Imaging system 100 can be included.
  • the aircraft 1000 further includes a first pan/tilt head 200 and a second pan/tilt head 300 mounted on the center frame.
  • the first pan-tilt 200 can be used to support the visible light imaging device 10 in the imaging system 100
  • the second pan-tilt 300 can be used to support the fill light 20 in the imaging system 100.
  • the first pan/tilt head 200 and/or the second pan/tilt head 300 may be a single-axis pan/tilt head, a two-axis pan/tilt head or a three-axis pan/tilt head.
  • the attitude change of the three-axis pan/tilt head includes changes in the pitch angle, the yaw angle, and the roll angle.
  • the first angle of rotation of the first platform 200 may be at least one of a pitch angle, a yaw angle, and a roll angle, that is, the first angle at which the first head 200 rotates may be a pitch angle, or the first head 200 rotates
  • the first angle may be a yaw angle, or the first angle of the first pan-tilt 200 rotation may be a roll angle, or the first angle of the first pan-tilt 200 rotation may be a pitch angle and a yaw angle, or first
  • the first angle of rotation of the pan/tilt head 200 may be a pitch angle and a roll angle, or the first angle at which the first head 200 rotates may be a yaw angle and a roll angle, or the first angle at which the first head 200 rotates may be It is the pitch angle, yaw angle and roll angle.
  • the second angle of the second pan-tilt head 300 rotation may also be at least one of a pitch angle, a yaw angle and a roll angle, which are not described herein.
  • the first angle is the same as the second angle.
  • the second angle is also the yaw angle; or, when the first angle is the roll angle, the second angle is also Is the roll angle; or the first angle is the pitch angle, the second angle is also the pitch angle; or, when the first angle is the combination of the yaw angle and the roll angle, the second angle is also the yaw angle and the roll angle.
  • the combination of angles or, when the first angle is a combination of a yaw angle, a roll angle, and a pitch angle, the second angle is also a combination of a yaw angle, a roll angle, and a pitch angle.
  • the first angle may also be other combinations, and only the first angle and the second angle type are the same, and will not be described herein.
  • the center frame of the aircraft 1000 can be equipped with multiple sets of pan/tilt assemblies to meet different shooting requirements, and is not specifically limited herein.
  • a computer readable storage medium 2000 in accordance with an embodiment of the present invention includes a computer program for use with imaging system 100, which can be executed by processor 32 to perform the control method of any of the above embodiments.
  • a computer program can be executed by processor 32 to perform the control methods described in the following steps:
  • the first focal length of the fill light 20 is adjusted such that the field of view of the fill light 20 at least partially overlaps the field of view of the visible light imaging device 10.
  • the computer program can also be executed by processor 32 to perform the control methods described in the following steps:
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be executed in the form of hardware or in the form of software functional modules.
  • the integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

一种控制方法，应用于可移动平台。可移动平台上设有可见光成像装置(10)和补光灯(20)。控制方法包括：(01)检测是否发生变焦触发事件；(03)若是，则调节补光灯(20)的第一焦距，以使得补光灯(20)的视野范围与可见光成像装置(10)的视野范围至少部分重叠。本发明还公开了一种控制装置(30)、一种成像系统(100)、一种飞行器(1000)和一种计算机可读存储介质(2000)。

Description

控制方法、控制装置、成像系统、飞行器和存储介质 技术领域
本发明涉及成像技术领域，特别涉及一种控制方法、控制装置、成像系统、飞行器和计算机可读存储介质。
背景技术
在相关技术中，暗光环境不利于成像装置采集图像，例如在暗光环境下成像装置无法采集图像或采集的图像比较模糊。
发明内容
本发明的实施方式提供一种控制方法、控制装置、成像系统、飞行器和计算机可读存储介质。
本发明实施方式的控制方法，应用于可移动平台，所述可移动平台上设有可见光成像装置和补光灯，所述控制方法包括：
检测是否发生变焦触发事件；
若是，则调节所述补光灯的第一焦距，以使得所述补光灯的视野范围与所述可见光成像装置的视野范围至少部分重叠。
本发明实施方式的控制装置，应用于可移动平台，所述可移动平台上设有可见光成像装置和补光灯，所述控制装置包括处理器，所述处理器用于检测是否发生变焦触发事件、及在发生变焦触发事件时调节所述补光灯的第一焦距以使得所述补光灯的视野范围与所述可见光成像装置的视野范围至少部分重叠。
本发明实施方式的成像系统，包括可见光成像装置、补光灯和上述控制装置。
本发明实施方式的飞行器，所述飞行器包括中心架、与所述中心架连接的机臂以及与所述机臂连接的动力单元，所述飞行器还包括上述成像系统。
本发明实施方式的计算机可读存储介质，其上存储有计算机程序，所述计算机程序可被处理器执行以完成上述控制方法。
本发明实施方式的控制方法、控制装置、成像系统、飞行器和计算机可读存储介质通过调节补光灯的第一焦距使得可见光成像装置的视野范围与补光灯的视野范围至少部分重叠，从而使得可见光成像装置与补光灯重叠的视野范围的亮度能够在补光灯的作用下提高，并有利于提高可见光成像装置的视野范围的亮度，进而可见光成像装置能够成像或采集更加清晰的图像。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的控制方法的流程示意图；
图2是本发明实施方式的成像系统的示意图；
图3是本发明实施方式的飞行器的示意图；
图4是本发明实施方式的补光灯的第一焦距变化的场景示意图；
图5是本发明另一实施方式的控制方法的流程示意图；
图6是本发明实施方式的可见光成像装置、补光灯和目标拍摄物体的位置关系示意图；
图7是本发明再一实施方式的控制方法的流程示意图；
图8是本发明又一实施方式的控制方法的流程示意图；
图9是本发明又一实施方式的控制方法的流程示意图；
图10是本发明又一实施方式的控制方法的流程示意图；
图11是本发明实施方式的成像系统和计算机可读存储介质的连接示意图。
主要元件符号附图说明：
飞行器1000、成像系统100、可见光成像装置10、补光灯20、控制装置30、处理器32、第一云台200、第二云台300、计算机可读存储介质2000。
具体实施方式
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介 间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
请参阅图1至图3，本发明实施方式的控制方法可以应用于可移动平台，可移动平台上设有可见光成像装置10和补光灯20。控制方法包括：
01：检测是否发生变焦触发事件；
03：若是，则调节补光灯20的第一焦距，以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠。
请继续参阅图2和图3，本发明实施方式的控制装置30可以应用于可移动平台，该控制装置30可以为独立与可移动平台的设备，也可以设于可移动平台上，为可移动平台的一部分。当该控制装置30设于可移动平台上时，控制装置30还可以应用于可移动平台上的成像系统100，即成像系统100可以包括控制装置30、可见光成像装置10和补光灯20。控制装置30包括处理器32，处理器32用于检测是否发生变焦触发事件、及在发生变焦触发事件时调节补光灯20的第一焦距以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠。
也即是说，本发明实施方式的控制方法可以由本发明实施方式的控制装置30实现，其中，步骤01和步骤03可以由处理器32实现。
本发明实施方式的控制方法和控制装置30通过调节补光灯20的第一焦距使得可见光成像装置10的视野范围与补光灯20的视野范围至少部分重叠，从而使得可见光成像装置10与补光灯20重叠的视野范围的亮度能够在补光灯20的作用下提高，并有利于提高可见光成像装置10的视野范围的亮度，进而可见光成像装置10能够成像或采集更加清晰的图像。
其中，在实际应用中，在补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠后，可以获取可见光成像装置10成像后的图像，并可以将该图像显示在控制装置 10的显示屏上，该图像可以是连续的影像(即视频)，也可以是单张或多张图像。
请继续参阅图3，可以理解的是，可移动平台是指可以移动的平台，例如包括飞行器1000、汽车或机器人等。在本发明实施方式中，以可移动平台为飞行器1000为例进行说明。其中，可见光成像装置10可以是指采集可见光形成图像的装置，例如为可见光相机，又例如为可见光摄像机。
在某些实施方式中，补光灯20包括光源和设置在光源发光线路上的补光灯镜头，通过调节光源和补光灯镜头之间的距离可以调节补光灯20的第一焦距。可以通过控制光源和/或补光灯镜头移动来调节光源和补光灯镜头之间的距离，即可以控制光源移动来调节光源和补光灯镜头之间的距离，或，控制补光灯镜头移动来调节光源和补光灯镜头之间的距离，或，控制光源和补光灯镜头同时移动来调节光源和补光灯镜头之间的距离。其中，控制光源和/或补光灯镜头移动可由诸如电机实现，电机例如为微电子电机。
在一个实施例中，可以通过控制补光灯镜头移动来调节光源和补光灯镜头之间的距离。补光灯镜头例如为镜片组，镜片组包括多个镜片，通过控制补光灯镜头移动来调节光源和补光灯镜头之间的距离，可以理解为，通过控制整个镜片组一起移动或控制至少其中一个镜片移动来调节光源和补光灯镜头之间的距离。
可以理解，通过调节补光灯20的第一焦距，可以使得补光灯20的视野范围发生相应的变化。一般情况下，补光灯20的第一焦距越大，补光灯20的视野范围越小；补光灯20的第一焦距越小，补光灯20的视野范围越大。例如，请参阅图4，补光灯20的第一焦距为A时，补光灯20的视野范围与可见光成像装置10的视野范围可能不重叠；通过调节补光灯20的第一焦距，使得补光灯20的第一焦距为B时(A>B)，补光灯20的视野范围增大，从而使得补光灯20的视野范围与可见光成像装置10的视野范围出现了重叠。因此，可以通过调节补光灯20的第一焦距以调节补光灯20的视野范围，从而使得可移动平台上的补光灯20的视野范围能够与可见光成像装置10的视野范围至少部分重叠。其中，补光灯20的视野范围可以是指补光灯20的发光光线的覆盖范围，可见光成像装置10的视野范围可以是指可见光成像装置10采集光线的采集范围。
补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠，可以理解为，补光灯20的视野范围与可见光成像装置10的视野范围部分重叠，或补光灯20的视野范围与可见光成像装置10的视野范围全部重叠。其中，补光灯20的视野范围与可见光成像装置10的视野范围全部重叠，可以是：补光灯20的视野范围覆盖可见光成像装置10的视野范围，或，可见光成像装置10的视野范围覆盖补光灯20的视野范围，或可见光成像装置10的视野范围与补光灯20的视野范围一致。在一个实施例中，补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠，可以为补光灯20的视野范围覆盖可见光成像 装置10的视野范围，或可见光成像装置10的视野范围与补光灯20的视野范围一致，从而补光灯20能够全面且准确地为可见光成像装置10的视野范围内的所有对象补光。
在某些实施方式中，在调节后的补光灯20发光时控制装置30可以控制可见光成像装置10采集图像。如此，可见光成像装置10相对于无补光灯补光的情况下能够成像或采集较为清晰的可见光图像。
在某些实施方式中，若没有检测到发生变焦触发事件，可以重新进入步骤01，即重新检测是否发生变焦触发事件。
可以理解的是，在实际应用中，检测是否发生变焦触发事件可以是实时的，也可以是间隔检测，还可以是不定时检测，在此不作具体限定。
在某些实施方式中，变焦触发事件包括以下至少之一：
针对可见光成像装置10的第一变焦指令、针对补光灯20的第二变焦指令、补光灯20的视野范围与可见光成像装置10的视野范围未发生重叠、环境的亮度小于预设亮度。
如此，可以通过合理设置变焦触发事件以在合适的时机调节补光灯20的第一焦距。
请参阅图5，在某些实施方式中，当变焦触发事件为接收到针对可见光成像装置10的第一变焦指令时，步骤03包括：
032：根据第一变焦指令调节可见光成像装置10的第二焦距，并根据调节后的第二焦距调节补光灯20的第一焦距，以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠。
请再次参阅图2，在某些实施方式中，当变焦触发事件为接收到针对可见光成像装置10的第一变焦指令时，处理器32用于根据第一变焦指令调节可见光成像装置10的第二焦距，并根据调节后的第二焦距调节补光灯20的第一焦距，以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠。
也即是说，步骤032可以由处理器32实现。
如此，可以控制补光灯20的第一焦距在成像装置10的第二焦距变化时对应变化。
具体地，在接收到针对可见光成像装置10的第一变焦指令时，可见光成像装置10的第二焦距会根据第一变焦指令进行调节，从而使得可见光成像装置10的视野范围发生变化。其中，可见光成像装置10的第二焦距越小，其视野范围越大，可见光成像装置10的第二焦距越大，其视野范围越小。因此，当可见光成像装置10的第二焦距变化时，若补光灯20的第一焦距保持不变，可能导致可见光成像装置10的视野范围与补光灯20的视野范围彼此独立，而根据调节后的第二焦距调节补光灯20的第一焦距，可改变补光灯20的视野范围，即使得补光灯20的视野范围伴随着可见光成像装置10的视野范围的变化而变化，进而使得补光灯20的视野范围与可见光成像装置10的视野范围能够至少部分重叠。
在某些实施方式中，第一焦距与第二焦距可以呈正相关。在一个实施例中，例如，若第一变焦指令为减小可见光成像装置10的第二焦距，则可见光成像装置10的视野范围变大，此时补光灯20的第一焦距随着可见光成像装置10的第二焦距的变小而变小，则可以调节补光灯20的视野范围也变大，进而使得补光灯20的视野范围可以尽量覆盖到较多的可见光成像装置10的视野范围，并能够为可见光成像装置10提供更佳的补光效果。又例如，第一变焦指令为增大可见光成像装置10的第二焦距，则可见光成像装置10的视野范围变小，此时补光灯20的第一焦距随着可见光成像装置10的第二焦距的变大而变大，则可以调节补光灯20的视野范围也变小，进而使得补光灯20可以为可见光成像装置10与补光灯20重叠的视野范围提供较佳的光照强度。
需要说明的是，在步骤032中，可见光成像装置10的第二焦距的变化和补光灯20的第一焦距的变化可以同步发生，即通过控制装置30在接收到第一变焦指令后，控制装置30可以同时控制可见光成像装置10进行第二焦距的调节和补光灯20进行第一焦距的调节，如根据第一变焦指令解析得到的第二焦距的变化倍数确定补光灯20的第一焦距的变化倍数，或者，也可以在控制可见光成像装置10进行第二焦距的调节之后，控制补光灯20进行第一焦距的调节，此处不做具体限定。
可以理解的是，在实际应用中，可见光成像装置10和补光灯20的同步变焦除了基于第一变焦指令之外，还可以为基于第一变焦指令和第二变焦指令，例如，控制装置30可以接收到针对可见光成像装置10的第一变焦指令和针对补光灯20的第二变焦指令，控制装置30可以根据这两条变焦指令同时对可见光成像装置10和补光灯20进行变焦控制，以实现变焦同步。
其中，可见光成像装置10和补光灯20的同步变焦相对于可见光成像装置10和补光灯20的前后变焦而言，可以减少可见光成像装置10和补光灯20变焦过程中的视野范围的重叠部分的突兀变化，尤其是当补光灯20的视野范围覆盖可见光成像装置10的视野范围时。
同时，针对第一变焦指令而发生的变焦同步相对于针对第一变焦指令和第二变焦指令而发生的变焦同步而言，可以实现补光灯20对可见光成像装置10的自动跟随变焦，有利于智能化控制。
在某些实施方式中，当变焦触发事件为接收到针对补光灯20的第二变焦指令时，可以根据补光灯20的第二变焦指令直接调节补光灯20的第一焦距。例如，第二变焦指令为增大补光灯20的第一焦距，则补光灯20的第一焦距根据第二变焦指令而增大。又例如，第二变焦指令为减小补光灯20的第一焦距，则补光灯20的第一焦距根据第二变焦指令而减小。由此，通过调节补光灯20的第一焦距，可以直接调整补光灯20的视野范围与可见光成像装置10的视野范围的重叠程度，还可以调节补光灯20的视野范围与可见光成像装置 10的视野范围的重叠区域的亮度，以满足可见光成像装置10的不同拍摄需求。
在某些实施方式中，第一变焦指令和/或第二变焦指令可以为根据用户的操作生成。如此，可以使得补光灯20的第一焦距更贴合用户的实际需求。
例如，在一个实施例中，用户为了更为清楚地查看远处的场景，通过第一变焦指令控制可见光成像装置10的第二焦距增大，从而补光灯20的第一焦距可以对应可见光成像装置10的第二焦距变大，即用户可通过第一变焦指令调节补光灯20的第一焦距。
又例如，在另一个实施例中，用户通过查看可见光成像装置10采集的图像后发现补光灯20的补光效果不佳，则可以通过第二变焦指令控制补光灯20的第一焦距对应变化，从而使得补光灯20为可见光成像装置10的拍摄场景补光。
在某些实施方式中，用户的操作包括针对虚拟按键的操作、针对物理按键的操作、触控操作、手势操作、语音操作中的至少一种。如此，用户可以通过多种操作生成第一变焦指令和/或第二变焦指令。
具体地，虚拟按键包括图标，用户可以通过点击图标来生成第一变焦指令和/或第二变焦指令。物理按键包括机械按键、电容按键、摇杆和拨轮等，用户可以通过操作物理按键来生成第一变焦指令和/或第二变焦指令。控制装置30可以包括触控区域(例如为触控屏)，用户可以通过在触控区域上点击(一次或多次)或滑动(单点或多点)等触控操作来生成第一变焦指令和/或第二变焦指令。控制装置30还可以包括手势识别系统，手势识别系统例如为相机(通过图像处理识别手势)或体感设备(例如将运动传感器设置在用户手部)等，通过手势识别系统识别用户手势操作，从而生成第一变焦指令和/或第二变焦指令。控制装置30还可以包括声电元件(例如为麦克风)，用户通过声电元件输入语音操作，从而生成第一变焦指令和/或第二变焦指令。
其中，当控制装置30设于可移动平台上时，第一变焦指令和/或第二变焦指令可以由控制装置30直接识别用户的操作生成，或者，第一变焦指令和/或第二变焦指令可以由用户在可移动平台的控制端进行相关操作生成，如遥控设备，而后由控制端将第一变焦指令和/或第二变焦指令传输给可移动平台的控制装置30。
进一步的，以可移动平台为图3中所示的飞行器1000为例进行说明，控制装置30可以为飞行器1000的飞行控制器，或者也可以为飞行控制器以外的装置，如此，在第一变焦指令和/或第二变焦指令为由飞行器1000的控制端发送时，飞行控制器可以将第一变焦指令和/或第二变焦指令传输给控制装置30。
在某些实施方式中，第一变焦指令和/或第二变焦指令也可以自动生成。具体地，可以通过图像处理来自动生成第一变焦指令和/或第二变焦指令。
例如，在一个实施例中，可以通过处理可见光成像装置10的图像以获得目标拍摄物体 的位置，根据目标拍摄物体的位置生成第一变焦指令。具体地，若通过处理可见光成像装置10的图像后获得目标拍摄物体比较远(物距较大)，可以生成增大可见光成像装置10的第二焦距的第一变焦指令；若通过处理可见光成像装置10的图像后获得目标拍摄物体比较近(物距较小)，可以生成减小可见光成像装置10的第二焦距的第一变焦指令。
又例如，在另一个实施例中，可以通过处理可见光成像装置10的图像以获得图像的亮度，根据图像的亮度生成第二变焦指令。具体地，若通过处理可见光成像装置10的图像后发现图像的亮度较低，可以生成增大补光灯20的第一焦距的第二变焦指令以增大补光灯20的视野范围。
在某些实施方式中，变焦触发事件为补光灯20的视野范围与可见光成像装置10的视野范围未发生重叠。具体地，由于补光灯20的位置、朝向、视野范围以及可见光成像装置10的位置、朝向、视野范围均可以得知，因此，通过补光灯20的位置、朝向、视野范围以及可见光成像装置10的位置、朝向、视野范围即可判断补光灯20的视野范围与可见光成像装置10的视野范围是否发生重叠，并在补光灯20的视野范围与可见光成像装置10的视野范围未发生重叠时，可以通过调节补光灯20的第一焦距，如减小补光灯20的第一焦距，使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠。
在某些实施方式中，变焦触发事件为环境的亮度小于预设亮度。具体地，在可见光成像装置10所在环境的亮度小于预设亮度时，可见光成像装置10难以形成清晰的图像或无法成像，此时需要补光灯20配合可见光成像装置10来获取清晰的图像或成像，因此，在可见光成像装置10所在环境的亮度小于预设亮度时，可以调节补光灯20的第一焦距，以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠，从而能够更佳地配合可见光成像装置10，为可见光成像装置10的视野范围进行不同程度的补光。其中，预设亮度的取值可以预先设置或由用户在操作过程中输入确定或在出厂前设置。
可以理解的是，环境的亮度可通过处理可见光成像装置10采集的图像，或通过光线传感器检测等方式获得，在此不作具体限定。
请参阅图6，在某些实施方式中，可见光成像装置10的视野范围内和补光灯20的视野范围内均包括目标拍摄物体。如此，补光灯20可以为目标拍摄物体补光，可见光成像装置10可以对目标拍摄物体进行成像，以使得目标拍摄物体在暗光或光照不足的情况下能够成像或清晰成像。
具体地，通过调节补光灯20的第一焦距以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠，并使得可见光成像装置10的视野范围内和补光灯20的视野范围内均包括目标拍摄物体，即使得目标拍摄物体处于可见光成像装置10和补光灯20的视野重叠部分。
进一步地，目标拍摄物体可以位于可见光成像装置10的视野中心且位于补光灯20的视野中心。如此，可见光成像装置10的视野范围和补光灯20的视野范围实现较大程度的重叠，补光灯20能够较大程度地为可见光成像装置10拍摄的场景补光，有利于目标拍摄物体的成像效果，也有利于对目标拍摄物体的周围场景进行较大范围的观察，以适用于一些特定的场景，如侦查。
请再次参阅图3，在某些实施方式中，可见光成像装置10设置在可移动平台的第一云台200上，补光灯20设置在可移动平台的第二云台300上。如此，通过第一云台200可以控制可见光成像装置10进行移动，通过第二云台300可以控制补光灯20进行移动。
可以理解的是，在某些实施例中，可见光成像装置10和补光灯20也可以设于可移动平台的同一云台上，如此，补光灯20可以与可见光成像装置10同步移动，即使在对补光灯20进行位置移动的情况下，也有利于补光灯20的视野范围与可见光成像装置10的视野范围的重叠，同时，由于补光灯20可以跟随可见光成像装置10的变焦而变焦，从而使得补光灯20的视野范围能够更佳地与可见光成像装置10的视野范围至少部分重叠，甚至是补光灯20的视野范围完全覆盖可见光成像装置10的视野范围。
在某些实施方式中，变焦触发事件还包括第一云台200转动。如此，在第一云台200转动时，那么可以调节补光灯20的第一焦距，以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠。具体地，由于可见光成像装置10设置在第一云台200上，因此在第一云台200转动时，可见光成像装置10的朝向会发生变化，从而使得可见光成像装置10的视野范围与补光灯20的视野范围的关系发生变化，尽管可见光成像装置10的视野范围大小可能不变，但其视野范围的位置会偏离原来的位置，可能导致可见光成像装置10的视野范围与补光灯20的视野范围由原本至少部分重叠而变得彼此独立，因此需要调节补光灯20的第一焦距。例如，可以通过调节补光灯20的第一焦距而增大补光灯20的视野范围，以使得补光灯20的视野范围能够至少覆盖可见光成像装置10的视野范围。
请参阅图3和图7，在某些实施方式中，控制方法还包括：
05：在第一云台200转动时控制第二云台300跟随转动。
请参阅图2和图3，在某些实施方式中，处理器32还用于在第一云台200转动时控制第二云台300跟随转动。
也即是说，步骤05可以由处理器32实现。
通过第一云台200和第二云台300协调工作可以使得可见光成像装置10和补光灯20的配合更加丰富。
具体地，在可移动平台为飞行器1000时，飞行器1000可以搭载第一云台200和第二云台300，第一云台200可以支撑可见光成像装置10，第二云台可以支撑补光灯20。第一 云台200转动时，可见光成像装置10的朝向会发生变化，因此，可以控制第二云台300跟随转动，从而使得补光灯20的朝向也跟随变化，进而使得可见光成像装置的视野范围和补光灯20的视野范围更加靠近或出现重叠。
在本发明实施方式中，步骤05可以在步骤01前执行，当然，在其他实施方式中，步骤05和步骤01也可以同时执行，在此不作具体限定。
在某些实施方式中，第一云台200转动的角度与第二云台300转动的角度相同。如此，可以使得第一云台200和第二云台300同步转动，其相对位置不变，即使得可见光成像装置10和补光灯20的相对位置、相对朝向均不变，此时在可见光成像装置10的第二焦距和补光灯20的第一焦距未变化的情况下，可见光成像装置10的视野范围和补光灯20的视野范围的关系不变，而后通过调节补光灯20的第一焦距能够使得可见光成像装置10的视野范围和补光灯20的视野范围至少部分重叠。
在某些实施方式中，第二云台300转动的角度可以为根据第一云台200转动的角度确定。具体地，在第一云台200转动后，根据第一云台200上的可见光成像装置10可以确定目标拍摄物体，根据目标拍摄物体的位置控制第二云台300转动，只需要满足第二云台300上的补光灯20能够为目标拍摄物体补光即可。
在某些实施方式中，可以在第一云台200转动时控制第二云台300跟随转动后，调节补光灯20的第一焦距。如此，第二云台300跟随第一云台200转动可以使得可见光成像装置10的朝向和补光灯20的朝向更加合适，调节补光灯20的第一焦距可以调节补光灯20的视野范围，使得可见光成像装置10的视野范围和补光灯20的视野范围更容易出现至少部分重叠，或出现更多部分的重叠。
请参阅图3和图8，在某些实施方式中，步骤05包括：
步骤052：控制第一云台200转动第一角度以使目标拍摄物体在可见光成像装置10的视野中心；及
步骤054：控制第二云台300转动第二角度以使目标拍摄物体在补光灯20的视野中心。
请参阅图2和图3，在某些实施方式中，处理器32用于控制第一云台200转动第一角度以使目标拍摄物体在可见光成像装置10的视野中心、及控制第二云台300转动第二角度以使目标拍摄物体在补光灯20的视野中心。
也即是说，步骤052和步骤054可以由处理器32实现。其中，步骤052可以和步骤054同时执行，也可以先于步骤054执行。
通过第一云台200和第二云台300协调工作可以使得目标拍摄物体同时处于可见光成像装置10的视野中心和补光灯20的视野中心。
具体地，可以通过控制第一云台200转动第一角度，从而使得目标拍摄物体处于可见 光成像装置10的视野中心，以便于用户查看可见光成像装置10获取的有关目标拍摄物体的图像。此外，可以控制第二云台300转动第二角度，从而使得目标拍摄物体处于补光灯20的视野中心以便补光灯20对目标拍摄物体进行补光，以利于可见光成像装置10对目标拍摄物体的成像。
在某些实施方式中，第一云台200转动的第一角度与第二云台300转动的第二角度相同。例如，在第一云台200转动第一角度后，目标拍摄物体可处于可见光成像装置10的视野中心，随后第二云台300转动与第一角度相同的第二角度，在目标拍摄物体离可移动平台较远且第一可见光成像装置10的视野中心与补光灯20的视野中心重叠(预先设置好可见光成像装置10和补光灯20的相对位置以使两者的视野中心重叠)时，目标拍摄物体也处于补光灯20的视野中心。
在某些实施例中，第二云台300转动的第二角度可以为根据第一云台200转动的第一角度确定，以使得目标拍摄物体同时位于可见光成像装置10和补光灯20的视野中心。具体地，可以在第一云台200转动第一角度的同时，同步控制第二云台也转动第一角度，而后可根据第一云台200上的可见光成像装置10确定目标拍摄物体，并根据目标拍摄物体的位置在第一角度的基础上再自动控制第二云台转动300转动额外角度，即第二角度可以为第一角度和额外角度之和，也可以第一角度和额外角度之差，以使得目标拍摄物体同时位于可见光成像装置10和补光灯20的视野中心。或者，可以同时控制第一云台200转动第一角度和第二云台300转动第二角度，第二角度为在控制第一云台200和第二云台300转动前，根据第一角度以及目标拍摄物体的位置计算得到，以使得目标拍摄物体同时位于可见光成像装置10和补光灯20的视野中心。
具体地，可以根据目标拍摄物体的位置，获取目标拍摄物体与可见光成像装置10之间的第一物距D1、及检测目标拍摄物体与补光灯20之间的第二物距D2，而后可以根据可见光成像装置10与补光灯20之间的预设距离D、第一物距D1和第二物距D2计算角度β，并根据第一角度与角度β计算第二角度。
其中，第二云台300的转动方向可以与第一云台200的转动方向不同，也可以基于可见光成像装置10和补光灯20的视野中心的重合度在第一云台200的转动方向上进行相应地调整。
可以理解的是，第一云台200的控制指令和第二云台300的控制指令可以为两条控制指令分别传输，也可以是第二云台300的控制指令为根据第一云台的控制指令传输。例如，用户可以通过相应装置(如可移动平台的控制端)分别传输两条控制指令至可移动平台，可移动平台可以经由控制装置30将两条控制指令分别传输给第一云台200和第二云台300，也可是用户通过相应装置(如可移动平台的控制端)将针对第一云台200的控制指令传输 至可移动平台，而可移动平台经由控制装置30将该针对第一云台200的控制指令传输给第一云台200，同时也将该控制指令传输给第二云台300，尤其是当第一角度和第二角度相同时。
其中，针对上述第二云台300的额外角度的转动，可以不需要相应的控制指令的触发，而是可自动发生，有利于智能化的实现，且有利于加强补光灯20对可成像装置10的精准补光效果。
基于此，优选的，可以根据两条控制指令分别控制第一云台200、第二云台300并实现同步转动(该同步转动包括第一云台200和第二云台300分别进行第一角度、第二角度的同步转动，也可以包括第一云台和第二云台300同时进行第一角度的转动，再第二云台进行额外角度的转动)，有利于提高第一云台200、第二云台300的响应速度。
例如，在一个实施例中，控制装置30设置在飞行器1000上，用户通过飞行器1000的控制端(例如为遥控终端的APP)传输两条控制指令，两条控制指令分别为第一云台200的控制指令和第二云台300的控制指令，第一云台200根据第一云台200的控制指令转动第一角度，且第二云台300根据第二云台300的控制指令转动第一角度后，第二云台300可以根据目标拍摄物体的位置控制第二云台300转动额外角度，以使可见光成像装置10的视野中心与补光灯20的视野中心重叠。随后，若可见光成像装置10的第二焦距发生变化，补光灯20的第一焦距可跟随可见光成像装置10的第二焦距的变化而变化，从而使得补光灯20的视野范围覆盖可见光成像装置10的视野范围或补光灯20的视野范围与可见光成像装置10的视野范围一致，由此实现补光灯20对可见光成像装置10的较佳补光效果。
需要说明的是，第一角度和第二角度可以为自动生成，也可以为用户输入，此处不做具体限定。
请参阅图9，在某些实施方式中，控制方法还包括：
07：根据调节后的第一焦距调节补光灯20的工作功率。
请再次参阅图2，在某些实施方式中，处理器32还用于根据调节后的第一焦距调节补光灯20的工作功率。
也即是说，步骤07可以由处理器32实现。
如此，可以通过调节补光灯20的工作功率而使得补光灯20的单位面积的发光光线的强度为预设强度。
具体地，在补光灯20的第一焦距变化时，补光灯20的视野范围和补光灯20的单位面积的发光光线的强度也会发生变化。一般情况下，补光灯20的第一焦距越大，补光灯20的视野范围越小，在补光灯20的工作功率不变的情况下(补光灯20的发光光线的总光强不变)，补光灯20的单位面积的发光光线的强度越大；补光灯20的第一焦距越小，补光灯 20的视野范围越大，在补光灯20的工作功率不变的情况下，补光灯20的单位面积的发光光线的强度越小。在补光灯20的光线传播至目标拍摄物体时，不同强度的发光光线容易对目标拍摄物体实现不同程度的补光效果，从而可见光成像装置10会采集到明亮变化过于明显的图像，影响用户的观看体验。因此，可以根据调节后的补光灯20的第一焦距调节补光灯20的工作功率而使得补光灯20的发光光线的总光强跟随变化，从而消除补光灯20的视野范围变化对补光灯20的单位面积的发光光线的强度而造成的影响，使得补光灯20的单位面积的发光光线的强度保持在一定强度范围内。。具体地，补光灯20的第一焦距与工作功率可以呈负相关，即在补光灯20的第一焦距越大时，可以降低补光灯20的工作功率，在补光灯20的第一焦距越小时，可以提高补光灯20的工作功率，以降低图像的亮度变化差异。其中，补光灯20的第一焦距与工作功率的变化关系可以预先设置或由用户在操作过程中设置或在出厂前设置。
调节补光灯20的工作功率可以通过调节补光灯20的工作电压、工作电流等方式实现，在此不作具体限定。
在某些实施方式中，补光灯20包括红外补光灯和可见光补光灯中的至少一种。其中，红外补光灯是指发射红外光的补光灯，可见光补光灯是指发射可见光的补光灯。
请参阅图2和图10，在某些实施方式中，补光灯20为红外补光灯，可见光成像装置10包括红外截止滤光片和切换器(图未示)，红外截止滤光片用于过滤红外光，控制方法还包括：
步骤09：控制切换器从可见光成像装置10的收光光路上移除红外截止滤光片。
请继续参阅图2，在某些实施方式中，补光灯20为红外补光灯，可见光成像装置10包括红外截止滤光片和切换器，红外截止滤光片用于过滤红外光，处理器32还用于控制切换器从可见光成像装置10的收光光路上移除红外截止滤光片。
也即是说，步骤09可以由处理器32实现。
如此，可以利用红外补光灯辅助可见光成像装置10成像。
具体地，为了减小红外光对图像的干扰，可见光成像装置10一般包括红外截止滤光片，在环境的亮度比较高时(可见光充足)，通过红外截止滤光片过滤红外光以使得可见光成像装置10的图像传感器不会接收到红外光。但是，在环境的亮度比较低时(可见光不足)，此时可见光成像装置10需要借助补光灯20来采集图像，在补光灯20为红外补光灯时，若红外截止滤光片仍处于工作状态会使得红外补光灯不能起到任何的补光效果，因此此时可以控制切换器从可见光成像装置10的收光光路上移除红外截止滤光片，从而使得可见光成像装置10的图像传感器能够接收红外补光灯的红外光，以提高可见光成像装置10的成像效果。在一个实施例中，切换器可为电机，电机例如为微电子电机。
在某些实施方式中，控制装置30还包括存储器(图未示)，存储器用于存储与上述任意一种实施方式的控制方法对应的程序。处理器32执行存储器存储的程序以实现上述任意一种实施方式的控制方法。
请继续参阅图2，本发明实施方式还提供了一种成像系统100，该成像系统100包括可见光成像装置10、补光灯20和上述任意一种实施方式的控制装置30。
可以理解的是，在一成像系统100中，可见光成像装置10可以为多个，补光灯20也可以为多个，若一可见光装置和一补光灯20为一组成像套装，那么一控制装置30可以控制多组成像套装，或者，控制装置30也可以为多个，一组成像套装可以对应一控制装置30，此处不做具体限定。
请再次参阅图3，本发明实施方式还提供了一种飞行器1000，该飞行器1000包括中心架、与中心架连接的机臂以及与机臂连接的动力单元(图未示)，该飞行器1000还可以包括成像系统100。
具体地，如图3所示，飞行器1000还包括中心架搭载的第一云台200和第二云台300。其中第一云台200可以用于支撑成像系统100中的可见光成像装置10，第二云台300可以用于支撑成像系统100中的补光灯20。
其中，第一云台200和/或第二云台300可以为单轴云台、双轴云台或三轴云台。
例如，以第一云台200为三轴云台为例，三轴云台的姿态变化包括俯仰角、偏航角和横滚角的变化。第一云台200转动的第一角度可以为俯仰角、偏航角和横滚角中的至少一个，即第一云台200转动的第一角度可以为俯仰角，或第一云台200转动的第一角度可以为偏航角，或第一云台200转动的第一角度可以为横滚角，或第一云台200转动的第一角度可以为俯仰角和偏航角，或第一云台200转动的第一角度可以为俯仰角和横滚角，或第一云台200转动的第一角度可以为偏航角和横滚角，或第一云台200转动的第一角度可以为俯仰角、偏航角和横滚角。当然，第二云台300为三轴云台时，第二云台300转动的第二角度也可以为俯仰角、偏航角和横滚角中的至少一个，在此不作赘述。
较佳的，第一角度与第二角度的类型相同，例如，第一角度为偏航角时，第二角度也为偏航角；或者，第一角度为横滚角时，第二角度也为横滚角；或者第一角度为仰俯角时，第二角度也为仰俯角；或者，第一角度为偏航角和横滚角的组合时，第二角度也为偏航角和横滚角的组合；或者，第一角度为偏航角、横滚角和仰俯角的组合时，第二角度也为偏航角、横滚角和仰俯角的组合。当然，第一角度也可以是其他组合，只需满足第一角度和第二角度类型相同即可，在此不做赘述。
可以理解的是，若将第一云台200、第一云台200支撑的可见光成像装置10、第二云台300、第二云台300支撑的补光灯20作为一组云台组件，则飞行器1000的中心架可以 搭载多组云台组件，以满足不同的拍摄需求，此处不做具体限定。
请参阅图11，本发明实施方式的计算机可读存储介质2000包括与成像系统100结合使用的计算机程序，所述计算机程序可被处理器32执行以完成上述任意一种实施方式的控制方法。
例如，计算机程序可被处理器32执行以完成以下步骤所述的控制方法：
01：检测是否发生变焦触发事件；
03：若是，则调节补光灯20的第一焦距，以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠。
再例如，计算机程序还可被处理器32执行以完成以下步骤所述的控制方法：
032：根据第一变焦指令调节可见光成像装置10的第二焦距，并根据调节后的第二焦距调节补光灯20的第一焦距，以使得补光灯20的视野范围与可见光成像装置10的视野范围至少部分重叠。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于执行特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施方式的范围包括另外的执行，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于执行逻辑功能的可执行指令的定序列表，可以具体执行在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介 质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来执行。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来执行。例如，如果用硬件来执行，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来执行：具有用于对数据信号执行逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解执行上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，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模块中，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模块中。上述集成的模块既可以采用硬件的形式执行，也可以采用软件功能模块的形式执行。所述集成的模块如果以软件功能模块的形式执行并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (42)

  1. 一种控制方法，应用于可移动平台，所述可移动平台上设有可见光成像装置和补光灯，其特征在于，所述控制方法包括：
    检测是否发生变焦触发事件；
    若是，则调节所述补光灯的第一焦距，以使得所述补光灯的视野范围与所述可见光成像装置的视野范围至少部分重叠。
  2. 根据权利要求1所述的控制方法，其特征在于，所述变焦触发事件包括以下至少之一：
    针对所述可见光成像装置的第一变焦指令、针对所述补光灯的第二变焦指令、所述补光灯的视野范围与所述可见光成像装置的视野范围未发生重叠、环境的亮度小于预设亮度。
  3. 根据权利要求2所述的控制方法，其特征在于，当所述变焦触发事件为所述接收到针对所述可见光成像装置的第一变焦指令时，所述调节所述补光灯的第一焦距，以使得所述补光灯的视野范围与所述可见光成像装置的视野范围至少部分重叠，包括：
    根据所述第一变焦指令调节所述可见光成像装置的第二焦距，并根据调节后的所述第二焦距调节所述补光灯的第一焦距，以使得所述补光灯的视野范围与所述可见光成像装置的视野范围至少部分重叠。
  4. 根据权利要求3所述的控制方法，其特征在于，所述第一焦距与所述第二焦距呈正相关。
  5. 根据权利要求2至4中任一项所述的控制方法，其特征在于，所述第一变焦指令和/或所述第二变焦指令为根据用户的操作生成。
  6. 根据权利要求5所述的控制方法，其特征在于，所述操作包括针对虚拟按键的操作、针对物理按键的操作、触控操作、手势操作、语音操作中的至少一种。
  7. 根据权利要求1至6中任一项所述的控制方法，其特征在于，所述可见光成像装置的视野范围内和所述补光灯的视野范围内均包括目标拍摄物体。
  8. 根据权利要求7所述的控制方法，其特征在于，所述目标拍摄物体位于所述可见光成像装置的视野中心且位于所述补光灯的视野中心。
  9. 根据权利要求1至8中任一项所述的控制方法，其特征在于，所述可见光成像装置和所述补光灯设置在所述可移动平台的同一平台上。
  10. 根据权利要求1至8中任一项所述的控制方法，其特征在于，所述可见光成像装置设置在所述可移动平台的第一云台上，所述补光灯设置在所述可移动平台的第二云台上。
  11. 根据权利要求10所述的控制方法，其特征在于，所述变焦触发事件还包括所述第一云台转动。
  12. 根据权利要求10所述的控制方法，其特征在于，所述控制方法还包括：
    在所述第一云台转动时控制所述第二云台跟随转动。
  13. 根据权利要求12所述的控制方法，其特征在于，所述在所述第一云台转动时控制所述第二云台跟随转动包括：
    控制所述第一云台转动第一角度以使目标拍摄物体在所述可见光成像装置的视野中心；及
    控制所述第二云台转动第二角度以使所述目标拍摄物体在所述补光灯的视野中心。
  14. 根据权利要求13所述的控制方法，其特征在于，所述第一云台转动的第一角度与所述第二云台转动的第二角度相同，或，所述第二云台转动的第二角度为根据所述第一云台转动的第一角度确定。
  15. 根据权利要求1至14中任一项所述的控制方法，其特征在于，所述补光灯的视野范围覆盖所述可见光成像装置的视野范围。
  16. 根据权利要求1至15中任一项所述的控制方法，其特征在于，所述控制方法还包括：
    根据调节后的所述第一焦距调节所述补光灯的工作功率。
  17. 根据权利要求16所述的控制方法，其特征在于，所述第一焦距与所述工作功率呈负相关。
  18. 根据权利要求1至17中任一项所述的控制方法，其特征在于，所述补光灯包括红外补光灯和可见光补光灯中的至少一种。
  19. 根据权利要求18所述的控制方法，其特征在于，所述补光灯为所述红外补光灯，所述可见光成像装置包括红外截止滤光片和切换器，所述红外截止滤光片用于过滤红外光，所述控制方法还包括：
    控制所述切换器从所述可见光成像装置的收光光路上移除所述红外截止滤光片。
  20. 一种控制装置，应用于可移动平台，所述可移动平台上设有可见光成像装置和补光灯，其特征在于，所述控制装置包括处理器，所述处理器用于检测是否发生变焦触发事件、及在发生变焦触发事件时调节所述补光灯的第一焦距以使得所述补光灯的视野范围与所述可见光成像装置的视野范围至少部分重叠。
  21. 根据权利要求20所述的控制装置，其特征在于，所述变焦触发事件包括以下至少之一：
    针对所述可见光成像装置的第一变焦指令、针对所述补光灯的第二变焦指令、所述补光灯的视野范围与所述可见光成像装置的视野范围未发生重叠、环境的亮度小于预设亮度。
  22. 根据权利要求21所述的控制装置，其特征在于，当所述变焦触发事件为所述接收 到针对所述可见光成像装置的第一变焦指令时，所述处理器用于根据所述第一变焦指令调节所述可见光成像装置的第二焦距，并根据调节后的所述第二焦距调节所述补光灯的第一焦距，以使得所述补光灯的视野范围与所述可见光成像装置的视野范围至少部分重叠。
  23. 根据权利要求22所述的控制装置，其特征在于，所述第一焦距与所述第二焦距呈正相关。
  24. 根据权利要求21至23中任一项所述的控制装置，其特征在于，所述第一变焦指令和/或所述第二变焦指令为根据用户的操作生成。
  25. 根据权利要求24所述的控制装置，其特征在于，所述操作包括针对虚拟按键的操作、针对物理按键的操作、触控操作、手势操作、语音操作中的至少一种。
  26. 根据权利要求20至25中任一项所述的控制装置，其特征在于，所述可见光成像装置的视野范围内和所述补光灯的视野范围内均包括目标拍摄物体。
  27. 根据权利要求26所述的控制装置，其特征在于，所述目标拍摄物体位于所述可见光成像装置的视野中心且位于所述补光灯的视野中心。
  28. 根据权利要求20至27中任一项所述的控制装置，其特征在于，所述可见光成像装置和所述补光灯设置在所述可移动平台的同一平台上。
  29. 根据权利要求20至27中任一项所述的控制装置，其特征在于，所述可见光成像装置设置在所述可移动平台的第一云台上，所述补光灯设置在所述可移动平台的第二云台上。
  30. 根据权利要求29所述的控制装置，其特征在于，所述变焦触发事件还包括所述第一云台转动。
  31. 根据权利要求29所述的控制装置，其特征在于，所述处理器还用于在所述第一云台转动时控制所述第二云台跟随转动。
  32. 根据权利要求31所述的控制装置，其特征在于，所述处理器用于控制所述第一云台转动第一角度以使目标拍摄物体在所述可见光成像装置的视野中心、及控制所述第二云台转动第二角度以使所述目标拍摄物体在所述补光灯的视野中心。
  33. 根据权利要求32所述的控制装置，其特征在于，所述第一云台转动的第一角度与所述第二云台转动的第二角度相同，或，所述第二云台转动的第二角度为根据所述第一云台转动的第一角度确定。
  34. 根据权利要求20至33中任一项所述的控制装置，其特征在于，所述补光灯的视野范围覆盖所述可见光成像装置的视野范围。
  35. 根据权利要求20至34中任一项所述的控制装置，其特征在于，所述处理器还用于根据调节后的所述第一焦距调节所述补光灯的工作功率。
  36. 根据权利要求35所述的控制装置，其特征在于，所述第一焦距与所述工作功率呈负相关。
  37. 根据权利要求20至36中任一项所述的控制装置，其特征在于，所述补光灯包括红外补光灯和可见光补光灯中的至少一种。
  38. 根据权利要求37所述的控制装置，其特征在于，所述补光灯为所述红外补光灯，所述可见光成像装置包括红外截止滤光片和切换器，所述红外截止滤光片用于过滤红外光，所述处理器还用于控制所述切换器从所述可见光成像装置的收光光路上移除所述红外截止滤光片。
  39. 一种成像系统，其特征在于，包括可见光成像装置、补光灯和如权利要求20至38中任一项所述的控制装置。
  40. 一种飞行器，所述飞行器包括中心架、与所述中心架连接的机臂以及与所述机臂连接的动力单元，其特征在于，所述飞行器还包括如权利要求39所述的成像系统。
  41. 根据权利要求40所述的飞行器，其特征在于，所述飞行器还包括由所述中心架搭载的第一云台和第二云台；所述第一云台用于支撑所述成像系统中的可见光成像装置，所述第二云台用于支撑所述成像系统中的补光灯。
  42. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序可被处理器执行以完成权利要求1至19中任一项所述的控制方法。
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