WO2021036947A1 - 一种辅助对焦方法、装置及无人飞行器 - Google Patents

一种辅助对焦方法、装置及无人飞行器 Download PDF

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Publication number
WO2021036947A1
WO2021036947A1 PCT/CN2020/110590 CN2020110590W WO2021036947A1 WO 2021036947 A1 WO2021036947 A1 WO 2021036947A1 CN 2020110590 W CN2020110590 W CN 2020110590W WO 2021036947 A1 WO2021036947 A1 WO 2021036947A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
position offset
coordinate information
position information
Prior art date
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PCT/CN2020/110590
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English (en)
French (fr)
Inventor
姜德飞
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深圳市道通智能航空技术有限公司
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Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2021036947A1 publication Critical patent/WO2021036947A1/zh
Priority to US17/652,152 priority Critical patent/US20220342419A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • 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
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • 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
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • This application relates to the field of autofocus technology, and in particular, to an assisted focusing method, device, and unmanned aerial vehicle.
  • An unmanned aerial vehicle is an unmanned aerial vehicle controlled by a radio remote control device or its own program control device, and is often used for aerial photography.
  • the location of the shooting equipment is prone to change, resulting in the video image being shot not being clear enough.
  • the embodiments of the present invention aim to provide an assisted focusing method, device, and unmanned aerial vehicle, which can shoot relatively clear video images in different flight environments.
  • a technical solution adopted in the embodiments of the present invention is to provide an assisted focusing method applied to an unmanned aerial vehicle, the unmanned aerial vehicle including a photographing device, and the method includes:
  • the camera is controlled to focus according to the position offset of the unmanned aerial vehicle.
  • the determining the position offset of the unmanned aerial vehicle includes:
  • the position information includes spatial coordinate information of the unmanned aerial vehicle
  • the calculating the position offset of the unmanned aerial vehicle according to the current position information and the position information at the previous time includes:
  • the position offset of the unmanned aerial vehicle is calculated according to the space coordinate information at the current time and the space coordinate information at the previous time.
  • the unmanned aerial vehicle includes a gyroscope
  • the spatial coordinate information of the unmanned aerial vehicle is obtained through the gyroscope.
  • controlling the photographing device to perform focusing according to the position offset of the UAV includes:
  • the camera is controlled to focus.
  • an auxiliary focusing device which is applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a photographing device, and the device includes:
  • a determining module the determining module is used to determine the position offset of the unmanned aerial vehicle
  • the control module is configured to control the photographing device to focus according to the position offset of the UAV.
  • the determining module is specifically configured to:
  • the position information includes spatial coordinate information of the unmanned aerial vehicle
  • the determining module is specifically used for:
  • the position offset of the unmanned aerial vehicle is calculated according to the space coordinate information at the current time and the space coordinate information at the previous time.
  • control module is specifically configured to:
  • the camera is controlled to focus.
  • an unmanned aerial vehicle including:
  • An arm connected to the fuselage
  • the power plant is arranged on the arm;
  • a photographing device connected to the fuselage
  • the gyroscope is arranged on the fuselage and is used to obtain the spatial coordinate information of the unmanned aerial vehicle;
  • At least one processor At least one processor
  • a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor
  • the device can be used to perform one of the above-mentioned auxiliary focusing methods.
  • the unmanned aerial vehicle further includes a pan/tilt, and the photographing device is connected to the fuselage through the pan/tilt.
  • another technical solution adopted by the embodiments of the present invention is to provide a non-volatile computer-readable storage medium, and the non-volatile computer-readable storage medium stores computer-executable instructions.
  • the computer-executable instructions are used to make the UAV execute the above-mentioned auxiliary focusing method.
  • the embodiment of the present invention provides an assisted focusing method, device, and unmanned aerial vehicle.
  • the position deviation of the unmanned aerial vehicle is determined.
  • the shift amount is used to determine whether to control the shooting device to focus, so that the shooting device can focus when the position changes, the focus is more accurate, and then a clearer video image can be captured.
  • Figure 1 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of an assisted focus method according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of an auxiliary focusing device provided by an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of the hardware structure of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the present invention provides an auxiliary focusing method and device.
  • the method and device are applied to an unmanned aerial vehicle, so that the unmanned aerial vehicle can control the shooting equipment to focus according to the position offset, improve the focus accuracy of the shooting equipment, and can shoot To a clearer video image.
  • the unmanned aerial vehicle may be any suitable type of high-altitude unmanned aerial vehicle or low-altitude unmanned aerial vehicle equipped with photographing equipment for aerial photography, including fixed-wing unmanned aerial vehicles, rotary-wing unmanned aerial vehicles or para-wing unmanned aerial vehicles.
  • FIG. 1 is an unmanned aerial vehicle 100 provided by one embodiment of the present invention, including: a body 10, an arm 20, a power unit 30, a pan/tilt 40, a photographing device 50, and a gyroscope (not shown) , Landing gear 60 and flight control system (not shown).
  • the arm 20, the gimbal 40, and the landing gear 60 are all connected to the fuselage 10, the power unit 30 is installed on the arm 20, the shooting equipment 50 and the gyroscope are installed on the gimbal 40, and the flight control system is installed in the fuselage 10 .
  • the power unit 30, the pan/tilt 40, the photographing equipment 50, the gyroscope, and the landing gear 60 are all communicatively connected to the flight control system.
  • the flight control system can control the flight of the unmanned aerial vehicle 100 through the power unit 30, and can also control the pan/tilt 40. Rotating and controlling the aerial photography of the shooting device 50 and controlling the opening and closing of the landing gear 60 can also receive the measurement data of the gyroscope.
  • the number of arms 20 is 4, evenly distributed around the fuselage 10 for carrying the power device 30.
  • the power unit 30 includes a motor and a propeller connected to the motor shaft.
  • the motor can drive the propeller to rotate to provide lift for the UAV 100 to achieve flight; the motor can also change the flight direction of the UAV 100 by changing the speed and direction of the propeller.
  • the flight control system can control the flight of the unmanned aerial vehicle 100 by controlling the motor.
  • the power device 30 is arranged at an end of the arm 20 that is not connected to the fuselage 10, and is connected to the arm 20 through a motor.
  • the four arms of the unmanned aerial vehicle 100 are provided with a power device 30 to enable the unmanned aerial vehicle 100 to fly smoothly.
  • the pan/tilt 40 is arranged at the bottom of the fuselage 10 and is used to carry the photographing equipment 50.
  • the pan/tilt 40 is an electric pan/tilt, which can be rotated under the control of a flight control system, including but not limited to a horizontally rotating pan/tilt, an omnidirectional pan/tilt, and the like.
  • the flight control system can control the pan/tilt 40 to rotate left and right in the horizontal direction.
  • the flight control system can control the pan/tilt 40 to rotate left and right in the horizontal direction, and control the pan/tilt 40 to rotate up and down in the vertical direction.
  • the shooting device 50 may be a device capable of shooting video images, such as a camera or a video camera, for aerial photography under the control of the flight control system, and during the aerial shooting of the shooting device 50, the shooting device 50 can perform auto-focusing to enable The captured video image is clear.
  • the photographing device 50 is fixed to the pan-tilt 40 and can rotate with the rotation of the pan-tilt 40 to shoot video images of different perspectives.
  • the shooting device 50 can also be directly fixed to the body 10.
  • the gyroscope is set on the pan/tilt 40 and is used to measure the space coordinate information of the unmanned aerial vehicle 100.
  • the space coordinate information includes x-axis coordinates, y-axis coordinates, and z-axis coordinates.
  • the flight control system can obtain the space coordinate information of the unmanned aerial vehicle 100 from the gyroscope.
  • the gyroscope when the shooting device 50 is directly fixed to the body 10, the gyroscope can also be provided on the body 10.
  • the landing gear 60 is arranged on opposite sides of the bottom of the fuselage 10 and is connected to the fuselage 10 through a driving device.
  • the landing gear 60 can be opened and retracted under the driving of the driving device.
  • the driving device controls the landing gear 60 to open so that the UAV 100 contacts the ground through the landing gear 60; during the flight of the UAV 100, the driving device controls the landing gear 60 to retract, In order to prevent the landing gear 60 from affecting the flight of the unmanned aerial vehicle 100.
  • the flight control system can control the opening and closing of the landing gear 60 by controlling the driving device.
  • the flight control system communicates with the power unit 30, the pan/tilt 40, the photographing equipment 50, the gyroscope, and the landing gear 60 through a wired connection or a wireless connection.
  • wireless connections include but are not limited to: WiFi, Bluetooth, ZigBee, etc.
  • the flight control system is used to implement an auxiliary focusing method to improve the focusing accuracy of the shooting device 50, so that the shooting device 50 can capture a relatively clear video image.
  • the flight control system determines the position offset of the unmanned aerial vehicle 100.
  • the position offset of the unmanned aerial vehicle 100 is the linear distance between the current position of the unmanned aerial vehicle 100 and the position at the previous time.
  • the flight control system determines the position offset of the unmanned aerial vehicle 100, it obtains the current position information of the unmanned aerial vehicle 100 and the position information at the previous time, and then according to the acquired current position information and the position information at the previous time The position offset of UAV 100 is calculated.
  • the location information includes spatial coordinate information.
  • the current position information of the unmanned aerial vehicle 100 includes the spatial coordinate information of the unmanned aerial vehicle 100 at the current time.
  • the position information of the unmanned aerial vehicle 100 at the last moment includes the spatial coordinate information of the unmanned aerial vehicle 100 at the last moment.
  • the flight control system obtains the current position information of the unmanned aerial vehicle 100 and the position information of the previous moment, that is, obtains the spatial coordinate information of the unmanned aerial vehicle 100 at the current moment and the spatial coordinate information of the previous moment.
  • the flight control system obtains the spatial coordinate information of the unmanned aerial vehicle 100 at the current moment and the spatial coordinate information of the previous moment from the gyroscope.
  • the calculation is The position offset of the UAV 100
  • the position offset of the unmanned aerial vehicle 100 can be obtained by obtaining the spatial coordinate information measured by the gyroscope, there is no need to perform complex calculations, which greatly reduces the amount of calculation compared to calculating the distance between the shooting device and the object. , The response speed of the shooting device can be improved, and the automatic focusing of the shooting device 50 can be more accurate.
  • the flight control system determines the position offset of the UAV 100, it controls the photographing device 50 to focus according to the determined position offset.
  • the photographing device 50 when the photographing device 50 is controlled to focus according to the determined position offset, it is determined whether the determined position offset is greater than or equal to the preset position offset, and if the determined position offset is greater than or equal to the preset The position offset is used to control the shooting device 50 to focus, and vice versa, the shooting device 50 is not controlled to focus.
  • the preset position offset is a preset reference value used to guide the shooting device 50 to focus, and the preset position offset is an empirical value obtained through multiple experiments.
  • the preset position offset may be 5.5.
  • the preset position offset can be set by the user through the application program of UAV 100.
  • the UAV 100 can also perform an assisted focusing method through the photographing device 50.
  • the photographing device 50 is also communicatively connected with the gyroscope to obtain the spatial coordinate information of the unmanned aerial vehicle 100 from the gyroscope.
  • the shooting device 50 obtains the space coordinate information of the UAV 100 at the current time and the space coordinate information at the previous time from the gyroscope, and then the space coordinate information at the current time is obtained according to the obtained space at the current time.
  • the unmanned aerial vehicle executes the assisted focusing method, thereby being able to control the shooting device to focus according to the position offset, so that the shooting device can focus when the position changes, and the focusing accuracy of the shooting device is improved.
  • the shooting device can shoot relatively clear video images.
  • FIG. 2 is a schematic flow chart of an assisted focus method according to an embodiment of the present invention, which is applied to an unmanned aerial vehicle.
  • the unmanned aerial vehicle is the unmanned aerial vehicle 100 described in the above embodiment, and the present invention is implemented
  • the method provided in the example can be executed by the above-mentioned flight control system or by the above-mentioned shooting device 50 to improve the focusing accuracy of the shooting device 50 so that the shooting device 50 can capture a relatively clear video image.
  • the auxiliary focusing method includes :
  • the position offset of the unmanned aerial vehicle is the linear distance between the current position of the unmanned aerial vehicle and the position at the previous moment.
  • determining the position offset of the unmanned aerial vehicle specifically includes: obtaining the current position information of the unmanned aerial vehicle and the position information of the previous moment; and calculating the position of the unmanned aerial vehicle according to the obtained current position information and the position information of the previous moment. Offset.
  • the location information includes spatial coordinate information.
  • the current position information of the unmanned aerial vehicle includes the spatial coordinate information of the unmanned aerial vehicle at the current time.
  • the location information of the unmanned aerial vehicle at the last moment includes the spatial coordinate information of the unmanned aerial vehicle at the previous moment.
  • the current position information of the unmanned aerial vehicle and the position information of the previous time are acquired, that is, the space coordinate information of the current time and the space coordinate information of the previous time of the unmanned aerial vehicle are acquired.
  • the gyroscope can measure the space coordinate information of the unmanned aerial vehicle, the space coordinate information of the current time and the space coordinate information of the previous time of the unmanned aerial vehicle are obtained from the gyroscope.
  • the position offset of the UAV is calculated according to the obtained current position information and the position information at the previous time, that is, the position of the UAV is calculated according to the obtained space coordinate information at the current time and the space coordinate information at the previous time. Offset.
  • the calculated unmanned aerial vehicle 100 position offset when the unmanned aerial vehicle's current time space coordinate information obtained from the gyroscope is (x1, y1, z1) and the previous time space coordinate information is (x2, y2, z2), the calculated unmanned aerial vehicle 100 position offset
  • the position offset of the unmanned aerial vehicle 100 can be obtained by obtaining the spatial coordinate information measured by the gyroscope, there is no need to perform complex calculations, which greatly reduces the amount of calculation compared to calculating the distance between the shooting device and the object. , The response speed of the shooting device can be improved, and the automatic focusing of the shooting device 50 can be more accurate.
  • S200 Control the shooting device to focus according to the position offset of the unmanned aerial vehicle.
  • the shooting device is controlled to focus, otherwise, Does not control the camera to focus.
  • the preset position offset is a preset reference value for guiding the focusing of the shooting device, and the preset position offset is an empirical value obtained through multiple experiments.
  • the preset position offset may be 5.5.
  • the preset position offset can be set by the user through the application program of the unmanned aerial vehicle.
  • whether to control the shooting device to focus is determined by determining the position offset of the unmanned aerial vehicle, so that the shooting device can focus when the position changes, and the focus accuracy of the shooting device is improved, thereby making the shooting The equipment can shoot relatively clear video images.
  • module is a combination of software and/or hardware that can implement predetermined functions.
  • devices described in the following embodiments can be implemented by software, implementation by hardware or a combination of software and hardware may also be conceived.
  • FIG. 3 is an auxiliary focusing device provided by one embodiment of the present invention, which is applied to an unmanned aerial vehicle.
  • the unmanned aerial vehicle is the unmanned aerial vehicle 100 described in the above-mentioned embodiment, and the embodiment of the present invention provides
  • the functions of the various modules of the device can be executed by the above-mentioned flight control system, or can also be executed by the above-mentioned shooting device 50, which is used to improve the focusing accuracy of the shooting device 50, so that the shooting device 50 can shoot relatively clear video images.
  • the auxiliary focusing device include:
  • a determining module 200 which is used to determine the position offset of the unmanned aerial vehicle
  • the control module 300 is configured to control the photographing device to focus according to the position offset of the UAV.
  • the determining module 200 is specifically configured to:
  • the position information includes space coordinate information of the unmanned aerial vehicle
  • the determining module 200 is specifically configured to:
  • the position offset of the unmanned aerial vehicle is calculated according to the space coordinate information at the current time and the space coordinate information at the previous time.
  • control module 300 is specifically used for:
  • the camera is controlled to focus.
  • the above-mentioned determining module 200 and control module 300 may be a flight control chip in a flight control system, or may be an image processing chip in a photographing device 50.
  • the content of the device embodiment can be quoted from the method embodiment on the premise that the content does not conflict with each other, which will not be repeated here.
  • whether to control the shooting device to focus is determined by determining the position offset of the unmanned aerial vehicle, so that the shooting device can focus when the position changes, and the focus accuracy of the shooting device is improved, thereby making the shooting The equipment can shoot relatively clear video images.
  • FIG. 4 is a schematic diagram of the hardware structure of an unmanned aerial vehicle provided by one of the embodiments of the present invention.
  • the hardware modules provided in the embodiments of the present invention can be integrated in the flight control system described in the above embodiments, and can also be integrated in the above-mentioned flight control system.
  • the photographing device 50 described in the embodiment enables the UAV 100 to execute the auxiliary focusing method described in the above embodiment, and can also realize the functions of each module of the auxiliary focusing device described in the above embodiment.
  • the unmanned aerial vehicle 100 includes:
  • processors 110 and memory 120. Among them, one processor 110 is taken as an example in FIG. 4.
  • the processor 110 may be a flight controller.
  • the processor 110 and the memory 120 may be connected by a bus or in other ways.
  • the connection by a bus is taken as an example.
  • the memory 120 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, as corresponding to an assisted focus method in the above-mentioned embodiment of the present invention And a corresponding module of the auxiliary focusing device (for example, the determination module 200 and the control module 300, etc.).
  • the processor 110 executes various functional applications and data processing of an auxiliary focusing method by running the non-volatile software programs, instructions, and modules stored in the memory 120, that is, realizing an auxiliary focusing in the above method embodiments. The method and the function of each module of the above-mentioned device embodiment.
  • the memory 120 may include a storage program area and a storage data area.
  • the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of an auxiliary focusing device.
  • the storage data area also stores preset data, including preset time, preset position offset, and the like.
  • the memory 120 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the memory 120 may optionally include memories remotely provided with respect to the processor 110, and these remote memories may be connected to the processor 110 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the program instructions and one or more modules are stored in the memory 120, and when executed by the one or more processors 110, each step of an assisted focus method in any of the above method embodiments is executed, or , To realize the functions of each module of an auxiliary focusing device in any of the above-mentioned device embodiments.
  • the above-mentioned product can execute the method provided in the above-mentioned embodiment of the present invention, and has corresponding functional modules and beneficial effects for the execution method.
  • the method provided in the foregoing embodiment of the present invention please refer to the method provided in the foregoing embodiment of the present invention.
  • the embodiment of the present invention also provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, as shown in FIG. 4
  • a processor 110 in the above-mentioned any method embodiment may enable a computer to execute each step of an auxiliary focusing method in any of the above-mentioned method embodiments, or realize the function of each module of an auxiliary focusing device in any of the above-mentioned device embodiments.
  • the embodiment of the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, when the program instructions are Or multiple processors, such as a processor 110 in FIG. 4, can cause a computer to execute each step of an assisted focus method in any of the foregoing method embodiments, or implement an assist in any of the foregoing device embodiments.
  • the function of each module of the focusing device includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, when the program instructions are Or multiple processors, such as a processor 110 in FIG. 4, can cause a computer to execute each step of an assisted focus method in any of the foregoing method embodiments, or implement an assist in any of the foregoing device embodiments.
  • the function of each module of the focusing device can cause a computer to execute each step of an assisted focus method in any of the foregoing method embodiments, or implement an assist in any of the foregoing device embodiment
  • the device embodiments described above are merely illustrative.
  • the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each embodiment can be implemented by software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • a person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by computer programs instructing relevant hardware.
  • the programs can be stored in a computer-readable storage medium, and the program can be executed during execution. At the time, it may include the flow of the implementation method of each method as described above.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

Abstract

本发明实施例涉及自动对焦技术领域，公开了一种辅助对焦方法、装置及无人飞行器。其中，辅助对焦方法应用于无人飞行器，该无人飞行器包括拍摄设备，该方法包括：确定无人飞行器的位置偏移量；根据无人飞行器的位置偏移量控制拍摄设备进行对焦。通过上述方式，本发明实施例能够在不同飞行环境下拍摄出比较清晰的视频图像。

Description

一种辅助对焦方法、装置及无人飞行器
本申请要求于2019年8月23日提交中国专利局、申请号为201910784858.4、申请名称为“一种辅助对焦方法、装置及无人飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动对焦技术领域，特别是涉及一种辅助对焦方法、装置及无人飞行器。
背景技术
无人飞行器是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器，常用于航拍。
在无人飞行器航拍的过程中，拍摄设备的位置容易发生变化，导致拍摄的视频图像不够清晰。
发明内容
本发明实施例旨在提供一种辅助对焦方法、装置及无人飞行器，能够在不同飞行环境下拍摄出比较清晰的视频图像。
为解决上述技术问题，本发明实施例采用的一个技术方案是：提供一种辅助对焦方法，应用于无人飞行器，所述无人飞行器包括拍摄设备，所述方法包括：
确定所述无人飞行器的位置偏移量；
根据所述无人飞行器的位置偏移量控制所述拍摄设备进行对焦。
可选地，所述确定所述无人飞行器的位置偏移量包括：
获取所述无人飞行器的当前位置信息与上一时刻的位置信息；
根据所述当前位置信息和所述上一时刻的位置信息计算所述无人飞行器的位置偏移量。
可选地，所述位置信息包括所述无人飞行器的空间坐标信息；则，
所述根据所述当前位置信息和所述上一时刻的位置信息计算所述无人飞行器的位置偏移量包括：
根据当前时刻的空间坐标信息和上一时刻的空间坐标信息计算所述无人飞行器的位置偏移量。
可选地，所述无人飞行器包括陀螺仪；
所述无人飞行器的空间坐标信息通过所述陀螺仪获取。
可选地，所述根据所述无人飞行器的位置偏移量控制所述拍摄设备进行对焦包括：
若所述无人飞行器的位置偏移量大于或等于预设位置偏移量，则控制所述 拍摄设备进行对焦。
为解决上述技术问题，本发明实施例采用的另一个技术方案是：提供一种辅助对焦装置，应用于无人飞行器，所述无人飞行器包括拍摄设备，所述装置包括：
确定模块，所述确定模块用于确定所述无人飞行器的位置偏移量；
控制模块，所述控制模块用于根据所述无人飞行器的位置偏移量控制所述拍摄设备进行对焦。
可选地，所述确定模块具体用于：
获取所述无人飞行器的当前位置信息与上一时刻的位置信息；
根据所述当前位置信息和所述上一时刻的位置信息计算所述无人飞行器的位置偏移量。
可选地，所述位置信息包括所述无人飞行器的空间坐标信息；则，
所述确定模块具体用于：
根据当前时刻的空间坐标信息和上一时刻的空间坐标信息计算所述无人飞行器的位置偏移量。
可选地，所述控制模块具体用于：
若所述无人飞行器的位置偏移量大于或等于预设位置偏移量，则控制所述拍摄设备进行对焦。
为解决上述技术问题，本发明实施例采用的另一个技术方案是：提供一种无人飞行器，包括：
机身；
机臂，与所述机身相连；
动力装置，设于所述机臂；
拍摄设备，与所述机身相连；
陀螺仪，设于所述机身，用于获取所述无人飞行器的空间坐标信息；
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够用于执行以上所述的一种辅助对焦方法。
可选地，所述无人飞行器还包括云台，所述拍摄设备通过所述云台与所述机身相连。
为解决上述技术问题，本发明实施例采用的另一个技术方案是：提供一种非易失性计算机可读存储介质，所述非易失性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使无人飞行器执行以上所述的一种辅助对焦方法。
本发明实施例的有益效果是：区别于现有技术的情况下，本发明实施例提供一种辅助对焦方法、装置及无人飞行器，在该辅助对焦方法中，通过确定无 人飞行器的位置偏移量来确定是否控制拍摄设备进行对焦，使得拍摄设备能够在位置发生变化时进行对焦，对焦更加精准，进而能够拍摄到比较清晰的视频图像。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明一实施例提供的一种无人飞行器的结构示意图；
图2是本发明一实施例提供的一种辅助对焦方法的流程示意图；
图3是本发明一实施例提供的一种辅助对焦装置的结构示意图；
图4是本发明一实施例提供的一种无人飞行器的硬件结构示意图。
具体实施方式
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、完整的描述，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。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
此外，下面所描述的本发明各个实施例中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
本发明提供了一种辅助对焦方法及装置，该方法及装置应用于无人飞行器，从而使得无人飞行器能够根据位置偏移量控制拍摄设备进行对焦，提高了拍摄设备的对焦精准度，能够拍摄到比较清晰的视频图像。其中，无人飞行器可以是任何合适类型的搭载有用于航拍的拍摄设备的高空无人飞行器或者低空无人飞行器，包括固定翼无人飞行器、旋翼无人飞行器或者伞翼无人飞行器等。
下面，将通过具体实施例对本发明进行具体阐述。
实施例一
请参阅图1，是本发明其中一实施例提供的一种无人飞行器100，包括： 机身10、机臂20、动力装置30、云台40、拍摄设备50、陀螺仪(图未示)、起落架60以及飞控系统(图未示)。机臂20、云台40以及起落架60均与机身10连接，动力装置30设置于机臂20上，拍摄设备50以及陀螺仪安装于云台40，飞控系统则设置于机身10内。其中，动力装置30、云台40、拍摄设备50、陀螺仪以及起落架60均与飞控系统通信连接，飞控系统能够通过动力装置30控制无人飞行器100的飞行，还能够控制云台40转动、控制拍摄设备50航拍以及控制起落架60打开与收起，还能够接收陀螺仪的测量数据。
优选地，机臂20数量为4，均匀分布于机身10四周，用于承载动力装置30。
动力装置30包括电机以及与电机轴连接的螺旋桨，电机能够带动螺旋桨旋转以为无人飞行器100提供升力，实现飞行；电机还能够通过改变螺旋桨的转速及方向来改变无人飞行器100的飞行方向。当动力装置30与飞控系统通信连接时，飞控系统能够通过控制电机来控制无人飞行器100的飞行。
该动力装置30设置于机臂20未与机身10连接的一端，并通过电机连接机臂20。
优选地，在无人飞行器100的4个机臂上均设置有动力装置30，以使无人飞行器100能够平稳飞行。
云台40则设置于机身10底部，用于搭载拍摄设备50。优选地，该云台40为电动云台，能够在飞控系统的控制下进行转动，包括但不限于水平旋转云台、全方位云台等。
当云台40为水平旋转云台时，飞控系统能够控制该云台40在水平方向左右转动。
当云台40为全方位云台时，飞控系统能够控制该云台40在水平方向左右转动，以及，控制该云台40在竖直方向上下转动。
拍摄设备50则可以为照相机、摄像机等能够拍摄视频图像的设备，用于在飞控系统的控制下进行航拍，并且，在拍摄设备50航拍的过程中，拍摄设备50能够进行自动对焦，以使拍摄的视频图像清晰。
该拍摄设备50固定于云台40，能够随着云台40的转动而转动，以拍摄不同视角的视频图像。当然，在一些可替代实施例中，该拍摄设备50还能够直接固定于机身10。
陀螺仪设置于云台40，用于测量无人飞行器100的空间坐标信息，该空间坐标信息包括x轴坐标、y轴坐标以及z轴坐标。当陀螺仪与飞控系统通信连接后，飞控系统能够从陀螺仪获取无人飞行器100的空间坐标信息。
可以理解的是，在一些可替代实施例中，当拍摄设备50直接固定于机身10时，陀螺仪还能够设置于机身10。
起落架60则设置于机身10底部相对两侧，通过驱动装置连接于机身10，起落架60在驱动装置的驱动下能够进行打开与收起。在无人飞行器100与地面接触时，驱动装置控制起落架60打开，以使无人飞行器100通过起落架60 与地面接触；在无人飞行器100飞行过程中，驱动装置控制起落架60收起，以避免起落架60影响无人飞行器100飞行。当起落架60与飞控系统通信连接时，飞控系统能够通过控制驱动装置来控制起落架60的打开与收起。
飞控系统则通过有线连接或者无线连接的方式与动力装置30、云台40、拍摄设备50、陀螺仪以及起落架60进行通信连接。其中，无线连接包括但不限于：WiFi、蓝牙、ZigBee等。
该飞控系统用于执行辅助对焦方法，以提高拍摄设备50的对焦精准度，使得拍摄设备50能够拍摄到比较清晰的视频图像。
具体地，飞控系统控制拍摄设备50进行航拍后，飞控系统确定无人飞行器100的位置偏移量。
该无人飞行器100的位置偏移量为无人飞行器100的当前位置与上一时刻的位置的直线距离。
基于此，飞控系统确定无人飞行器100的位置偏移量时，获取无人飞行器100的当前位置信息与上一时刻的位置信息，并根据所获取的当前位置信息和上一时刻的位置信息计算无人飞行器100的位置偏移量。
其中，位置信息包括空间坐标信息。
无人飞行器100的当前位置信息包括无人飞行器100的当前时刻的空间坐标信息。
无人飞行器100的上一时刻的位置信息包括无人飞行器100的上一时刻的空间坐标信息。
于是，飞控系统获取无人飞行器100的当前位置信息与上一时刻的位置信息，即获取无人飞行器100的当前时刻的空间坐标信息与上一时刻的空间坐标信息。
由于陀螺仪能够测量无人飞行器100的空间坐标信息，故飞控系统从陀螺仪获取无人飞行器100的当前时刻的空间坐标信息和上一时刻的空间坐标信息。
根据所获取的当前位置信息和上一时刻的位置信息计算无人飞行器100的位置偏移量，即根据所获取的当前时刻的空间坐标信息和上一时刻的空间坐标信息计算无人飞行器100的位置偏移量。
比如，当飞控系统从陀螺仪获取的无人飞行器100的当前时刻的空间坐标信息为(x1，y1，z1)、上一时刻的空间坐标信息为(x2，y2，z2)时，计算得到的无人飞行器100的位置偏移量
Figure PCTCN2020110590-appb-000001
由于无人飞行器100的位置偏移量通过获取陀螺仪测量的空间坐标信息就能得到，相对于计算拍摄设备与被摄物体之间的距离，不需要进行复杂的计算，极大地减少了计算量，能够提高拍摄设备的响应速度，使拍摄设备50的自动对焦更准确。
飞控系统确定无人飞行器100的位置偏移量后，根据所确定的位置偏移量控制拍摄设备50进行对焦。
其中，根据所确定的位置偏移量控制拍摄设备50进行对焦时，判断所确定的位置偏移量是否大于或等于预设位置偏移量，若所确定的位置偏移量大于或等于预设位置偏移量，才控制拍摄设备50进行对焦，反之，则不控制拍摄设备50进行对焦。
其中，预设位置偏移量为预先设置的用于指导拍摄设备50对焦的参考值，该预设位置偏移量为通过多次试验得到的经验值。比如，该预设位置偏移量可以为5.5。
该预设位置偏移量可以由用户通过无人飞行器100的应用程序进行设置。
进一步地，在一些可替代实施例中，无人飞行器100还能够通过拍摄设备50执行辅助对焦方法。当通过拍摄设备50执行辅助对焦方法时，拍摄设备50还与陀螺仪通信连接，以从陀螺仪获取无人飞行器100的空间坐标信息。
具体地，飞控系统控制拍摄设备50进行航拍后，拍摄设备50从陀螺仪获取无人飞行器100的当前时刻的空间坐标信息与上一时刻的空间坐标信息，并根据所获取的当前时刻的空间坐标信息和上一时刻的空间坐标信息计算无人飞行器100的位置偏移量，判断所计算的位置偏移量是否大于或等于预设位置偏移量，若大于或等于预设位置偏移量，则进行对焦，反之，则不进行对焦。
在本发明实施例中，无人飞行器通过执行辅助对焦方法，从而能够根据位置偏移量控制拍摄设备进行对焦，使得拍摄设备能够在位置发生变化时进行对焦，提高了拍摄设备的对焦精准度，进而使得拍摄设备能够拍摄到比较清晰的视频图像。
实施例二
请参阅图2，是本发明其中一实施例提供的一种辅助对焦方法的流程示意图，应用于无人飞行器，该无人飞行器为上述实施例中所述的无人飞行器100，而本发明实施例提供的方法可以由上述飞控系统执行，也可以由上述拍摄设备50执行，用于提高拍摄设备50的对焦精准度，使得拍摄设备50能够拍摄到比较清晰的视频图像，该辅助对焦方法包括：
S100：确定无人飞行器的位置偏移量。
无人飞行器的位置偏移量为无人飞行器的当前位置与上一时刻的位置的直线距离。
于是，确定无人飞行器的位置偏移量具体包括：获取无人飞行器的当前位置信息与上一时刻的位置信息；根据所获取的当前位置信息和上一时刻的位置信息计算无人飞行器的位置偏移量。
其中，位置信息包括空间坐标信息。
无人飞行器的当前位置信息包括无人飞行器的当前时刻的空间坐标信息。
无人飞行器的上一时刻的位置信息包括无人飞行器的上一时刻的空间坐标信息。
于是，获取无人飞行器的当前位置信息与上一时刻的位置信息，即获取无人飞行器的当前时刻的空间坐标信息与上一时刻的空间坐标信息。
其中，由于陀螺仪能够测量无人飞行器的空间坐标信息，故从陀螺仪获取无人飞行器的当前时刻的空间坐标信息和上一时刻的空间坐标信息。
而根据所获取的当前位置信息和上一时刻的位置信息计算无人飞行器的位置偏移量，即根据所获取的当前时刻的空间坐标信息和上一时刻的空间坐标信息计算无人飞行器的位置偏移量。
比如，当从陀螺仪获取的无人飞行器的当前时刻的空间坐标信息为(x1，y1，z1)、上一时刻的空间坐标信息为(x2，y2，z2)时，计算得到的无人飞行器100的位置偏移量
Figure PCTCN2020110590-appb-000002
由于无人飞行器100的位置偏移量通过获取陀螺仪测量的空间坐标信息就能得到，相对于计算拍摄设备与被摄物体之间的距离，不需要进行复杂的计算，极大地减少了计算量，能够提高拍摄设备的响应速度，使拍摄设备50的自动对焦更准确。
S200：根据无人飞行器的位置偏移量控制拍摄设备进行对焦。
具体地，判断所确定的位置偏移量是否大于或等于预设位置偏移量，若所确定的位置偏移量大于或等于预设位置偏移量，才控制拍摄设备进行对焦，反之，则不控制拍摄设备进行对焦。
其中，预设位置偏移量为预先设置的用于指导拍摄设备对焦的参考值，该预设位置偏移量为通过多次试验得到的经验值。比如，该预设位置偏移量可以为5.5。
该预设位置偏移量可以由用户通过无人飞行器的应用程序进行设置。
在本发明实施例中，通过确定无人飞行器的位置偏移量来确定是否控制拍摄设备进行对焦，使得拍摄设备能够在位置发生变化时进行对焦，提高了拍摄设备的对焦精准度，进而使得拍摄设备能够拍摄到比较清晰的视频图像。
实施例三
以下所使用的术语“模块”为可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置可以以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能被构想的。
请参阅图3，是本发明其中一实施例提供的一种辅助对焦装置，应用于无人飞行器，该无人飞行器为上述实施例中所述的无人飞行器100，而本发明实施例提供的装置各个模块的功能可以由上述飞控系统执行，也可以由上述拍摄设备50执行，用于提高拍摄设备50的对焦精准度，使得拍摄设备50能够拍摄到比较清晰的视频图像，该辅助对焦装置包括：
确定模块200，所述确定模块200用于确定所述无人飞行器的位置偏移量；
控制模块300，所述控制模块300用于根据所述无人飞行器的位置偏移量控制所述拍摄设备进行对焦。
其中，所述确定模块200具体用于：
获取所述无人飞行器的当前位置信息与上一时刻的位置信息；
根据所述当前位置信息和所述上一时刻的位置信息计算所述无人飞行器 的位置偏移量。
其中，所述位置信息包括所述无人飞行器的空间坐标信息；则，
所述确定模块200具体用于：
根据当前时刻的空间坐标信息和上一时刻的空间坐标信息计算所述无人飞行器的位置偏移量。
其中，所述控制模块300具体用于：
若所述无人飞行器的位置偏移量大于或等于预设位置偏移量，则控制所述拍摄设备进行对焦。
当然，在其他一些可替代实施例中，上述确定模块200和控制模块300可以为飞控系统中的飞控芯片，也可以为拍摄设备50中的图像处理芯片。
由于装置实施例和方法实施例是基于同一构思，在内容不互相冲突的前提下，装置实施例的内容可以引用方法实施例的，在此不再一一赘述。
在本发明实施例中，通过确定无人飞行器的位置偏移量来确定是否控制拍摄设备进行对焦，使得拍摄设备能够在位置发生变化时进行对焦，提高了拍摄设备的对焦精准度，进而使得拍摄设备能够拍摄到比较清晰的视频图像。
实施例四
请参阅图4，是本发明其中一实施例提供的一种无人飞行器的硬件结构示意图，本发明实施例提供的硬件模块能够集成于上述实施例所述的飞控系统，也能够集成于上述实施例所述的拍摄设备50，使得无人飞行器100能够执行以上实施例所述的一种辅助对焦方法，还能实现以上实施例所述的一种辅助对焦装置各个模块的功能。
该无人飞行器100包括：
一个或多个处理器110以及存储器120。其中，图4中以一个处理器110为例。
在一些实施例中，该处理器110可以为飞行控制器。
处理器110和存储器120可以通过总线或者其他方式连接，图4中以通过总线连接为例。
存储器120作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明上述实施例中的一种辅助对焦方法对应的程序指令以及一种辅助对焦装置对应的模块(例如，确定模块200和控制模块300等)。处理器110通过运行存储在存储器120中的非易失性软件程序、指令以及模块，从而执行一种辅助对焦方法的各种功能应用以及数据处理，即实现上述方法实施例中的一种辅助对焦方法以及上述装置实施例的各个模块的功能。
存储器120可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据一种辅助对焦装置的使用所创建的数据等。
所述存储数据区还存储有预设的数据，包括预设时间、预设位置偏移量等。
此外，存储器120可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器120可选包括相对于处理器110远程设置的存储器，这些远程存储器可以通过网络连接至处理器110。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述程序指令以及一个或多个模块存储在所述存储器120中，当被所述一个或者多个处理器110执行时，执行上述任意方法实施例中的一种辅助对焦方法的各个步骤，或者，实现上述任意装置实施例中的一种辅助对焦装置的各个模块的功能。
上述产品可执行本发明上述实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本发明上述实施例所提供的方法。
本发明实施例还提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图4中的一个处理器110，可使得计算机执行上述任意方法实施例中的一种辅助对焦方法的各个步骤，或者，实现上述任意装置实施例中的一种辅助对焦装置的各个模块的功能。
本发明实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被一个或多个处理器执行，例如图4中的一个处理器110，可使得计算机执行上述任意方法实施例中的一种辅助对焦方法的各个步骤，或者，实现上述任意装置实施例中的一种辅助对焦装置的各个模块的功能。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块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模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施方法的流程。其中，所述存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(RandomAccessMemory,RAM)等。
以上所述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。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述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，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (12)

  1. 一种辅助对焦方法，应用于无人飞行器，所述无人飞行器包括拍摄设备，其特征在于，所述方法包括：
    确定所述无人飞行器的位置偏移量；
    根据所述无人飞行器的位置偏移量，控制所述拍摄设备进行对焦。
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述无人飞行器的位置偏移量包括：
    获取所述无人飞行器的当前位置信息与上一时刻的位置信息；
    根据所述当前位置信息和所述上一时刻的位置信息计算所述无人飞行器的位置偏移量。
  3. 根据权利要求2所述的方法，其特征在于，所述位置信息包括所述无人飞行器的空间坐标信息；则，
    所述根据所述当前位置信息和所述上一时刻的位置信息计算所述无人飞行器的位置偏移量包括：
    根据当前时刻的空间坐标信息和上一时刻的空间坐标信息计算所述无人飞行器的位置偏移量。
  4. 根据权利要求3所述的方法，其特征在于，所述无人飞行器包括陀螺仪；
    所述无人飞行器的空间坐标信息通过所述陀螺仪获取。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述根据所述无人飞行器的位置偏移量控制所述拍摄设备进行对焦包括：
    若所述无人飞行器的位置偏移量大于或等于预设位置偏移量，则控制所述拍摄设备进行对焦。
  6. 一种辅助对焦装置，应用于无人飞行器，所述无人飞行器包括拍摄设备，其特征在于，所述装置包括：
    确定模块，所述确定模块用于确定所述无人飞行器的位置偏移量；
    控制模块，所述控制模块用于根据所述无人飞行器的位置偏移量控制所述拍摄设备进行对焦。
  7. 根据权利要求6所述的装置，其特征在于，所述确定模块具体用于：
    获取所述无人飞行器的当前位置信息与上一时刻的位置信息；
    根据所述当前位置信息和所述上一时刻的位置信息计算所述无人飞行器 的位置偏移量。
  8. 根据权利要求7所述的装置，其特征在于，所述位置信息包括所述无人飞行器的空间坐标信息；则，
    所述确定模块具体用于：
    根据当前时刻的空间坐标信息和上一时刻的空间坐标信息计算所述无人飞行器的位置偏移量。
  9. 根据权利要求6至8中任一项所述的装置，其特征在于，所述控制模块具体用于：
    若所述无人飞行器的位置偏移量大于或等于预设位置偏移量，则控制所述拍摄设备进行对焦。
  10. 一种无人飞行器，其特征在于，包括：
    机身；
    机臂，与所述机身相连；
    动力装置，设于所述机臂；
    拍摄设备，与所述机身相连；
    陀螺仪，设于所述机身，用于获取所述无人飞行器的空间坐标信息；
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够用于执行如权利要求1至5中任一项所述的一种辅助对焦方法。
  11. 根据权利要求10所述的无人飞行器，其特征在于，所述无人飞行器还包括云台，所述拍摄设备通过所述云台与所述机身相连。
  12. 一种非易失性计算机可读存储介质，其特征在于，所述非易失性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使无人飞行器执行如权利要求1至5中任一项所述的一种辅助对焦方法。
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