WO2021217409A1

WO2021217409A1 - Movable platform and control method and device for lamps thereof

Info

Publication number: WO2021217409A1
Application number: PCT/CN2020/087459
Authority: WO
Inventors: 龚鼎
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-28
Filing date: 2020-04-28
Publication date: 2021-11-04
Also published as: CN113597755A

Abstract

A movable platform and a control method and device for lamps thereof. A plurality of photography devices are carried on the movable platform. The method comprises: receiving a state recovery instruction sent by a first photography device at the end of photography, the state recovery instruction being used for instructing lamps corresponding to the first photography device to switch from a first state to a second state; and if it is detected that there is currently a second photography device in a photography state, maintaining, in the first state, lamps corresponding to the state recovery instruction, to be in the second state, and related to the second photography device, wherein the second photography device is a photography device that shares at least some of the lamps in the first state with the first photography device. The present application avoids the effect of turning on of lamps on the imaging quality of the second photography device that is currently in the photography state, and solves the problem of conflicts in controlling the lamps when there are a plurality of photography devices.

Description

Movable platform and its lamp control method and device

Technical field

This application relates to the field of movable platforms, and in particular to a movable platform and its lamp control method and device.

Background technique

Generally, a movable platform includes multiple lamps, which are installed on different parts of the movable platform to remind users of the current direction and/or status of the movable platform, or to provide information on the movable platform. The shooting device fills in light.

Take the lamps on the drone to remind users of relevant information as an example. The drone generally includes arm lights and night lights, among which the night lights are located on the top and bottom of the arm; at the same time, the drone will carry multiple Shooting device. However, at night, in order to prevent the halo of the lamps used for reminding related information from affecting the imaging quality of the shooting device, some or all of the lamps are controlled to be turned off during the shooting of the shooting device. Exemplarily, the movable platform includes a lamp 1, and the camera 1 and the camera 2 are mounted on the movable platform. Turning on the lamp 1 will affect the imaging quality of the camera 1 and the camera 2, therefore, before the camera 1 and the camera 2 shoot, the lamp 1 needs to be turned off, and the lamp 1 is turned on at the end of the shooting to restore the light of the camera 1. Function. If the shooting device 1 finishes shooting before the shooting device 2, the movable platform will turn on the lamp 1 when the shooting device 1 ends, and the shooting device 2 is still in the shooting state. Image quality.

Summary of the invention

This application provides a movable platform and its lamp control method and device.

In a first aspect, an embodiment of the present application provides a method for controlling a lamp on a movable platform. The movable platform is equipped with multiple shooting devices, and the method includes:

Receiving a state restoration instruction sent by the first camera at the end of shooting, where the state restoration instruction is used to instruct the lamp corresponding to the first camera to switch from the first state to the second state;

If it is detected that there is a second photographing device currently in the photographing state, keeping the lamp corresponding to the state recovery instruction to be in the second state and related to the second photographing device in the first state;

Wherein, the second photographing device is a photographing device that shares at least a part of the lamps in the first state with the first photographing device.

In a second aspect, an embodiment of the present application provides a lamp control device for a movable platform, the movable platform is equipped with a plurality of photographing devices, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

In a third aspect, an embodiment of the present application provides a movable platform on which a plurality of photographing devices are mounted, and the movable platform includes:

Body

The lamp is located in the body; and

The lamp control device of the movable platform of the first aspect is supported by the body and electrically connected with the lamp.

According to the technical solution provided by the embodiments of the present application, for the use scene of the first camera and the second camera that share at least a part of the lamps in the first state on the movable platform, when the first camera first ends the shooting, If there is still a second camera in the shooting state, the lamp in the first state shared by the first camera and the second camera currently in the shooting state will not be turned on, so as to prevent the lamp from being turned on to affect the current shooting state. The imaging quality of the second camera solves the conflict problem of multiple camera control lamps.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

FIG. 1 is a schematic flowchart of a method for controlling a lamp of a movable platform in an embodiment of the present application;

FIG. 2 is a schematic flow chart of a method for controlling a lamp of a movable platform in another embodiment of the present application;

FIG. 3 is a schematic diagram of a manner of detecting that there is a second photographing device currently in a photographing state in an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a lamp control device of a movable platform in an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a lamp control device of a movable platform in an embodiment of the present application.

Detailed ways

The movable platform generally includes a lamp, and the movable platform is equipped with multiple imaging devices. For example, the movable platform includes the lamp 1, and the movable platform is equipped with the imaging device 1 and the imaging device 2. Turning on the lamp 1 will affect the imaging quality of the camera 1 and the camera 2, therefore, before the camera 1 and the camera 2 shoot, the lamp 1 needs to be turned off, and the lamp 1 is turned on at the end of the shooting to restore the light of the camera 1. Function. If the shooting device 1 finishes shooting before the shooting device 2, the movable platform will turn on the lamp 1 when the shooting device 1 ends, and the shooting device 2 is still in the shooting state. Image quality.

In view of the above-mentioned problems, this application applies to the use scenes of the first camera and the second camera that share at least a part of the lamps in the first state on the movable platform. When the first camera ends the shooting first, if there is still The second camera in the shooting state will not turn on the lamp in the first state shared by the first camera and the second camera currently in the shooting state, so as to prevent the lamp turning on from affecting the second camera in the current shooting state The high imaging quality solves the conflict problem of multiple camera control lamps.

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that, in the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

The movable platform of the embodiment of the present application may be an unmanned aerial vehicle, an unmanned vehicle or a ground mobile robot. In addition, the lamp control method of the movable platform in the embodiment of the present application is also applicable to other types of movable platforms, such as manned aircraft.

The movable platform in the embodiment of the present application includes lamps, and the number of lamps may be one or more. Exemplarily, the movable platform is a drone, and the lamps include arm lights and night lights. The lamps in the embodiments of the present application may be LED lamps or other types of lamps.

Further, multiple camera devices are mounted on the movable platform. Exemplarily, the photographing device includes a PTZ and a photographing module mounted on the PTZ. The photographing module is mounted on the body of the movable platform through the PTZ. Exemplarily, the photographing device includes a photographing module, and the photographing module is directly installed on the movable platform. On the body of the platform.

FIG. 1 is a schematic diagram of the method flow of a method for controlling a lamp on a movable platform in an embodiment of the present application; the execution subject of the method for controlling a lamp on a movable platform in an embodiment of the present application is a movable platform, for example, the execution subject may be a movable platform The main controller or other controllers set on the movable platform. Exemplarily, the movable platform is an unmanned aerial vehicle, and the execution subject may be a flight controller of the unmanned aerial vehicle.

Referring to FIG. 1, the method for controlling the lamp of the movable platform according to the embodiment of the present application may include S101 to S102.

Wherein, in S101, a state restoration instruction sent by the first camera at the end of shooting is received, and the state restoration instruction is used to instruct the lamp corresponding to the first camera to switch from the first state to the second state.

The lamp corresponding to the first imaging device refers to a lamp that can affect the imaging quality of the first imaging device. In the embodiment of the present application, when the first camera is shooting, the lamp corresponding to the first camera needs to be controlled in the first state, so that the lamp corresponding to the first camera will not affect the imaging quality of the first camera. However, if the lamp corresponding to the first camera is in the second state when the first camera is shooting, the lamp corresponding to the first camera will affect the imaging quality of the first camera.

The first state may include an off state, and the second state may include an on state; of course, the first state and the second state may include other states. Exemplarily, the first state is the off state, the second state is the on state, and the state restoration instruction is used to instruct the lamp corresponding to the first camera to be switched from the off state to the on state; exemplary, the first state is the dormant state , The second state is the on state, and the state recovery instruction is used to instruct the lamp corresponding to the first camera to be switched from the sleep state to the on state. It should be understood that, in some embodiments, the first state and the second state can also be interchanged, for example, the first state is an open state, and the second state is an off state, so as to meet actual usage requirements, for example, a light-filled Condition.

In S102, if it is detected that there is a second camera that is currently in the shooting state, the lamp corresponding to the state recovery instruction that is to be entered into the second state and is related to the second camera that is currently in the shooting state is kept in the first state; Wherein, the second camera is a camera that shares at least a part of the lamps in the first state with the first camera.

It should be noted that, in the embodiments of the present application, unless otherwise specified, the current refers to the moment when the state restoration instruction sent by the first imaging device is received.

It should also be noted that, in the embodiment of the present application, for the first camera, the camera that shares at least a part of the lamps in the first state with the first camera is referred to as the second camera. Among the three imaging devices, the imaging device that does not share the lamp in the first state with the first imaging device is referred to as the third imaging device. It is understandable that in the embodiments of the present application, the first camera, the second camera, and the third camera are not limited in number; moreover, the same camera can be used as the first camera and the second camera in different scenes. The second camera and the third camera. In addition, for the first imaging device, the plurality of imaging devices may include the first imaging device and the second imaging device, or may include only the second imaging device or only the third imaging device.

Exemplarily, the lamps include lamp 1, lamp 2, lamp 3, and lamp 4, and the photographing device includes photographing device 1, photographing device 2, photographing device 3, and photographing device 4. Among them, the lamps corresponding to the shooting device 1 include lamp 1, the lamps corresponding to the shooting device 2 include lamp 1 and lamp 2, the lamps corresponding to the shooting device 3 include lamp 3, and the lamps corresponding to the shooting device 4 include lamp 1, lamp 2, and lamp 3. And lamps 4. When the first camera is the camera 1, the second camera includes the camera 2 and the camera 4, and the third camera includes the camera 3; when the first camera is the camera 2, the second camera includes the camera Device 1 and camera 4, the third camera includes camera 3; when the first camera is camera 3, the second camera includes camera 4, and the third camera includes camera 1 and camera 2; When the first imaging device is the imaging device 4, the second imaging device includes the imaging device 1, the imaging device 2, and the imaging device 3, and there is no third imaging device.

Exemplarily, the first state is the off state and the second state is the on state. When receiving the state recovery instruction (instructing the lamp 1 to be switched from the off state to the on state) sent by the camera 1 at the end of shooting, if it is detected When the photographing device 2 and the photographing device 4 are in the photographing state, the lamp 1 is kept in the off state, thereby avoiding that the lamp 1 is turned on and affecting the imaging quality of the photographing device 2 and the photographing device 4.

In addition, when it is detected that there is currently a second camera in the shooting state, for the lamp corresponding to the state recovery instruction to enter the second state and not related to the second camera currently in the shooting state, it will not affect the current The imaging quality of the second camera in the shooting state, therefore, it can be kept in the first state, or it can be switched from the first state to the second state, which supports the independent setting of one or several lamps Status, does not affect the status of other lamps.

Exemplarily, the first state is the off state, and the second state is the on state. After receiving the state recovery instruction sent by the camera 4 (instructing the lamp 1, the lamp 2, the lamp 3, and the lamp 4 to be switched from the off state to the on state ), if it is detected that the camera 1 and the camera 2 are in the shooting state, the camera 3 is in the non-shooting state. At this time, the lamp 1 and the lamp 2 are turned on will affect the imaging quality of the camera 1 and the camera 2, and the lamp 3 and The opening and closing of the lamp 4 will not affect the imaging quality of the camera 1 and the camera 2, therefore, the lamp 1 and the lamp 2 need to be kept in the off state, and the lamp 3 and the lamp 4 can be kept in the off state or switched from the off state to Open state.

Further, if it is detected that there is no second camera in the shooting state currently, different strategies can be used to control the state of the lamp corresponding to the first camera:

(1) According to the state recovery instruction, control the lamp corresponding to the first camera to switch from the first state to the second state.

When receiving the state restoration instruction sent by the first camera, there is no second camera in the shooting state, and the lamp corresponding to the first camera is switched from the first state to the second state, which will not affect other shooting The imaging quality of the device also restores the original functions of the lamp corresponding to the first camera, such as the reminder function.

(2) According to the state restoration instruction, switch a part of the lamps corresponding to the first camera from the first state to the second state, and keep the other part of the lamps corresponding to the first camera in the first state.

(3) Keep the lamp corresponding to the first camera in the first state.

For (2) and (3), at least some of the lamps corresponding to the first camera cannot restore their original functions.

Further, if it is detected that there is currently a third camera in the shooting state, but there is no second camera in the shooting state, different strategies can be used to control the state of the lamp corresponding to the first camera:

I. According to the state restoration instruction, control the lamp corresponding to the first camera to switch from the first state to the second state.

When receiving the state restoration instruction sent by the first camera, there is a third camera in the shooting state, but there is no second camera in the shooting state, switch the lamp corresponding to the first camera from the first state In the second state, this will not affect the imaging quality of other camera devices, and at the same time restore the original functions of the lamp corresponding to the first camera device, such as the reminder function.

II. According to the state restoration instruction, switch a part of the lamps corresponding to the first camera from the first state to the second state, and keep the other part of the lamps corresponding to the first camera in the first state.

III. Keep the lamp corresponding to the first camera in the first state.

For II and III, at least some of the lamps corresponding to the first camera cannot restore their original functions.

Fig. 2 is a schematic flow chart of a method for controlling a lamp on a movable platform in another embodiment of the present application; please refer to Fig. 2, before receiving the state restoration instruction sent by the first camera at the end of shooting, the The lamp control method may also include S201 to S202.

Wherein, in S201, a state setting instruction sent by the first camera before shooting is received, and the state setting instruction is used to instruct the first camera to enter the lamp in the first state during shooting.

In the embodiment of the present application, the lamp to be entered into the first state corresponding to the state setting instruction is the lamp corresponding to the first camera, that is, the lamp that can affect the imaging quality of the first camera.

Before shooting, the first camera will send a state setting instruction to the movable platform, indicating that the lamp corresponding to the control state setting instruction of the movable platform to enter the first state is in the first state, avoiding the state setting instruction corresponding to the first state to enter the first state The lighting affects the imaging quality of the first camera.

In S202, the lamp to be entered into the first state corresponding to the control state setting instruction is in the first state.

In this way, it can be avoided that the lamp to be entered into the first state corresponding to the state setting instruction affects the imaging quality of the first imaging device.

Exemplarily, when the state setting instruction is a valid instruction, the lamp to be entered into the first state corresponding to the control state setting instruction is in the first state, avoiding repeated control of the state of the lamp to be entered into the first state corresponding to the state setting instruction, Improve the efficiency of lighting control. Further, when the state setting instruction is a valid instruction and the lamp to be entered into the first state corresponding to the state setting instruction is not currently in the first state, the lamp corresponding to the control state setting instruction to enter the first state is in the first state; When the state setting instruction is a valid instruction, and the lamp to enter the first state corresponding to the state setting instruction is currently in the first state, the lamp corresponding to the state setting instruction to enter the first state is kept in the first state to further improve the lamp Control efficiency.

Exemplarily, the first camera may send the state setting instruction to the movable platform multiple times, but the movable platform only successfully executes one of the state setting instructions sent by the first camera. For example, before executing S202, the movable platform will execute The state setting instruction sent by the first camera that is received for the first time.

FIG. 3 is a schematic diagram of a method of detecting that there is a second photographing device currently in the shooting state in an embodiment of the present application; please refer to FIG. 3, the method of detecting that the second photographing device currently exists in the photographing state may include S301~S302.

Among them, in S301, the first number of valid instructions in the state setting instructions associated with the first camera and the second number of valid instructions in the state recovery instructions associated with the first camera are counted.

The initial values of the first quantity and the second quantity are both zero, that is, before counting, the first quantity=the second quantity=0.

In the embodiment of the present application, the state setting instruction associated with the first photographing device includes: the received state setting instruction sent by the first photographing device and the received state setting instruction sent by the second photographing device. Correspondingly, the state restoration instruction associated with the first photographing device includes: the received state restoration instruction sent by the first photographing device and the received state restoration instruction sent by the second photographing device.

Wherein, in the embodiment of the present application, the valid instruction in the state setting instruction associated with the first camera includes: before the lamp corresponding to the first camera is controlled to switch from the first state to the second state, the first shot received for the first time The state setting instruction sent by the device and the state setting instruction sent by each second camera received for the first time. That is, the valid instructions in the state setting instruction associated with the first camera include: the state setting instruction sent by the first camera received for the first time before the execution of S202 and the state sent by each second camera received for the first time. Set instructions. Of course, in other embodiments, the effective instruction in the state setting instruction associated with the first camera may also be set to include others. For example, the effective instruction in the state setting instruction associated with the first camera includes: Before the lamp corresponding to a photographing device is switched from the first state to the second state, the state setting instruction sent by the first photographing device received last time and the state setting instruction sent by each second photographing device received the last time.

Exemplarily, the first imaging device includes the imaging device 11, the second imaging device includes the imaging device 12 and the imaging device 13, and the valid instructions in the state setting instructions associated with the imaging device 11 include: controlling the lamp corresponding to the imaging device 11 by the first Before the first state is switched to the second state, the state setting instruction sent by the photographing device 11 is received for the first time, the state setting instruction sent by the photographing device 12 is received for the first time, and the state setting instruction sent by the photographing device 13 is received for the first time.

Correspondingly, the invalid instruction in the state setting instruction associated with the first camera includes: before controlling the lamp corresponding to the first camera to switch from the first state to the second state, the state sent by the first camera is not received for the first time Setting instructions and status setting instructions sent by each second camera that are not received for the first time. Exemplarily, the above-mentioned embodiment in which the first imaging device includes the imaging device 11 and the second imaging device includes the imaging device 12 and the imaging device 13 is used, and the invalid instruction in the state setting instruction associated with the imaging device 11 includes: Before the corresponding lamp is switched from the first state to the second state, the state setting instruction sent by the photographing device 11 that is not received for the first time, the state setting instruction sent by the photographing device 12 that is not received for the first time, and the photographing device 13 that is not received for the first time Status setting instructions sent.

Exemplarily, the state setting instruction sent by the first camera that is not received for the first time includes: the received state setting instruction sent by the first camera after the first number reaches the allowed first maximum number. Exemplarily, the state setting instruction sent by the second camera that is not received for the first time includes: the received state setting instruction sent by the second camera after the first number reaches the first maximum number allowed. In the embodiment of the present application, the first maximum number is determined according to the sum of the number of the first camera and the number of the second camera. Exemplarily, the first maximum number is the number of the first camera and the number of the second camera. The sum of the quantities. Exemplarily, the above-mentioned embodiment in which the first camera includes the camera 11 and the second camera includes the camera 12 and the camera 13 is used, the first maximum number is 3, and the state sent by the first camera is not received for the first time The setting instruction includes: after the first number reaches 3, the received state setting instruction sent by the photographing device 11. The state setting instructions sent by the second photographing device that are not received for the first time include: after the first number reaches 3, the received state setting instructions sent by the photographing device 12 and the received state setting instructions sent by the photographing device 13. It should be understood that, in this embodiment of the present application, the state setting instruction sent by the first camera that is not received for the first time also includes: after the state setting instruction sent by the first camera is received for the first time, the lamp corresponding to the first camera is controlled Before switching from the first state to the second state, the received state setting instruction sent by the first photographing device; the state setting instruction sent by the second photographing device that is not received for the first time may also include: the second photographing received for the first time After the state setting instruction sent by the device, before controlling the lamp corresponding to the first camera to switch from the first state to the second state, the state setting instruction sent by the second camera is received.

In the embodiment of the present application, the valid instruction in the state recovery instruction associated with the first camera includes: before the lamp corresponding to the first camera is controlled to switch from the first state to the second state, the first camera received for the first time sends The state recovery instruction and the state recovery instruction sent by each second camera received for the first time. That is, the valid instructions in the state restoration instructions associated with the first camera include: the state restoration instructions sent by the first camera received for the first time before the execution of S202, and the states sent by each second camera received for the first time. Resume instructions. Of course, in other embodiments, the effective instruction in the state restoration instruction associated with the first camera can also be set to include others. For example, the effective instruction in the state restoration instruction associated with the first camera includes: Before the lamp corresponding to a photographing device is switched from the first state to the second state, the state restoration instruction sent by the first photographing device received last time and the state restoration instruction sent by each second photographing device received the last time.

Exemplarily, the above-mentioned embodiment in which the first photographing device includes the photographing device 11 and the second photographing device includes the photographing device 12 and the photographing device 13 is used, and the effective instruction in the state recovery instruction associated with the photographing device 11 includes: controlling the photographing device 11 Before the corresponding lamp is switched from the first state to the second state, the state recovery instruction sent by the photographing device 11 received for the first time, the state recovery instruction sent by the photographing device 12 received for the first time, and the state sent by the photographing device 13 received for the first time Resume instructions.

Correspondingly, the invalidation instruction in the state recovery instruction associated with the first camera includes: before the lamp corresponding to the first camera is controlled to switch from the first state to the second state, the state sent by the first camera is not received for the first time A recovery instruction and a state recovery instruction sent by each second camera that is not received for the first time. Exemplarily, the above-mentioned embodiment in which the first imaging device includes the imaging device 11 and the second imaging device includes the imaging device 12 and the imaging device 13 is used, and the invalid instruction in the state recovery instruction associated with the imaging device 11 includes: Before the corresponding lamp is switched from the first state to the second state, the state recovery instruction sent by the photographing device 11 that is not received for the first time, the state recovery instruction sent by the photographing device 12 that is not received for the first time, and the photographing device 13 that is not received for the first time State restoration command sent.

Exemplarily, the state restoration instruction sent by the first camera that is not received for the first time includes: after the second number reaches the allowed second maximum number, the state restoration instruction sent by the first camera is received. Exemplarily, the state recovery instruction sent by the second camera that is not received for the first time includes: after the second number reaches the allowed second maximum number, the state recovery instruction sent by the second camera is received. In the embodiment of the present application, the second maximum number is determined according to the sum of the number of the first camera and the number of the second camera. Exemplarily, the second maximum number is the number of the first camera and the number of the second camera. The sum of the quantities. Exemplarily, the above-mentioned embodiment in which the first camera includes the camera 11 and the second camera includes the camera 12 and the camera 13 is used, the first maximum number is 3, and the state sent by the first camera is not received for the first time The restoration instruction includes: after the first number reaches 3, the received state restoration instruction sent by the photographing device 11. The state restoration instruction sent by the second camera that is not received for the first time includes: after the first number reaches 3, the received state restoration instruction sent by the camera 12 and the received state restoration instruction sent by the camera 13. It should be understood that, in this embodiment of the present application, the state restoration instruction sent by the first camera that is not received for the first time also includes: after the state restoration instruction sent by the first camera is received for the first time, the lamp corresponding to the first camera is controlled Before switching from the first state to the second state, the received state restoration instruction sent by the first photographing device; the state restoration instruction sent by the second photographing device not received for the first time also includes: the second photographing device received for the first time After the state restoration instruction is sent, the state restoration instruction sent by the second camera is received before the lamp corresponding to the first camera is controlled to switch from the first state to the second state.

In S302, when the first number is not equal to the second number, it is detected that there is a second camera in the shooting state currently.

The first number is not equal to the second number, indicating that there is currently a second camera that has not sent a state recovery instruction to the movable platform, that is, there is currently a second camera that has not finished shooting. Therefore, it can be determined that there is currently a camera in the shooting state. The second camera.

Exemplarily, in some embodiments, the lamp control method of the movable platform of the embodiment of the present application may further include: when the first number is equal to the second number, detecting that there is no second camera in the shooting state currently . The first number is equal to the second number and is not zero, indicating that there is currently no second camera that has not sent a state recovery instruction to the movable platform, that is, the second camera is currently finished shooting. Therefore, it can be determined that there is no current shooting device. State of the second camera.

Exemplarily, in some embodiments, after detecting that there is no second photographing device currently in the photographing state, the first number and the second number are set to zero, so that statistics can be restarted. After the first quantity and the second quantity are cleared, a new round of procedures for the lamp control method of the movable platform is entered.

Exemplarily, in some embodiments, the valid instruction in the state setting instruction associated with the first camera includes: after the first number and the second number are set to zero, the state restoration instruction sent by the first camera is received for the first time Previously, the first received state setting instruction sent by the first camera and the first received state setting instruction sent by each second camera. Exemplarily, the above-mentioned first photographing device includes the photographing device 1, and the second photographing device includes the photographing device 2 and the photographing device 3. The valid instructions in the state setting instructions associated with the photographing device 1 include: After the second number is set to zero, the state setting instruction sent by the photographing device 1 is received for the first time, the state setting instruction sent by the photographing device 2 is received for the first time, and the state setting instruction sent by the photographing device 3 is received for the first time.

Exemplarily, in some embodiments, the valid instruction in the state restoration instruction associated with the first camera includes: after the first number and the second number are set to zero, the state restoration instruction sent by the first camera is received for the first time Previously, the first received state restoration instruction sent by the first camera and the first received state restoration instruction sent by the second camera. Exemplarily, the above-mentioned embodiment in which the first photographing device includes the photographing device 1 and the second photographing device includes the photographing device 2 and the photographing device 3 is used, and the effective instructions in the state recovery instructions associated with the photographing device 1 include: After the second number is set to zero, the state restoring instruction sent by the camera 1 received for the first time, the state restoring instruction sent by the camera 2 received for the first time, and the state restoring instruction sent by the camera 3 received for the first time.

Exemplarily, in some embodiments, the lamp control method of the movable platform may further include: when the state setting instruction associated with the first camera is an invalid instruction, maintaining the state setting instruction associated with the first camera corresponding to the The state of the lamp to be entered into the first state remains unchanged, avoiding repetitive or erroneous control of the state of the lamp.

Exemplarily, in some embodiments, the lamp control method of the movable platform may further include: when the state setting instruction associated with the first camera is an invalid command, returning a first error message to the camera for prompting, Make the camera take corresponding actions to prevent it from sending invalid state setting instructions again.

Exemplarily, in some embodiments, the lamp control method of the movable platform may further include: when the state restoration instruction associated with the first camera is an invalid instruction, maintaining the state restoration instruction associated with the first camera corresponding to the The state of the lamp in the first state remains unchanged, avoiding repeated or wrong control of the state of the lamp.

Exemplarily, in some embodiments, when the state restoration instruction associated with the first camera is an invalid command, a second error message is returned to the camera to prompt the camera to take corresponding actions to avoid sending it again Invalid state restoration command.

In addition, in some embodiments, the photographing device includes a pan/tilt and a photographing module mounted on the pan/tilt, and the state setting instruction and the state restoration instruction respectively carry the identity document (ID, Identity document) of the pan/tilt. Use the identity information of the PTZ to match the state setting instructions and/or state restoration instructions sent by the same camera to ensure the consistency of the state setting instructions and/or state restoration instructions sent by the same camera, and to avoid repeated transmission of the same camera The set command and/or the status recovery command caused a statistical exception. Among them, different PTZs have different identity information to realize the unique identification of PTZs.

Corresponding to the lamp control method of the movable platform in the foregoing embodiment, an embodiment of the present application also provides a lamp control device of the movable platform. Referring to FIG. 4, the lamp control device of the movable platform in the embodiment of the present application may include a storage device and one or more processors.

Among them, the storage device is used to store program instructions. The storage device stores the executable instruction computer program of the lamp control method of the movable platform, and the storage device may include at least one type of storage medium. The storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, , SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory ( PROM), magnetic storage, magnetic disks, optical disks, etc. Moreover, the lamp control device of the movable platform can cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory may be an internal storage unit of the lamp control device of the movable platform, for example, the hard disk or memory of the lamp control device of the movable platform. The memory can also be the external storage device of the lamp control device of the movable platform, such as the plug-in hard disk equipped on the lamp control device of the movable platform, the smart memory card (Smart Media Card, SMC), and the secure digital (Secure Digital, SD). ) Card, Flash Card, etc. Further, the memory may also include both the internal storage unit of the lamp control device of the movable platform and the external storage device. The memory is used to store computer programs and other programs and data required by the device. The memory can also be used to temporarily store data that has been output or will be output.

One or more processors call program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to perform the following operations: The state restoration instruction sent at the end of shooting, the state restoration instruction is used to instruct the lamp corresponding to the first camera to be switched from the first state to the second state; if it is detected that there is currently a second camera in the shooting state, the state is changed The lamp corresponding to the recovery instruction to enter the second state and related to the second camera is kept in the first state; wherein the second camera is a camera that shares at least a part of the lamp in the first state with the first camera.

The processor of this embodiment can implement the lamp control method of the movable platform as shown in the embodiment shown in FIGS. 1-3 of this application. For details, please refer to the lamp control method of the movable platform of the above embodiment for avoiding the movable platform of this embodiment. The barrier device is explained.

The processor may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), on-site Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

Further, an embodiment of the present application also provides a movable platform. Please refer to FIG. 5. The movable platform is equipped with a plurality of photographing devices 10, and the movable platform may include a body 20, a lamp, and the movable platform of the above-mentioned embodiment. Lamp control device. in. The lamp is provided in the body 20, the lamp control device of the movable platform is supported by the body 20, and the lamp control device of the movable platform is electrically connected to the lamp.

Exemplarily, the movable platform is an unmanned aerial vehicle, the body 20 includes an arm, and the lamps include an arm light and a night flight light.

Exemplarily, the photographing device 10 includes a pan/tilt 11 and a photographing module 12 mounted on the pan/tilt 11, and the photographing module 12 is mounted on the body 20 of a movable platform through the pan/tilt 11; for example, the photographing device 10 includes a photographing module , The shooting module is directly installed on the body 20 of the movable platform.

In addition, the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the lamp control method of the movable platform of the above-mentioned embodiment are realized.

The computer-readable storage medium may be an internal storage unit of the removable platform described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of a removable platform, such as a plug-in hard disk, a smart media card (SMC), an SD card, and a flash card (Flash Card) equipped on the device. Wait. Further, the computer-readable storage medium may also include both an internal storage unit of the removable platform and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the portable platform, and can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium can 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.

The above-disclosed are only some of the embodiments of this application, which of course cannot be used to limit the scope of rights of this application. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A lamp control method of a movable platform, characterized in that a plurality of photographing devices are mounted on the movable platform, and the method includes:

Receiving a state restoration instruction sent by the first imaging device at the end of shooting, where the state restoration instruction is used to instruct the lamp corresponding to the first imaging device to be switched from the first state to the second state;

If it is detected that there is a second photographing device currently in the photographing state, keeping the lamp corresponding to the state recovery instruction to be in the second state and related to the second photographing device in the first state;

Wherein, the second photographing device is a photographing device that shares at least a part of the lamps in the first state with the first photographing device.
The method according to claim 1, wherein the first state includes a closed state, and the second state includes an open state.
The method according to claim 1, wherein the method further comprises:

If it is detected that there is currently a third camera in the shooting state, according to the state recovery instruction, control the lamp corresponding to the first camera to switch from the first state to the second state;

Wherein, the third camera is a camera that does not share the lamp in the first state with the first camera.
The method according to claim 1, wherein the method further comprises:

If it is detected that there is no second camera in the shooting state, according to the state restoration instruction, the lamp corresponding to the first camera is controlled to switch from the first state to the second state.
The method according to claim 1, characterized in that, before the receiving the state restoration instruction sent by the first photographing device at the end of photographing, the method further comprises:

Receiving a state setting instruction sent by the first photographing device before shooting, where the state setting instruction is used to instruct the first photographing device to enter the lamp in the first state when photographing;

Controlling the lamp corresponding to the state setting instruction to enter the first state to be in the first state.
The method according to claim 5, wherein the controlling the lamp corresponding to the state setting instruction to enter the first state to be in the first state comprises:

When the state setting instruction is a valid instruction, the lamp corresponding to the state setting instruction to be entered into the first state is controlled to be in the first state.
The method according to claim 6, wherein when the state setting instruction is a valid instruction, controlling the lamp corresponding to the state setting instruction to enter the first state to be in the first state, include:

When the state setting instruction is a valid instruction, and the lamp corresponding to the state setting instruction to enter the first state is not currently in the first state, control the state setting instruction to enter the first state. The lamp in one state is in the first state.
The method according to claim 6, wherein when the state setting instruction is a valid instruction, controlling the lamp corresponding to the state setting instruction to enter the first state to be in the first state, include:

When the state setting instruction is a valid instruction, and the lamp corresponding to the state setting instruction to enter the first state is currently in the first state, set the state setting instruction to be corresponding to the first state to enter the first state. The lamp in the state remains in the first state.
The method according to claim 5, wherein the method of detecting that there is currently a second photographing device in a photographing state comprises:

Counting the first number of valid instructions in the state setting instructions associated with the first camera and the second number of valid instructions in the state restoration instructions associated with the first camera;

When the first number is not equal to the second number, it is detected that there is a second photographing device currently in a photographing state;

Wherein, the state setting instruction associated with the first photographing device includes: a received state setting instruction sent by the first photographing device and a received state setting instruction sent by the second photographing device;

The state recovery instruction associated with the first imaging device includes: a received state recovery instruction sent by the first imaging device and a received state recovery instruction sent by the second imaging device.
The method according to claim 9, wherein the valid command in the state setting command associated with the first camera includes:

Before controlling the lamp corresponding to the first photographing device to switch from the first state to the second state, the state setting instruction sent by the first photographing device received for the first time and each of the first received State setting instruction sent by the second camera.
The method according to claim 9, wherein the invalid instruction in the state setting instruction associated with the first photographing device comprises:

Before controlling the lamp corresponding to the first photographing device to switch from the first state to the second state, the state setting instructions sent by the first photographing device that are not received for the first time and each of the state setting instructions sent by the first photographing device are not received for the first time. The state setting instruction sent by the second camera.
The method according to claim 11, wherein the state setting instruction sent by the first photographing device that is not received for the first time comprises: after the first number reaches the allowed first maximum number, receiving The state setting instruction sent by the first camera; and/or,

The state setting instruction sent by the second camera that is not received for the first time includes: the received state setting instruction sent by the second camera after the first number reaches the allowed first maximum number.
The method according to claim 12, wherein the first maximum number is the sum of the number of the first camera and the number of the second camera.
The method according to claim 9, characterized in that the valid command in the state restoration command associated with the first photographing device comprises:

Before controlling the lamp corresponding to the first photographing device to switch from the first state to the second state, the state recovery instruction sent by the first photographing device received for the first time and each of the first received State restoration instruction sent by the second camera.
The method according to claim 9, wherein the invalid instruction in the state restoration instruction associated with the first photographing device comprises:

Before controlling the lamp corresponding to the first camera to switch from the first state to the second state, the state recovery instructions sent by the first camera that are not received for the first time and the state recovery instructions that are not received for the first time are A state restoration instruction sent by the second camera.
The method according to claim 15, wherein the state restoration instruction sent by the first photographing device that is not received for the first time comprises: after the second number reaches a second maximum allowed number, receiving The state restoration instruction sent by the first camera; and/or,

The state restoration instruction sent by the second camera that is not received for the first time includes: the state restoration instruction sent by the second camera that is received after the second number reaches the allowed second maximum number.
The method according to claim 16, wherein the second maximum number is the sum of the number of the first camera and the number of the second camera.
The method according to claim 9, wherein the method further comprises:

When the first number is equal to the second number, it is detected that there is currently no second photographing device in the photographing state.
The method according to claim 18, wherein after detecting that there is no second photographing device currently in the photographing state, the method further comprises:

The first number and the second number are set to zero.
The method according to claim 19, wherein the valid instructions in the state setting instructions associated with the first camera include:

After the first number and the second number are set to zero, and before the first state recovery instruction sent by the first camera is received for the first time, the state setting instruction sent by the first camera and the first state setting instruction received for the first time are received for the first time. The received state setting instruction sent by each of the second photographing devices.
The method according to claim 19, wherein the valid command in the state restoration command associated with the first camera includes:

After the first number and the second number are set to zero, and before the first state recovery instruction sent by the first camera is received for the first time, the first state recovery instruction sent by the first camera and the first state recovery instruction are received for the first time. The received state restoration instruction sent by the second imaging device.
The method according to claim 9, wherein the method further comprises:

When the state setting instruction associated with the first photographing device is an invalid instruction, the state of the lamp to be entered into the first state corresponding to the state setting instruction associated with the first photographing device is kept unchanged.
The method according to claim 9, wherein the method further comprises:

When the state setting instruction associated with the first photographing device is an invalid instruction, a first error message is returned to the photographing device.
The method according to claim 9, wherein the method further comprises:

When the state restoration instruction associated with the first camera is an invalid instruction, the state of the lamp in the first state corresponding to the state restoration instruction associated with the first camera is kept unchanged.
The method according to claim 9, wherein the method further comprises:

When the state restoration instruction associated with the first camera is an invalid instruction, a second error message is returned to the camera.
The method according to claim 5, wherein the photographing device comprises a pan-tilt and a photographing module mounted on the pan-tilt;

The state setting instruction and the state restoration instruction respectively carry the identity information of the pan-tilt.
A lamp control device for a movable platform, characterized in that a plurality of photographing devices are mounted on the movable platform, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Receiving a state restoration instruction sent by the first imaging device at the end of shooting, where the state restoration instruction is used to instruct the lamp corresponding to the first imaging device to be switched from the first state to the second state;

If it is detected that there is a second photographing device currently in the photographing state, keeping the lamp corresponding to the state recovery instruction to be in the second state and related to the second photographing device in the first state;

Wherein, the second photographing device is a photographing device that shares at least a part of the lamps in the first state with the first photographing device.
The device according to claim 27, wherein the first state includes a closed state, and the second state includes an open state.
The device according to claim 27, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

If it is detected that there is currently a third camera in the shooting state, according to the state recovery instruction, control the lamp corresponding to the first camera to switch from the first state to the second state;

Wherein, the third camera is a camera that does not share the lamp in the first state with the first camera.
The device according to claim 27, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

If it is detected that there is no second camera in the shooting state, according to the state restoration instruction, the lamp corresponding to the first camera is controlled to switch from the first state to the second state.
The device according to claim 27, wherein the one or more processors are separately or collectively configured to be used for restoring the state before receiving the state restoration instruction sent by the first camera at the end of the shooting. Perform the following operations:

Receiving a state setting instruction sent by the first photographing device before shooting, where the state setting instruction is used to instruct the first photographing device to enter the lamp in the first state when photographing;

Controlling the lamp corresponding to the state setting instruction to enter the first state to be in the first state.
The device according to claim 31, wherein the one or more processors individually or It is collectively further configured to implement the following operations:

When the state setting instruction is a valid instruction, the lamp corresponding to the state setting instruction to be entered into the first state is controlled to be in the first state.
The device according to claim 32, wherein when the state setting instruction is a valid instruction, the one or more processors are controlling the state setting instruction to enter the first state When the lamps of are in the first state, individually or collectively, they are further configured to perform the following operations:

When the state setting instruction is a valid instruction, and the lamp corresponding to the state setting instruction to enter the first state is not currently in the first state, control the state setting instruction to enter the first state. The lamp in one state is in the first state.
The device according to claim 32, wherein when the state setting instruction is a valid instruction, the one or more processors are controlling the state setting instruction to enter the first state When the lamps of are in the first state, individually or collectively, they are further configured to perform the following operations:

When the state setting instruction is a valid instruction, and the lamp corresponding to the state setting instruction to enter the first state is currently in the first state, set the state setting instruction to be corresponding to the first state to enter the first state. The lamp in the state remains in the first state.
The device according to claim 31, wherein when the one or more processors detect that there is currently a mode of the second shooting device in the shooting state, they are further configured to implement Do as follows:

Counting the first number of valid instructions in the state setting instructions associated with the first camera and the second number of valid instructions in the state restoration instructions associated with the first camera;

When the first number is not equal to the second number, it is detected that there is a second photographing device currently in a photographing state;

Wherein, the state setting instruction associated with the first photographing device includes: a received state setting instruction sent by the first photographing device and a received state setting instruction sent by the second photographing device;

The state recovery instruction associated with the first imaging device includes: a received state recovery instruction sent by the first imaging device and a received state recovery instruction sent by the second imaging device.
The device according to claim 35, wherein the valid instructions in the state setting instructions associated with the first photographing device include:

Before controlling the lamp corresponding to the first photographing device to switch from the first state to the second state, the state setting instruction sent by the first photographing device received for the first time and each of the first received State setting instruction sent by the second camera.
The device according to claim 35, wherein the invalid instruction in the state setting instruction associated with the first photographing device comprises:

Before controlling the lamp corresponding to the first camera to switch from the first state to the second state, the state setting instructions sent by the first camera that are not received for the first time and each of the state setting instructions sent by the first camera that are not received for the first time The state setting instruction sent by the second camera.
The device according to claim 37, wherein the state setting instruction sent by the first photographing device that is not received for the first time comprises: after the first number reaches the first maximum number allowed, receiving The state setting instruction sent by the first camera; and/or,

The state setting instruction sent by the second camera that is not received for the first time includes: the received state setting instruction sent by the second camera after the first number reaches the allowed first maximum number.
The device of claim 38, wherein the first maximum number is the sum of the number of the first camera and the number of the second camera.
The device according to claim 35, wherein the valid command in the state restoration command associated with the first camera device comprises:

Before controlling the lamp corresponding to the first photographing device to switch from the first state to the second state, the state recovery instruction sent by the first photographing device received for the first time and each of the first received State restoration instruction sent by the second camera.
The device according to claim 35, wherein the invalid instruction in the state restoration instruction associated with the first photographing device comprises:

Before controlling the lamp corresponding to the first camera to switch from the first state to the second state, the state recovery instructions sent by the first camera that are not received for the first time and the state recovery instructions that are not received for the first time are A state restoration instruction sent by the second camera.
The device according to claim 41, wherein the state recovery instruction sent by the first photographing device that is not received for the first time comprises: after the second number reaches the allowed second maximum number, receiving The state restoration instruction sent by the first camera; and/or,

The state restoration instruction sent by the second camera that is not received for the first time includes: the state restoration instruction sent by the second camera that is received after the second number reaches the allowed second maximum number.
The device of claim 42, wherein the second maximum number is the sum of the number of the first camera and the number of the second camera.
The device according to claim 35, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the first number is equal to the second number, it is detected that there is currently no second photographing device in the photographing state.
The device according to claim 44, wherein the one or more processors are separately or collectively configured to implement the following after detecting that there is no second camera in the shooting state currently operate:

The first number and the second number are set to zero.
The device according to claim 45, wherein the valid instructions in the state setting instructions associated with the first photographing device include:

After the first number and the second number are set to zero, and before the first state recovery instruction sent by the first camera is received for the first time, the state setting instruction sent by the first camera and the first state setting instruction received for the first time are received for the first time. The received state setting instruction sent by each of the second photographing devices.
The device according to claim 45, wherein the valid command in the state restoration command associated with the first camera device comprises:

After the first number and the second number are set to zero, and before the first state recovery instruction sent by the first camera is received for the first time, the first state recovery instruction sent by the first camera and the first state recovery instruction are received for the first time. The received state restoration instruction sent by the second imaging device.
The device according to claim 35, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the state setting instruction associated with the first photographing device is an invalid instruction, the state of the lamp to be entered into the first state corresponding to the state setting instruction associated with the first photographing device is kept unchanged.
The device according to claim 35, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the state setting instruction associated with the first photographing device is an invalid instruction, a first error message is returned to the photographing device.
The device according to claim 35, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the state restoration instruction associated with the first camera is an invalid instruction, the state of the lamp in the first state corresponding to the state restoration instruction associated with the first camera is kept unchanged.
The device according to claim 35, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When the state restoration instruction associated with the first camera is an invalid instruction, a second error message is returned to the camera.
The device according to claim 31, wherein the photographing device comprises a pan-tilt and a photographing module mounted on the pan-tilt;

The state setting instruction and the state restoration instruction respectively carry the identity information of the pan-tilt.
A movable platform, characterized in that a plurality of photographing devices are mounted on the movable platform, and the movable platform includes:

Body

The lamp is located in the body; and

The lamp control device of a movable platform according to any one of claims 27 to 52, which is supported by the body and is electrically connected to the lamp.