WO2021217409A1 - Plate-forme mobile, et procédé et dispositif de commande de lampes associées - Google Patents

Plate-forme mobile, et procédé et dispositif de commande de lampes associées Download PDF

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Publication number
WO2021217409A1
WO2021217409A1 PCT/CN2020/087459 CN2020087459W WO2021217409A1 WO 2021217409 A1 WO2021217409 A1 WO 2021217409A1 CN 2020087459 W CN2020087459 W CN 2020087459W WO 2021217409 A1 WO2021217409 A1 WO 2021217409A1
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WO
WIPO (PCT)
Prior art keywords
state
camera
instruction
received
photographing device
Prior art date
Application number
PCT/CN2020/087459
Other languages
English (en)
Chinese (zh)
Inventor
龚鼎
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080021658.4A priority Critical patent/CN113597755A/zh
Priority to PCT/CN2020/087459 priority patent/WO2021217409A1/fr
Publication of WO2021217409A1 publication Critical patent/WO2021217409A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • This application relates to the field of movable platforms, and in particular to a movable platform and its lamp control method and device.
  • 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.
  • 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.
  • some or all of the lamps are controlled to be turned off during the shooting of the shooting device.
  • the movable platform includes a lamp 1, and the camera 1 and the camera 2 are mounted on the movable platform.
  • 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.
  • This application provides a movable platform and its lamp control method and device.
  • 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:
  • 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.
  • 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
  • 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:
  • 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.
  • an embodiment of the present application provides a movable platform on which a plurality of photographing devices are mounted, and the movable platform includes:
  • the lamp is located in the body;
  • the lamp control device of the movable platform of the first aspect is supported by the body and electrically connected with the lamp.
  • 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.
  • 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.
  • the movable platform generally includes a lamp, and the movable platform is equipped with multiple imaging devices.
  • 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.
  • 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.
  • the movable platform of the embodiment of the present application may be an unmanned aerial vehicle, an unmanned vehicle or a ground mobile robot.
  • 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.
  • 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.
  • 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.
  • 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 movable platform is an unmanned aerial vehicle, and the execution subject may be a flight controller of the unmanned aerial vehicle.
  • the method for controlling the lamp of the movable platform may include S101 to S102.
  • 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.
  • the lamp corresponding to the first camera 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.
  • 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.
  • the first state is the off state
  • the second state is the on state
  • 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
  • the first state is the dormant state
  • the second state is the on state
  • 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.
  • 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.
  • 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;
  • the second camera is a camera that shares at least a part of the lamps in the first state with the first camera.
  • the current refers to the moment when the state restoration instruction sent by the first imaging device is received.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • the first state is the off state and the second state is the on state.
  • the state recovery instruction instructing the lamp 1 to be switched from the off state to the on state
  • the camera 1 at the end of shooting, if it is detected
  • 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.
  • the lamp corresponding to the state recovery instruction 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.
  • the first state is the off state
  • the second state is the on state.
  • 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
  • the camera 3 is in the non-shooting state.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the lamp to be entered into the first state corresponding to the state setting instruction affects the imaging quality of the first imaging device.
  • 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.
  • 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;
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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
  • Set instructions are also be set to include others.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first maximum number is determined according to the sum of the number of the first camera and the number of the second camera.
  • the first maximum number is the number of the first camera and the number of the second camera. The sum of the quantities.
  • 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.
  • 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.
  • 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.
  • the effective instruction in the state restoration instruction associated with the first camera can also be set to include others.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second maximum number is determined according to the sum of the number of the first camera and the number of the second camera.
  • the second maximum number is the number of the first camera and the number of the second camera. The sum of the quantities.
  • 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.
  • 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.
  • 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 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 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 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • ID Identity
  • the state setting instruction and the state restoration instruction respectively carry the identity document (ID, Identity document) of the pan/tilt.
  • an embodiment of the present application also provides a lamp control device of the movable platform.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the movable platform is an unmanned aerial vehicle
  • the body 20 includes an arm
  • the lamps include an arm light and a night flight light.
  • 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.
  • 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.
  • 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.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • 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.

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  • Engineering & Computer Science (AREA)
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  • Signal Processing (AREA)
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Abstract

La présente invention concerne une plate-forme mobile et un procédé et un dispositif de commande pour des lampes associées. Une pluralité de dispositifs de photographie sont portés sur la plate-forme mobile. Le procédé comprend les étapes consistant à : recevoir une instruction de récupération d'état envoyée par un premier dispositif de photographie à la fin de la photographie, l'instruction de récupération d'état étant utilisée pour ordonner à des lampes correspondant au premier dispositif de photographie de passer d'un premier état à un second état ; et s'il est détecté qu'il y a actuellement un second dispositif de photographie dans un état de photographie, maintenir, dans le premier état, des lampes correspondant à l'instruction de récupération d'état, à être dans le second état, et associées au second dispositif de photographie, le second dispositif de photographie étant un dispositif de photographie qui partage au moins certaines des lampes dans le premier état avec le premier dispositif de photographie. La présente invention évite l'effet de la mise sous tension de lampes sur la qualité d'imagerie du second dispositif de photographie qui est actuellement dans l'état de photographie, et résout le problème des conflits dans la commande des lampes lorsqu'il y a une pluralité de dispositifs de photographie.
PCT/CN2020/087459 2020-04-28 2020-04-28 Plate-forme mobile, et procédé et dispositif de commande de lampes associées WO2021217409A1 (fr)

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CN202080021658.4A CN113597755A (zh) 2020-04-28 2020-04-28 可移动平台及其灯具控制方法、装置
PCT/CN2020/087459 WO2021217409A1 (fr) 2020-04-28 2020-04-28 Plate-forme mobile, et procédé et dispositif de commande de lampes associées

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