WO2023025203A1 - 云台相机的变焦控制方法、装置及终端 - Google Patents

云台相机的变焦控制方法、装置及终端 Download PDF

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Publication number
WO2023025203A1
WO2023025203A1 PCT/CN2022/114564 CN2022114564W WO2023025203A1 WO 2023025203 A1 WO2023025203 A1 WO 2023025203A1 CN 2022114564 W CN2022114564 W CN 2022114564W WO 2023025203 A1 WO2023025203 A1 WO 2023025203A1
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WO
WIPO (PCT)
Prior art keywords
pan
terminal
zoom
control
remote control
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Application number
PCT/CN2022/114564
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English (en)
French (fr)
Inventor
蒙露璐
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深圳市道通智能航空技术股份有限公司
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Publication of WO2023025203A1 publication Critical patent/WO2023025203A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, and in particular to a zoom control method, device and terminal of a pan-tilt camera.
  • Unmanned aerial vehicles are also gradually gaining popularity.
  • unmanned aerial vehicles usually include a gimbal, which is generally equipped with a gimbal camera.
  • the mission of the unmanned aerial vehicle is mainly controlled by the pilot using the remote control.
  • the pilot When zooming with a single camera, the pilot usually needs to adjust it through the remote control, and the accuracy of manual focusing by the pilot is insufficient, resulting in insufficient zoom efficiency.
  • Embodiments of the present application provide a zoom control method, device, and terminal for a pan-tilt camera, so as to solve the problem that the zoom efficiency of the pilot controlling the pan-tilt camera through a remote controller is not high, and improve the zoom efficiency of the pan-tilt camera.
  • the embodiment of the present application provides a zoom control method of a pan-tilt camera, which is applied to an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a pan-tilt, and the pan-tilt is provided with a pan-tilt camera.
  • the focus of the pan-tilt camera is adjusted in response to the operation of the adjustment device.
  • the adjustment device includes a scroll member, and based on the remote control interface, adjusting the focus of the pan/tilt camera in response to the operation of the adjustment device includes:
  • a zoom adjustment window is generated, wherein the zoom adjustment window includes a zoom adjustment bar, and the zoom adjustment bar includes a scale axis, wherein the first operation includes adjusting the the mobile operation of the adjustment device;
  • the zoom factor of the pan-tilt camera is adjusted to adjust the focal length of the pan-tilt camera, wherein the second operation includes a rolling operation of the rolling member.
  • the zoom adjustment bar further includes a first adjustment control and a second adjustment control
  • the method further includes:
  • the method also includes:
  • the zoom adjustment bar After responding to the operation of the adjustment device, if within a preset time, if no operation of the adjustment device is received, the zoom adjustment bar is hidden.
  • the terminal communicates with a plurality of unmanned aerial vehicles, and the method further includes:
  • a first control window corresponding to each unmanned aerial vehicle is generated
  • a second control window is generated, wherein the area of the second control window is larger than the area of the first control window.
  • the method also includes:
  • the focus of the pan/tilt camera is adjusted in response to the operation of the adjustment device.
  • the terminal includes a terminal device, and the adjusting device includes a mouse.
  • the embodiment of the present application provides a zoom control device for a pan-tilt camera, which is applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a pan-tilt, the pan-tilt is provided with a pan-tilt camera, and the unmanned aerial vehicle communicates Connect a terminal, the terminal includes an adjustment device, and the zoom control device of the pan-tilt camera includes:
  • a remote control interface unit configured to control the display interface of the terminal to enter the remote control interface
  • the focus adjustment unit is configured to adjust the focus of the pan/tilt camera based on the remote control interface and in response to the operation of the adjustment device when the UAV is in the remote control state of the terminal.
  • the embodiment of the present application provides a terminal, including:
  • a memory connected in communication with the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processing
  • the device can be used to implement the zoom control method of the pan/tilt camera as described in the first aspect.
  • the embodiment of the present application provides a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a terminal to Execute the zoom control method of the pan-tilt camera as described in the first aspect.
  • the zoom control method of a pan-tilt camera includes: controlling the display interface of the terminal to enter the remote control interface; when the unmanned aerial vehicle is in the remote control state of the terminal, Based on the remote control interface, the focus of the pan/tilt camera is adjusted in response to the operation of the adjustment device.
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application
  • Fig. 2 is a schematic diagram of an interactive process of an unmanned aerial vehicle provided by an embodiment of the present application
  • FIG. 3 is a schematic flow diagram of a zoom control method for a pan-tilt camera provided in an embodiment of the present application
  • Fig. 4 is the refinement flowchart of step S32 in Fig. 3;
  • Fig. 5 is a schematic structural diagram of an adjustment device provided in an embodiment of the present application.
  • Fig. 6a is a schematic diagram of a zoom adjustment window provided by an embodiment of the present application.
  • Fig. 6b is a schematic diagram of a zoom adjustment bar provided by an embodiment of the present application.
  • Fig. 7a is a schematic diagram of a first control window provided by an embodiment of the present application.
  • Fig. 7b is a schematic diagram of a second control window provided by the embodiment of the present application.
  • FIG. 8 is a schematic diagram of yet another zoom control method for a pan-tilt camera provided in an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a zoom control device for a pan-tilt camera provided in an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a terminal provided by an embodiment of the present application.
  • orientation or positional relationship indicated by the terms “upper”, “lower”, “inner”, “outer”, and “bottom” used in this specification is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the The application and simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the application.
  • the terms “first”, “second”, “third”, etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • the application scenario includes an unmanned aerial vehicle 100, a remote control terminal 200, and a terminal 300, wherein the unmanned aerial vehicle 100 communicates with the remote control terminal 200 and the terminal 300, and the remote control terminal 200 communicates with the terminal 300, for example:
  • the unmanned aerial vehicle 100 is connected to the remote control terminal 200 and the terminal 300 through the wireless network communication
  • the remote control terminal 200 is connected to the terminal 300 through the wireless network communication
  • the pilot or the user can operate the remote control terminal 200 to operate the unmanned aerial vehicle 100 through the wireless network
  • the user can operate the terminal 200 to control the UAV 100 through the wireless network.
  • the UAV 100 includes: a multi-rotor UAV, a fixed-wing UAV, an unmanned helicopter, and a mixed-wing UAV.
  • the UAV 10 may also be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing UAV, a fixed-wing UAV, an umbrella-wing UAV, a fluttering Wing drones and helicopter models, etc.
  • a mixed-wing unmanned aerial vehicle is used as an example to make a statement.
  • the unmanned aerial vehicle 100 may have a corresponding volume or power according to the needs of the actual situation, so as to provide a load capacity, flight speed and flight mileage that can meet the needs of use.
  • One or more sensors may also be added to the UAV 100, so that the UAV 100 can collect corresponding data.
  • the UAV 100 is provided with at least one sensor selected from accelerometers, gyroscopes, magnetometers, GPS navigators and vision sensors.
  • the unmanned aerial vehicle 100 also includes a flight controller, which serves as the control core of the flight and data transmission of the unmanned aerial vehicle, and integrates one or more modules to execute corresponding logic control programs.
  • a flight controller which serves as the control core of the flight and data transmission of the unmanned aerial vehicle, and integrates one or more modules to execute corresponding logic control programs.
  • the UAV includes a UAV control system
  • the UAV control system includes a state machine, a flight controller, a UAV power system, and UAV sensors.
  • the UAV control system includes: a state machine, a flight controller, and a UAV power system.
  • the state machine connects the flight controller and the UAV power system.
  • the input of the state machine is navigation data and user interaction commands, and the output
  • the main function of the state machine is to process user interaction commands and use navigation data to realize various functions of the UAV, such as flight mode switching, status monitoring, waypoint flight, return and other upper-level functions.
  • the user interaction command is an interaction command issued by a ground user, for example: remote control stick measurement data, key control commands and other commands.
  • the present application is mainly implemented in a state machine.
  • the control commands and corresponding flags output by the state machine include position commands, speed commands, acceleration commands, altitude commands, climb rate commands, climb acceleration commands, attitude angle commands, heading angle rate commands, and attitude mode flag bits. and positional mode flags.
  • the flight controller is connected to the state machine and the flight controller, and is used to receive the control commands and corresponding flag bits sent by the state machine, and receive the navigation data sent by the power system of the UAV, and output the motor speed control command, wherein,
  • the flight controller includes two flight modes, namely position mode and attitude mode.
  • the main function of the flight controller is to use control commands and navigation data to calculate the motor speed command through a certain algorithm, so that the aircraft can realize position and attitude control. , that is, to make the position and attitude of the aircraft reach the desired state.
  • the battery speed control command takes a common rotorcraft as an example, and the data is pulse width modulation (Pulse Width Modulation, PWM) of the control motor.
  • PWM pulse width modulation
  • the unmanned aerial vehicle power system is connected to the flight controller, and the unmanned aerial vehicle power system includes the execution system and the state monitoring system of the unmanned aerial vehicle, which are used to receive the motor speed control sent by the flight controller. commands to realize the corresponding rotational speed, thereby realizing the corresponding attitude angle and position, processing the sensor data, and calculating the navigation data indirectly or directly.
  • the UAV power system processes the UAV sensor data by using a fusion algorithm to obtain navigation data.
  • the power system of the UAV includes GPS, gyroscope, accelerometer, and magnetometer, and the position, speed, and acceleration data of the UAV can be calculated through GPS, gyroscope, accelerometer, and magnetometer.
  • the drone's position, velocity, and acceleration data can be calculated through binocular vision, gyroscope, accelerometer, and magnetometer.
  • the attitude angle and attitude angle rate of the UAV can be calculated through the gyroscope, accelerometer and magnetometer.
  • the remote control terminal 200 includes a smart terminal, where the smart terminal can be any type of smart device used to establish a communication connection with the UAV 100 , such as a mobile phone, a tablet computer, or a smart remote control.
  • the remote control terminal 200 may be equipped with one or more different user interaction devices for collecting user instructions or displaying and feeding back information to the user.
  • User interaction devices include but are not limited to devices such as buttons, display screens, touch screens, speakers, and remote control joysticks.
  • the remote control terminal 200 can be equipped with a touch display screen, through which the user's remote control command to the UAV 100 is received and the map information is displayed to the user through the touch display screen, that is, a map screen, and displayed to the user.
  • the image information obtained by aerial photography, that is, the image transmission screen, the user can also switch the image information currently displayed on the display screen through the remote control touch screen.
  • the existing image vision processing technology can also be integrated between the unmanned aerial vehicle 100 and the remote control terminal 200 to further provide more intelligent services.
  • the UAV 100 can collect images through a dual-light camera, and the remote controller 200 can analyze the images, so as to realize the user's gesture control on the UAV 100 .
  • the terminal 300 includes a terminal device, wherein the terminal device includes a computer device, a PC terminal and other devices that establish a communication connection with the UAV 100, and the terminal 300 may be equipped with one or more different user interaction devices, It is used to collect user instructions or display and feedback information to users.
  • User interaction devices include, but are not limited to: display screens, touch screens, speakers, mice, keyboards and other devices.
  • the remote control terminal 200 can be equipped with a touch display screen, through which the user's remote control command to the UAV 100 is received and the map information is displayed to the user through the touch display screen, that is, a map screen, and displayed to the user.
  • the image information obtained by aerial photography, that is, the image transmission screen, the user can also control the movement of the unmanned aerial vehicle through the operation of the mouse or the key operation of the keyboard, or control the direction of the gimbal of the unmanned aerial vehicle, the gimbal camera of the unmanned aerial vehicle focal length etc.
  • the remote control terminal 200 is a mobile terminal. Unlike the remote control terminal 200, the terminal 300 is a fixed terminal, and the display screen of the terminal 300 is larger than the display screen of the remote control terminal 200, so that the terminal 300 can provide users with global perspective.
  • the wireless network can be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network located in different signal frequency bands or a combination thereof.
  • FIG. 2 is a schematic diagram of an interaction process of an unmanned aerial vehicle provided by an embodiment of the present application
  • the interaction process of the UAV includes:
  • Step S201 the terminal sends a remote control request instruction
  • the terminal sends a remote control request instruction to the remote control terminal, wherein the remote control request instruction is generated by the user inputting an instruction to the terminal, for example: the user clicks on the display screen of the terminal to connect to the remote control terminal, so that the terminal generates a remote control Request instructions, and send remote control request instructions to the remote control.
  • the remote control request instruction is generated by the user inputting an instruction to the terminal, for example: the user clicks on the display screen of the terminal to connect to the remote control terminal, so that the terminal generates a remote control Request instructions, and send remote control request instructions to the remote control.
  • the remote control end before the remote control end receives the remote control request command sent by the terminal, the remote control end establishes a communication connection with the UAV, for example: establishes a first communication channel between the remote control end and the UAV, wherein, The first communication channel is used for message interaction, command interaction or data interaction between the remote controller and the UAV.
  • Step S202 the remote control terminal receives the remote control request command, and generates a remote control confirmation command
  • the remote control terminal receives the remote control request command sent by the terminal, and after receiving the remote control request command, presents a corresponding message on the display interface of the remote control terminal, and the user clicks the corresponding message on the display interface of the remote control terminal.
  • the confirmation button of the button generates a remote control confirmation command.
  • Step S203 the remote controller sends a remote control confirmation command
  • the remote controller sends a remote control confirmation instruction to the terminal, wherein the remote control confirmation instruction is used to confirm that the control right of the UAV is transferred to the terminal, that is, the terminal controls the UAV.
  • Step S204 the terminal receives the remote control confirmation instruction
  • the terminal receives the remote control confirmation command sent by the remote control terminal.
  • the remote control confirmation command is used to establish a communication connection between the terminal and the unmanned aerial vehicle, and the unmanned aerial vehicle releases its control right to the terminal and suspends the control right of the remote control terminal. , until the remote controller regains control of the UAV.
  • Step S205 enter the remote control state of the terminal
  • the remote controller transfers the control right of the UAV to the terminal, that is, enters the remote control state of the terminal, and the terminal controls the UAV.
  • a communication connection has been established between the terminal and the UAV, for example: establishing a second communication channel between the terminal and the UAV, wherein the second communication channel is used for the terminal Message interaction, command interaction or data interaction with UAV.
  • the first communication channel and the second communication channel may be based on the same communication protocol, or may be based on different communication protocols, for example: the first communication channel is based on the TCP network protocol, and the second communication channel is based on the Netty network protocol .
  • Step S206 the terminal enters the remote control interface
  • the terminal After the terminal establishes a communication connection with the UAV and obtains the control right of the UAV, the terminal enters the remote control interface.
  • Step S207 The terminal remotely controls the UAV based on the remote control interface
  • the remote control interface is used to control the unmanned aerial vehicle, for example: control the flight direction of the unmanned aerial vehicle, control the direction of the gimbal of the unmanned aerial vehicle, control the focal length of the gimbal camera of the unmanned aerial vehicle, etc., wherein, A specific control command is generated by the user by manipulating the terminal and sent to the UAV, so that the UAV executes the control command.
  • FIG. 3 is a schematic flowchart of a zoom control method for a pan/tilt camera provided in an embodiment of the present application
  • the zoom control method of the pan-tilt camera is applied to an unmanned aerial vehicle
  • the unmanned aerial vehicle includes a pan-tilt
  • the pan-tilt is provided with a pan-tilt camera
  • the unmanned aerial vehicle is connected to a terminal in communication
  • the terminal includes An adjustment device, the adjustment device is used to control the focal length of the pan-tilt camera of the unmanned aerial vehicle.
  • the execution body of the zoom control method of the pan/tilt camera is a terminal.
  • the terminal includes terminal equipment, such as computer equipment, PC terminal and other electronic equipment that establishes a communication connection with the unmanned aerial vehicle.
  • the zoom control method of the pan-tilt camera is executed by one or more processors of the terminal.
  • the zoom control method of the pan-tilt camera includes:
  • Step S31 controlling the display interface of the terminal to enter the remote control interface
  • the display interface for controlling the terminal enters the remote control interface from the live broadcast interface, specifically, enters the unmanned aerial vehicle remote control interface.
  • the terminal turns on the screen display, its display interface is in the live broadcast interface.
  • Step S32 When the UAV is in the remote control state of the terminal, based on the remote control interface, adjust the focal length of the pan-tilt camera in response to the operation of the adjustment device;
  • the adjustment device includes a rolling element, which is used to adjust the focal length of the pan-tilt camera, please refer to Fig. 4 again, Fig. 4 is a detailed flow chart of step S32 in Fig. 3;
  • this step S32 based on the remote control interface, in response to the operation of the adjustment device, adjust the focal length of the pan-tilt camera, including:
  • Step S321 Generate a zoom adjustment window in response to the first operation of the adjustment device, wherein the zoom adjustment window includes a zoom adjustment bar, and the zoom adjustment bar includes a scale axis, wherein the first operation includes Operation of movement of said adjustment device;
  • the adjustment device includes a rolling element, please refer to Figure 5 again, which is a schematic structural diagram of an adjustment device provided by an embodiment of the present application;
  • the adjusting device 50 includes: a left button 51 , a right button 52 and a rolling member 53 , and the rolling member 53 is used to adjust the focal length of the pan/tilt camera.
  • the response to the first operation of the adjustment device wherein the first operation includes: a movement operation, a gesture operation, a sliding operation, a click operation, a long press operation or a drag operation of the adjustment device, for example: the The adjustment device corresponds to a cursor control in the remote control interface.
  • the cursor control is located in the display window corresponding to the unmanned aerial vehicle in the remote control interface, the user clicks the left button of the adjustment device to respond to the adjustment device. click operation to generate the zoom adjustment window.
  • the zoom adjustment window is the window corresponding to the unmanned aerial vehicle currently in the remote control state of the terminal, and the zoom adjustment window includes a zoom control.
  • the zoom control When the zoom control is triggered, a zoom command is generated, and the terminal sends The unmanned aerial vehicle sends a zoom command, so that the unmanned aerial vehicle is in a variable-focus state.
  • corresponding operations can be performed in the zoom adjustment window to adjust the focal length of the pan-tilt camera of the unmanned aerial vehicle.
  • FIG. 6a is a schematic diagram of a zoom adjustment window provided by an embodiment of the present application.
  • the zoom adjustment window includes a zoom control, and the zoom control is used to confirm the zoom state of the UAV, wherein the zoom state of the UAV includes a zoom state and a non-zoom state.
  • the zoom adjustment window also includes a zoom factor display control, and the zoom factor display control is used to display the zoom factor of the unmanned aerial vehicle.
  • the method further includes:
  • the zoom adjustment bar is called out in the zoom adjustment window, wherein the zoom adjustment bar is used to adjust the zoom factor of the pan/tilt camera in response to the scroll member.
  • Step S322 In response to the second operation of the adjustment device, adjust the zoom factor of the pan-tilt camera to adjust the focal length of the pan-tilt camera, wherein the second operation includes a rolling operation on the rolling member ;
  • FIG. 6b is a schematic diagram of a zoom adjustment bar provided by an embodiment of the present application.
  • the zoom adjustment window includes a zoom adjustment bar, which is called out in the zoom adjustment window after responding to the first operation of the adjustment device, and the zoom adjustment bar is used to present the unmanned The current zoom factor of the gimbal camera of the aircraft, and, in response to the second operation of the adjusting device, presents a change in the zoom factor.
  • the adjustment device includes a scroll member, and when the user scrolls the scroll member up and down, the zoom factor increases or decreases accordingly, which is then reflected in the change of the zoom factor in the zoom adjustment bar.
  • the zoom adjustment bar further includes a first adjustment control and a second adjustment control
  • the method further includes:
  • the zoom adjustment bar includes a first adjustment control and a second adjustment control, wherein the first adjustment control is used to increase the zoom factor of the pan-tilt camera, and the second adjustment control is used to decrease the zoom factor of the pan-tilt camera , when the user clicks the left button of the adjustment device to make the control corresponding to the adjustment device in the zoom adjustment window click the first adjustment control or the second adjustment control, the terminal generates a zoom command in response to the click operation of the adjustment device, And a zoom command is sent to the unmanned aerial vehicle, and the zoom factor of the pan-tilt camera is adjusted to adjust the focal length of the pan-tilt camera.
  • the method further includes:
  • the zoom adjustment bar After responding to the operation of the adjustment device, if within a preset time, if no operation of the adjustment device is received, the zoom adjustment bar is hidden.
  • the preset time is 2 seconds
  • the zoom adjustment bar will be hidden in the zoom adjustment window until it responds again To adjust the operation of the device, call out the zoom adjustment bar.
  • the method further includes:
  • a pan/tilt shortcut operation guide window is generated, and a pan/tilt shortcut operation guide is displayed in response to an operation on the pan/tilt shortcut operation guide window.
  • the terminal communicates with a plurality of unmanned aerial vehicles, and the method further includes:
  • a first control window corresponding to each unmanned aerial vehicle is generated
  • a second control window is generated, wherein the area of the second control window is larger than the area of the first control window.
  • the operation on the first control window includes a first operation on the window adjustment control, for example, a click operation.
  • FIG. 7a is a schematic diagram of a first control window provided by an embodiment of the present application.
  • the display interface of the terminal includes a plurality of first control windows, wherein each first control window corresponds to an unmanned aerial vehicle one by one.
  • the terminal After the window adjustment control in the first control window is triggered, the terminal generates a second control window in response to a click operation on the window adjustment control, where the area of the second control window is larger than the area of the first control window.
  • the UAV while generating the second control window, the UAV is controlled to enter the remote control state of the terminal, that is, when the terminal responds to the click operation on the window adjustment control, it sends a remote control request instruction to the UAV, so that The UAV enters the remote control state of the terminal.
  • the method also includes:
  • the focus of the pan/tilt camera is adjusted in response to the operation of the adjustment device.
  • FIG. 7b is a schematic diagram of a second control window provided by an embodiment of the present application.
  • the second control window includes a zoom control
  • the zoom control is used to confirm the zoom state of the UAV, wherein the zoom state of the UAV includes a zoom state and a non-zoom state.
  • Responding to the operation of the second control window includes: responding to the click operation of the zoom control, for example: after the zoom control is clicked, the zoom function of the pan-tilt camera of the unmanned aerial vehicle corresponding to the second control window is turned on , or, close the zoom function of the gimbal camera of the unmanned aerial vehicle corresponding to the second control window.
  • the terminal includes a terminal device, and the adjusting device includes a mouse.
  • FIG. 8 is a schematic diagram of another pan-tilt camera zoom control method provided by an embodiment of the present application.
  • the zoom control method of the pan-tilt camera includes:
  • Step S801 Enter the live broadcast window
  • the terminal After the terminal is turned on, if the terminal communicates with at least one unmanned aerial vehicle, its display interface enters the live broadcast window, that is, the display interface is in the live broadcast interface.
  • Step S802 whether to support zooming
  • step S803 the novice guide for adjusting the zoom factor with the mouse wheel appears; if not, proceed to step S806: do not present Zoom guide interface;
  • Step S803 presenting a zoom guide interface
  • the zoom guide interface is used to guide the user to perform the zoom operation, for example, present information such as zoom icons, shortcut guide information, or novice guide information for adjusting the zoom factor with the mouse wheel.
  • Step S804 closing the zoom guide interface
  • the guidance interface for the direction of the pan/tilt is closed.
  • Step S805 Adjust the focal length of the pan/tilt camera based on the remote control interface
  • Step S806 Do not present the zoom guide interface
  • the unmanned aerial vehicle includes a pan-tilt
  • the pan-tilt is provided with a pan-tilt camera
  • the unmanned aerial vehicle communicates with a terminal
  • the terminal includes an adjustment device
  • the method includes: when the unmanned aerial vehicle is in the remote control state of the terminal, controlling the display interface of the terminal to enter the remote control interface; based on the remote control interface, responding to the adjustment device Operation, adjust the focal length of the pan/tilt camera. Entering the remote control interface through the display interface of the control terminal, and adjusting the focal length of the pan-tilt camera in response to the operation of the adjustment device based on the remote control interface, the application can improve the zoom efficiency of the pan-tilt camera.
  • the embodiment of the present application provides a zoom control device for a pan-tilt camera, which is applied to an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a pan-tilt, and the pan-tilt is provided with a pan-tilt camera.
  • the unmanned aerial vehicle is communicatively connected to a terminal, and the terminal includes an adjustment device.
  • FIG. 9 is a schematic structural diagram of a zoom control device for a pan/tilt camera provided in an embodiment of the present application.
  • the zoom control device 90 of the pan-tilt camera includes:
  • the remote control interface unit 901 is used to control the screen of the terminal to enter the remote control interface when the UAV is in the remote control state of the terminal;
  • the focus adjustment unit 902 is configured to adjust the focus of the pan/tilt camera in response to the operation of the adjustment device based on the remote control interface.
  • the remote control interface is entered through the display interface of the control terminal, and based on the remote control interface, the focal length of the pan-tilt camera is adjusted in response to the operation of the adjustment device.
  • This application can improve the zoom efficiency of the pan-tilt camera.
  • the above-mentioned zoom control device for a pan-tilt camera can execute the zoom control method for a pan-tilt camera provided in the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.
  • the zoom control method for a pan-tilt camera provided in the embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a terminal provided in an embodiment of the present application.
  • the terminal 10 includes: a processor 101 , a memory 102 and a communication module 103 .
  • the processor 101, the memory 102, and the communication module 103 establish any communication connection between them through a bus.
  • the processor 101 may be any type of processor with one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and delivering operation processing results.
  • the memory 102 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as the zoom control method of the pan-tilt camera in the embodiment of the present application.
  • Program instructions/modules The processor 101 executes the non-transitory software programs, instructions and modules stored in the memory 102 to implement the zoom control method of the pan/tilt camera in the above method embodiments.
  • the memory 102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the remote control device, and the like.
  • the memory 102 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 102 may optionally include memory located remotely relative to the processor 101, and these remote memories may be connected to the UAV through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the memory 102 stores instructions executable by the at least one processor 101; the at least one processor 101 is configured to execute the instructions, so as to implement the zoom control method of the pan/tilt camera in any method embodiment above.
  • the communication module 103 is a functional module for establishing a communication connection and providing a physical channel.
  • the communication module 103 may be any type of wireless or wired communication module, including but not limited to a WiFi module or a Bluetooth module.
  • the embodiment of the present application also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors 101 is executed, which may cause the one or more processors 101 to execute the zoom control method of the pan/tilt camera in any of the above method embodiments.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Some or all of the modules are selected according to actual needs to realize the purpose of the solution of this embodiment.
  • each embodiment can be implemented by means of software plus a general hardware platform, and of course also by hardware.
  • the computer program can be stored in a non-transitory computer.
  • the computer program includes program instructions, and when the program instructions are executed by the relevant equipment, the relevant equipment can be made to execute the processes of the embodiments of the above-mentioned methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.
  • the above-mentioned product can execute the zoom control method of the pan-tilt camera provided in the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the zoom control method of the pan-tilt camera.
  • the zoom control method of a pan-tilt camera provided in the embodiment of the present application.

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Abstract

一种云台相机的变焦控制方法、装置(90)及终端(300)，云台相机的变焦控制方法，应用于无人飞行器(100)，无人飞行器(100)包括云台，云台设置有云台相机，无人飞行器(100)通信连接一终端(300)，终端(300)包括一调节装置(50)，方法包括：控制终端(300)的显示界面进入远程控制界面；在无人飞行器(100)处于终端(300)的远程控制状态时，基于远程控制界面，响应于调节装置(50)的操作，调整云台相机的焦距。通过控制终端(300)的显示界面进入远程控制界面，并基于远程控制界面，响应于调节装置(50)的操作，调整云台相机的焦距，能够提高云台相机的变焦效率。

Description

云台相机的变焦控制方法、装置及终端
本申请要求于2021年8月25日提交中国专利局、申请号为202110984089X、申请名称为“云台相机的变焦控制方法、装置及终端”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本申请涉及无人飞行器技术领域，尤其涉及一种云台相机的变焦控制方法、装置及终端。
【背景技术】
随着无人飞行器航拍技术的不断发展，越来越多的消费级无人飞行器也正在生产研制。无人飞行器也逐步日趋普及。
目前，无人飞行器通常包括云台，云台一般安装有云台相机，在无人机在飞行过程中，无人飞行器的任务执行主要通过飞手利用遥控器去操控，当遇到需要对云台相机进行变焦时，通常需要飞手通过遥控器进行调整，而飞手通过手动调焦的精确性不足，导致变焦效率不足。
【发明内容】
本申请实施例提供一种云台相机的变焦控制方法、装置及终端，以解决飞手通过遥控器控制云台相机的变焦效率不高的问题，提高云台相机的变焦效率。
为解决上述技术问题，本申请实施例提供以下技术方案：
第一方面，本申请实施例提供一种云台相机的变焦控制方法，应用于无 人飞行器，所述无人飞行器包括云台，所述云台设置有云台相机，所述无人飞行器通信连接一终端，所述终端包括一调节装置，所述方法包括：
控制所述终端的显示界面进入远程控制界面；
在无人飞行器处于终端的远程控制状态时，基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距。
在一些实施例中，所述调节装置包括一滚动件，所述基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距，包括：
响应于所述调节装置的第一操作，生成变焦调节窗口，其中，所述变焦调节窗口包括一变焦调节栏，所述变焦调节栏包括一刻度轴，其中，所述第一操作包括对所述调节装置的移动操作；
响应于所述调节装置的第二操作，调节所述云台相机的变焦倍数，以调整所述云台相机的焦距，其中，所述第二操作包括对所述滚动件的滚动操作。
在一些实施例中，所述变焦调节栏还包括第一调节控件和第二调节控件，所述方法还包括：
响应于所述调节装置的第三操作，调节所述云台相机的变焦倍数，以调整所述云台相机的焦距，其中，所述第三操作包括对第一调节控件或第二调节控件的点击操作。
在一些实施例中，所述方法还包括：
在响应于所述调节装置的操作之后，若在预设时间之内，若没有接收到所述调节装置的操作，则隐藏所述变焦调节栏。
在一些实施例中，所述终端通信连接多个无人飞行器，所述方法还包括：
在所述远程控制界面中，生成与每一无人飞行器一一对应的第一控制窗口；
响应于对第一控制窗口的操作，生成第二控制窗口，其中，所述第二控制窗口的面积大于第一控制窗口的面积。
在一些实施例中，所述方法还包括：
响应于对第二控制窗口的操作，开启云台相机的变焦功能；
基于所述第二控制窗口，响应于所述调节装置的操作，调整所述云台相机的焦距。
在一些实施例中，所述终端包括终端设备，所述调节装置包括鼠标。
第二方面，本申请实施例提供一种云台相机的变焦控制装置，应用于无人飞行器，所述无人飞行器包括云台，所述云台设置有云台相机，所述无人飞行器通信连接一终端，所述终端包括一调节装置，所述云台相机的变焦控制装置包括：
远程控制界面单元，用于控制所述终端的显示界面进入远程控制界面；
焦距调整单元，用于在无人飞行器处于终端的远程控制状态时，基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距。
第三方面，本申请实施例提供一种终端，包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够用于执行如第一方面所述的云台相机的变焦控制方法。
第四方面，本申请实施例提供一种非易失性计算机可读存储介质，所述非易失性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使终端能够执行如第一方面所述的云台相机的变焦控制方法。
与现有技术相比较，本申请实施例的提供的一种云台相机的变焦控制方法，包括：控制所述终端的显示界面进入远程控制界面；在无人飞行器处于终端的远程控制状态时，基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距。通过控制与无人飞行器通信连接的终端的显示界面进入远程控制界面，并基于远程控制界面，响应于调节装置的操作，调整云台相机的焦距，本申请能够提高云台相机的变焦效率。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例提供的一种应用场景的示意图；
图2是本申请实施例提供的一种无人飞行器的交互过程的示意图；
图3是本申请实施例提供的一种云台相机的变焦控制方法的流程示意图；
图4是图3中的步骤S32的细化流程图；
图5是本申请实施例提供的一种调节装置的结构示意图；
图6a是本申请实施例提供的一种变焦调节窗口的示意图；
图6b是本申请实施例提供的一种变焦调节栏的示意图；
图7a是本申请实施例提供的一种第一控制窗口的示意图；
图7b是本申请实施例提供的一种第二控制窗口的示意图；
图8是本申请实施例提供的又一种云台相机的变焦控制方法的示意图；
图9是本申请实施例提供的一种云台相机的变焦控制装置的结构示意图；
图10是本申请实施例提供的一种终端的结构示意图。
【具体实施方式】
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一 个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本说明书中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本申请不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
以下举例说明本申请实施例中的云台相机的变焦控制方法的应用环境。
请参阅图1，图1是本申请实施例提供的一种应用场景的示意图；
如图1所示，该应用场景包括无人飞行器100、遥控器端200以及终端300，其中，无人飞行器100通信连接遥控器端200以及终端300，遥控器端200通信连接终端300，例如：无人飞行器100通过无线网络通信连接遥控器端200以及终端300，遥控器端200通过无线网络通信连接终端300，飞手或用户可操作遥控器端200通过无线网络操作无人飞行器100，或者，用户可操作终端200通过无线网络操控无人飞行器100。
在一些实施例中，所述无人飞行器100包括：多旋翼无人机、固定翼无人机、无人直升机以及混合翼无人机等无人飞行器。在一些实施例中，所述无人机10也可以是以任何类型的动力驱动的无人飞行载具，包括但不限于旋翼无人机、固定翼无人机、伞翼无人机、扑翼无人机以及直升机模型等。在本实施例中以混合翼无人机为例进行陈述。
进一步地，该无人飞行器100可以根据实际情况的需要，具备相应的体积或者动力，从而提供能够满足使用需要的载重能力、飞行速度以及飞行续航里程等。无人飞行器100上还可以添加有一种或者多种传感器，使得无人飞行器100能够采集相应的数据。
例如，在一些实施例中，该无人飞行器100设置有加速度计、陀螺仪、磁力计、GPS导航仪和视觉传感器中的至少一种传感器。
无人飞行器100还包括飞行控制器，作为无人机飞行和数据传输等的控制核心，整合一个或者多个模块，以执行相应的逻辑控制程序。
在本申请实施例中，所述无人飞行器包括一无人机控制系统，所述无人机控制系统包括状态机、飞行控制器、无人机动力系统以及无人机传感器等。
该无人机控制系统包括：状态机、飞行控制器以及无人机动力系统，具体的，状态机连接飞行控制器和无人机动力系统，状态机的输入为导航数据和用户交互命令，输出为控制指令和相应标志位，所述状态机的主要功能在于处理用户交互命令，采用导航数据，实现无人机各个功能，例如飞行模式切换、状态监控、航点飞行、返航等上层功能。其中，所述用户交互命令为地面用户发出的交互命令，例如：遥控杆量数据、按键控制命令等命令，可以理解的是，本申请主要是在状态机中实现。具体的，所述状态机输出的控制命令和相应标志位，有位置命令、速度命令、加速度命令、高度命令、爬升率命令、爬升加速度命令、姿态角命令、航向角速率命令、姿态模式标志位和位置模式标志位。
具体的，飞行控制器，连接状态机和飞行控制器，用于接收状态机发送的控制命令和相应标志位，以及接收无人机动力系统发送的导航数据，并输出电机转速控制命令，其中，所述飞行控制器包括两种飞行模式，分别为位置模式和姿态模式，所述飞行控制器主要功能在于采用控制命令和导航数据通过一定的算法计算出电机转速命令，使得飞机实现位置和姿态控制，即使得飞机的位置和姿态达到期望的状态。具体的，所述电池转速控制命令，以 常见的旋翼机为例，该数据为控制电机的脉冲宽度调制(Pulse Width Modulation，PWM)。
具体的，所述无人机动力系统，连接所述飞行控制器，所述无人机动力系统包括所述无人机的执行系统和状态监控系统，用于接收飞行控制器发送的电机转速控制命令，实现相应的转速，从而实现相应的姿态角和位置，对传感器数据进行处理，间接或直接计算出导航数据。具体的，所述无人机动力系统通过采用融合算法对无人机传感器数据进行处理，得到导航数据。例如，所述无人机动力系统包括GPS、陀螺仪、加速度计、磁力计，可以通过GPS、陀螺仪、加速度计、磁力计解算出无人机的位置、速度、加速度数据。可以通过双目视觉、陀螺仪、加速度计、磁力计解算出无人机的位置、速度、加速度数据。可以通过陀螺仪、加速度计和磁力计解算出无人机的姿态角，姿态角速率。
在一些实施例中，遥控器端200包括智能终端，其中，智能终端可以是任何类型，用以与无人飞行器100建立通信连接的智能装置，例如手机、平板电脑或者智能遥控器等移动终端。该遥控器端200可以装配有一种或者多种不同的用户交互装置，用以采集用户指令或者向用户展示和反馈信息。
用户交互装置包括但不限于：按键、显示屏、触摸屏、扬声器以及遥控操作杆等装置。例如，遥控器端200可以装配有触控显示屏，通过该触控显示屏接收用户对无人飞行器100的遥控指令并通过触控显示屏向用户展示地图信息，即地图画面，以及向用户展示航拍获得的图像信息，即图传画面，用户还可以通过遥控触摸屏切换显示屏当前显示的图像信息。
在一些实施例中，无人飞行器100与遥控器端200之间还可以融合现有的图像视觉处理技术，进一步的提供更智能化的服务。例如：无人飞行器100可以通过双光相机采集图像的方式，由遥控器端200对图像进行解析，从而实现用户对于无人飞行器100的手势控制。
在一些实施例中，终端300包括终端设备，其中，终端设备包括计算机 设备、PC端等与无人飞行器100建立通信连接的设备，该终端300可以装配有一种或者多种不同的用户交互装置，用以采集用户指令或者向用户展示和反馈信息。
用户交互装置包括但不限于：显示屏、触摸屏、扬声器以及鼠标、键盘等装置。例如，遥控器端200可以装配有触控显示屏，通过该触控显示屏接收用户对无人飞行器100的遥控指令并通过触控显示屏向用户展示地图信息，即地图画面，以及向用户展示航拍获得的图像信息，即图传画面，用户还可以通过鼠标的操作，或者键盘的按键操作来控制无人飞行器的运动，或者，控制无人飞行器的云台方向，无人飞行器的云台相机的焦距等。
在一些实施例中，遥控器端200为移动终端，与遥控器端200不同的是，终端300为固定终端，终端300的显示屏大于遥控器端200的显示屏，使得终端300能够为用户提供全局视角。
在一些实施例中，无线网络可以是基于任何类型的数据传输原理，用于建立两个节点之间的数据传输信道的无线通信网络，例如位于不同信号频段的蓝牙网络、WiFi网络、无线蜂窝网络或者其结合。
下面结合说明书附图来说明本申请的技术方案：
请参阅图2，图2是本申请实施例提供的一种无人飞行器的交互过程的示意图；
如图2所示，该无人飞行器的交互过程，包括：
步骤S201：终端发送远程控制请求指令；
具体的，终端向遥控器端发送远程控制请求指令，其中，所述远程控制请求指令由用户向终端输入指令生成，例如：用户在终端的显示屏上点击连接遥控器端，使得终端生成远程控制请求指令，并向遥控器端发送远程控制请求指令。
在本申请实施例中，遥控器端在接收终端发送的远程控制请求指令之前，遥控器端与无人飞行器建立通信连接，例如：建立遥控器端与无人飞行器的 第一通信管道，其中，所述第一通信管道用于遥控器端和无人飞行器之间的消息交互、命令交互或数据交互。
步骤S202：遥控器端接收远程控制请求指令，生成远程控制确认指令；
具体的，遥控器端接收终端发送的远程控制请求指令，并在接收到所述远程控制请求指令之后，在遥控器端的显示界面中呈现相应的消息，由用户在遥控器端的显示界面中点击相应的确认按钮，生成远程控制确认指令。
步骤S203：遥控器端发送远程控制确认指令；
具体的，遥控器端向终端发送远程控制确认指令，其中，所述远程控制确认指令用于确认将无人飞行器的控制权转让给终端，即由终端对无人飞行器进行控制。
步骤S204：终端接收远程控制确认指令；
具体的，终端接收遥控器端发送的远程控制确认指令，该远程控制确认指令用于终端与无人飞行器建立通信连接，并且，无人飞行器向终端开放其控制权，并暂停遥控器端的控制权，直至遥控器端重新获取无人飞行器的控制权。
步骤S205：进入终端的远程控制状态；
具体的，当终端接收到远程控制确认指令之后，遥控器端将无人飞行器的控制权转移到终端，即进入终端的远程控制状态，由终端控制无人飞行器。
可以理解的是，在接收远程控制确认指令之前，终端与无人飞行器之间已建立通信连接，例如：建立终端与无人飞行器的第二通信管道，其中，所述第二通信管道用于终端和无人飞行器之间的消息交互、命令交互或数据交互。
在本申请实施例中，第一通信管道和第二通信管道可以基于相同的通信协议，也可以基于不同的通信协议，例如：第一通信管道基于TCP网络协议，第二通信管道基于Netty网络协议。
步骤S206：终端进入远程控制界面；
具体的，当终端与无人飞行器建立通信连接，并取得无人飞行器的控制权之后，终端进入远程控制界面。
步骤S207：终端基于远程控制界面，对无人飞行器进行远程控制；
具体的，所述远程控制界面用于对无人飞行器进行操控，例如：控制无人飞行器的飞行方向、控制无人飞行器的云台方向、控制无人飞行器的云台相机的焦距等，其中，具体的控制命令由用户通过操纵所述终端生成，并发送到无人飞行器，使得无人飞行器执行该控制命令。
下面以终端为PC端为例对本申请实施例进行说明：
请参阅图3，图3是本申请实施例提供的一种云台相机的变焦控制方法的流程示意图；
其中，该云台相机的变焦控制方法，应用于无人飞行器，所述无人飞行器包括云台，所述云台设置有云台相机，所述无人飞行器通信连接一终端，所述终端包括一调节装置，该调节装置用于控制无人飞行器的云台相机的焦距。
其中，该云台相机的变焦控制方法的执行主体为终端，在本申请实施例中，该终端包括终端设备，例如：计算机设备、PC端等与无人飞行器建立通信连接的电子设备。具体的，该云台相机的变焦控制方法的执行主体为终端的一个或多个处理器。
如图3所示，该云台相机的变焦控制方法，包括：
步骤S31：控制所述终端的显示界面进入远程控制界面；
具体的，在终端开启屏幕显示之后，若存在至少一个无人飞行器与所述终端通信连接时，此时控制所述终端的显示界面由直播界面进入远程控制界面，具体的，进入该无人飞行器的远程控制界面。其中，当终端开启屏幕显示之后，其显示界面处于直播界面。
步骤S32：在无人飞行器处于终端的远程控制状态时，基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距；
具体的，当所述遥控器端将无人飞行器的控制权转移到终端，使得无人飞行器处于终端的远程控制状态时，响应于所述调节装置的操作，调整所述云台相机的焦距，其中，该调节装置包括一滚动件，该滚动件用于调整所述云台相机的焦距，请再参阅图4，图4是图3中的步骤S32的细化流程图；
如图4所示，该步骤S32：基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距，包括：
步骤S321：响应于所述调节装置的第一操作，生成变焦调节窗口，其中，所述变焦调节窗口包括一变焦调节栏，所述变焦调节栏包括一刻度轴，其中，所述第一操作包括对所述调节装置的移动操作；
具体的，该调节装置包括一滚动件，请再参阅图5，图5是本申请实施例提供的一种调节装置的结构示意图；
如图5所示，该调节装置50，包括：左键51、右键52以及滚动件53，该滚动件53用于调整云台相机的焦距。
其中，所述响应于所述调节装置的第一操作，其中，该第一操作包括：调节装置的移动操作、手势操作、滑动操作、点击操作、长按操作或拖动操作，例如：所述调节装置在远程控制界面中对应一个光标控件，当该光标控件位于所述远程控制界面中与该无人飞行器对应的显示窗口时，用户点击所述调节装置的左键，从而响应于该调节装置的点击操作，生成变焦调节窗口。
可以理解的是，该变焦调节窗口为当前处于终端的远程控制状态的无人飞行器对应的窗口，并且，该变焦调节窗口中包括一变焦控件，当触发该变焦控件时，生成变焦指令，终端向该无人飞行器发送变焦指令，使得无人飞行器处于可变焦状态，此时可以通过在变焦调节窗口中进行相应的操作，以调整无人飞行器的云台相机的焦距。
请参阅图6a，图6a是本申请实施例提供的一种变焦调节窗口的示意图；
如图6a所示，该变焦调节窗口包括变焦控件，该变焦控件用于确认无人飞行器的变焦状态，其中，无人飞行器的变焦状态包括可变焦状态和不可变 焦状态。其中，该变焦调节窗口还包括一变焦倍数显示控件，该变焦倍数显示控件用于显示该无人飞行器的变焦倍数。
具体的，在响应于所述调节装置的第一操作之后，所述方法还包括：
于变焦调节窗口中呼出变焦调节栏，其中，该变焦调节栏用于响应滚动件调节云台相机的变焦倍数。
步骤S322：响应于所述调节装置的第二操作，调节所述云台相机的变焦倍数，以调整所述云台相机的焦距，其中，所述第二操作包括对所述滚动件的滚动操作；
请参阅图6b，图6b是本申请实施例提供的一种变焦调节栏的示意图；
如图6b所示，该变焦调节窗口包括一变焦调节栏，在响应于所述调节装置的第一操作之后，于变焦调节窗口中呼出该变焦调节栏，该变焦调节栏用于呈现该无人飞行器的云台相机的当前变焦倍数，并且，响应于所述调节装置的第二操作，呈现变焦倍数的变化。
具体的，该调节装置包括滚动件，当用户对所述滚动件进行上下滚动时，变焦倍数随之增减，进而体现在变焦调节栏中的变焦倍数的变化。
在本申请实施例中，所述变焦调节栏还包括第一调节控件和第二调节控件，所述方法还包括：
响应于所述调节装置的第三操作，调节所述云台相机的变焦倍数，以调整所述云台相机的焦距，其中，所述第三操作包括对第一调节控件或第二调节控件的点击操作。
如图6b所示，该变焦调节栏包括第一调节控件和第二调节控件，其中，第一调节控件用于增加云台相机的变焦倍数，第二调节控件用于减少云台相机的变焦倍数，当用户通过点击调节装置的左键，使得变焦调节窗口中该调节装置对应的控件点击所述第一调节控件或第二调节控件，终端响应于所述调节装置的点击操作，生成变焦命令，并将变焦命令发送到无人飞行器，调节所述云台相机的变焦倍数，以调整所述云台相机的焦距。
在本申请实施例中，所述方法还包括：
在响应于所述调节装置的操作之后，若在预设时间之内，若没有接收到所述调节装置的操作，则隐藏所述变焦调节栏。例如：预设时间为2秒，当终端响应于调节装置的操作之后，在2秒时间之内，没有接收到调节装置的操作，则于变焦调节窗口中隐藏所述变焦调节栏，直至再次响应调节装置的操作，呼出该变焦调节栏。
在本申请实施例中，所述方法还包括：
当所述终端的显示界面首次进入远程控制界面时，生成云台快捷操作引导窗口，响应于对所述云台快捷操作引导窗口的操作，显示云台快捷操作引导。
在一些实施例中，所述终端通信连接多个无人飞行器，所述方法还包括：
在所述远程控制界面中，生成与每一无人飞行器一一对应的第一控制窗口；
响应于对第一控制窗口的操作，生成第二控制窗口，其中，所述第二控制窗口的面积大于第一控制窗口的面积。
其中，第一控制窗口的操作包括对窗口调整控件的第一操作，例如：点击操作。
请参阅图7a，图7a是本申请实施例提供的一种第一控制窗口的示意图；
如图7a所示，终端的显示界面上包括多个第一控制窗口，其中，每一第一控制窗口一一对应一个无人飞行器。
当第一控制窗口中的窗口调整控件被触发之后，终端响应于对窗口调整控件的点击操作，生成第二控制窗口，其中，所述第二控制窗口的面积大于第一控制窗口的面积。其中，在生成第二控制窗口的同时，控制无人飞行器进入终端的远程控制状态，也就是说，当终端响应于对窗口调整控件的点击操作，向无人飞行器发送远程控制请求指令，以使无人飞行器进入终端的远程控制状态。
在一些实施例中，所述方法还包括：
响应于对第二控制窗口的操作，开启云台相机的变焦功能；
基于所述第二控制窗口，响应于所述调节装置的操作，调整所述云台相机的焦距。
具体的，请再参阅图7b，图7b是本申请实施例提供的一种第二控制窗口的示意图；
如图7b所示，该第二控制窗口包括一变焦控件，该变焦控件用于确认无人飞行器的变焦状态，其中，无人飞行器的变焦状态包括可变焦状态和不可变焦状态。响应于对第二控制窗口的操作，包括：响应于对该变焦控件的点击操作，例如：当该变焦控件被点击之后，开启该第二控制窗口对应的无人飞行器的云台相机的变焦功能，或者，关闭该第二控制窗口对应的无人飞行器的云台相机的变焦功能。
在一些实施例中，所述终端包括终端设备，所述调节装置包括鼠标。
请再参阅图8，图8是本申请实施例提供的又一种云台相机的变焦控制方法的示意图；
如图8所示，该云台相机的变焦控制方法，包括：
开始；
步骤S801：进入直播窗口；
具体的，当终端开启之后，若终端通信连接至少一个无人飞行器，则其显示界面进入直播窗口，即显示界面处于直播界面。
步骤S802：是否支持变焦；
具体的，判断无人飞行器的云台相机是否支持变焦；具体的，判断是否开启变焦功能，若是，则进入步骤S803：出现鼠标滚轮调节变焦倍数新手引导；若否，则进入步骤S806：不呈现变焦引导界面；
步骤S803：呈现变焦引导界面；
其中，该变焦引导界面用于引导用户进行变焦操作，例如：呈现变焦图 标、快捷方式指引信息或者鼠标滚轮调节变焦倍数新手引导信息等信息。
步骤S804：关闭变焦引导界面；
具体的，当接收到关闭指令之后，关闭该云台方向的引导界面。
步骤S805：基于远程控制界面，调整云台相机的焦距；
步骤S806：不呈现变焦引导界面；
具体的，不呈现变焦图标、快捷方式指引信息或者鼠标滚轮调节变焦倍数新手引导信息等信息。
结束。
在本申请实施例中，通过提供一种云台相机的变焦控制方法，应用于无人飞行器，该无人飞行器包括云台，该云台设置有云台相机，该无人飞行器通信连接一终端，该终端包括一调节装置，所述方法包括：在无人飞行器处于终端的远程控制状态时，控制所述终端的显示界面进入远程控制界面；基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距。通过控制终端的显示界面进入远程控制界面，并基于远程控制界面，响应于调节装置的操作，调整云台相机的焦距，本申请能够提高云台相机的变焦效率。
需要说明的是，在上述各个实施例中，上述各步骤之间并不必然存在一定的先后顺序，本领域普通技术人员，根据本申请实施例的描述可以理解，不同实施例中，上述各步骤可以有不同的执行顺序，亦即，可以并行执行，亦可以交换执行等等。
作为本申请实施例的另一方面，本申请实施例提供一种云台相机的变焦控制装置，应用于无人飞行器，所述无人飞行器包括云台，所述云台设置有云台相机，所述无人飞行器通信连接一终端，所述终端包括一调节装置。
请参阅图9，图9是本申请实施例提供的一种云台相机的变焦控制装置的结构示意图；
如图9所示，该云台相机的变焦控制装置90，包括：
远程控制界面单元901，用于在无人飞行器处于终端的远程控制状态时，控制所述终端的屏幕进入远程控制界面；
焦距调整单元902，用于基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距。
在本申请实施例中，通过控制终端的显示界面进入远程控制界面，并基于远程控制界面，响应于调节装置的操作，调整云台相机的焦距，本申请能够提高云台相机的变焦效率。
需要说明的是，上述云台相机的变焦控制装置可执行本申请实施例所提供的云台相机的变焦控制方法，具备执行方法相应的功能模块和有益效果。未在云台相机的变焦控制装置实施例中详尽描述的技术细节，可参见本申请实施例所提供的云台相机的变焦控制方法。
请参阅图10，图10是本申请实施例提供的一种终端的结构示意图；
如图10所示，该终端10，包括：处理器101、存储器102和通信模块103。其中，所述处理器101、存储器102以及通信模块103之间通过总线的方式，建立任意两者之间的通信连接。
处理器101可以为任何类型，具备一个或者多个处理核心的处理器。其可以执行单线程或者多线程的操作，用于解析指令以执行获取数据、执行逻辑运算功能以及下发运算处理结果等操作。
存储器102作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态性计算机可执行程序以及模块，如本申请实施例中的云台相机的变焦控制方法对应的程序指令/模块。处理器101通过运行存储在存储器102中的非暂态软件程序、指令以及模块，从而实现上述方法实施例中云台相机的变焦控制方法。
存储器102可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据远程控制装置的使用所创建的数据等。此外，存储器102可以包括高速随机存取 存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器102可选包括相对于处理器101远程设置的存储器，这些远程存储器可以通过网络连接至无人飞行器。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述存储器102存储有可被所述至少一个处理器101执行的指令；所述至少一个处理器101用于执行所述指令，以实现上述任意方法实施例中的云台相机的变焦控制方法。
通信模块103是用于建立通信连接，提供物理信道的功能模块。通信模块103以是任何类型的无线或者有线通信模块，包括但不限于WiFi模块或者蓝牙模块等。
进一步地，本申请实施例还提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器101执行，可使得上述一个或多个处理器101执行上述任意方法实施例中的云台相机的变焦控制方法。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序产品中的计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非暂态计算机可读取存储介质中，该计算机程序包括程 序指令，当所述程序指令被相关设备执行时，可使相关设备执行上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
上述产品可执行本申请实施例所提供的云台相机的变焦控制方法，具备执行云台相机的变焦控制方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的云台相机的变焦控制方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (10)

  1. 一种云台相机的变焦控制方法，其特征在于，应用于无人飞行器，所述无人飞行器包括云台，所述云台设置有云台相机，所述无人飞行器通信连接一终端，所述终端包括一调节装置，所述方法包括：
    控制所述终端的显示界面进入远程控制界面；
    在无人飞行器处于终端的远程控制状态时，基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距。
  2. 根据权利要求1所述的方法，其特征在于，所述调节装置包括一滚动件，所述基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距，包括：
    响应于所述调节装置的第一操作，生成变焦调节窗口，其中，所述变焦调节窗口包括一变焦调节栏，所述变焦调节栏包括一刻度轴，其中，所述第一操作包括对所述调节装置的移动操作；
    响应于所述调节装置的第二操作，调节所述云台相机的变焦倍数，以调整所述云台相机的焦距，其中，所述第二操作包括对所述滚动件的滚动操作。
  3. 根据权利要求2所述的方法，其特征在于，所述变焦调节栏还包括第一调节控件和第二调节控件，所述方法还包括：
    响应于所述调节装置的第三操作，调节所述云台相机的变焦倍数，以调整所述云台相机的焦距，其中，所述第三操作包括对第一调节控件或第二调节控件的点击操作。
  4. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    在响应于所述调节装置的操作之后，若在预设时间之内，若没有接收到 所述调节装置的操作，则隐藏所述变焦调节栏。
  5. 根据权利要求1所述的方法，其特征在于，所述终端通信连接多个无人飞行器，所述方法还包括：
    在所述远程控制界面中，生成与每一无人飞行器一一对应的第一控制窗口；
    响应于对第一控制窗口的操作，生成第二控制窗口，其中，所述第二控制窗口的面积大于第一控制窗口的面积。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    响应于对第二控制窗口的操作，开启云台相机的变焦功能；
    基于所述第二控制窗口，响应于所述调节装置的操作，调整所述云台相机的焦距。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述终端包括终端设备，所述调节装置包括鼠标。
  8. 一种云台相机的变焦控制装置，其特征在于，应用于无人飞行器，所述无人飞行器包括云台，所述云台设置有云台相机，所述无人飞行器通信连接一终端，所述终端包括一调节装置，所述云台相机的变焦控制装置包括：
    远程控制界面单元，用于控制所述终端的显示界面进入远程控制界面；
    焦距调整单元，用于在无人飞行器处于终端的远程控制状态时，基于所述远程控制界面，响应于所述调节装置的操作，调整所述云台相机的焦距。
  9. 一种终端，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够用于执行如权利要求1-7中任一项所述的云台相机的变焦控制方法。
  10. 一种非易失性计算机可读存储介质，其特征在于，所述非易失性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使终端能够执行如权利要求1-7中任一项所述的云台相机的变焦控制方法。
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