CN111650967A - A UAV and PTZ control system for film and television shooting - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle and a pan-tilt control system for film and television shooting. The system includes an airborne part and a ground control terminal, wherein the airborne part includes a flight controller of the unmanned aerial vehicle, a GPS positioning module, an image A processing module and a first wireless data transmission module, the ground control terminal includes a human-computer interaction module, a monitoring computer, and a second wireless data transmission module; the image processing module can collect images and send them to the monitoring computer for video recording, or send them to the monitoring computer. The network pushes the video stream to realize the live video. The attitude direction of the drone and the gimbal is always consistent with the relevant structure in the human-computer interaction module. When using, the drone can be manually controlled to fly and adjust the camera angle through the human-computer interaction module, or Set to automatic tracking mode to make the drone automatically follow the target specified by the monitoring computer to shoot. The control system of the invention reduces the operational difficulty of shooting with the drone, and improves the flexibility of shooting.

Description

A UAV and PTZ control system for film and television shooting

technical field

The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle and a gimbal control system for film and television shooting.

Background technique

In the current film and television industry, the shooting methods of various visual effects are changing with each passing day, which makes all kinds of photographic equipment constantly innovate. However, it is the application of drones in film and television shooting that completely breaks through the airspace restrictions and makes the long-lens picture bring a qualitative leap. Because the UAV overcomes the shortcomings of manned aircraft, it can fly at ultra-low altitude or hover close to the target object to the maximum extent, and complete the rapid rise and fall, making the view more direct and the image clearer. Height and angle shooting, especially suitable for complex terrain pictures.

Although the current drone aerial photography technology is very mature, it can take stable and ideal pictures and videos, and it is widely used in film and television, military, monitoring and other fields, but there is still a very important problem that has not been solved, which is when shooting The handling and flexibility are still not ideal. In the process of filming and filming, using traditional control methods, small drones often require the cooperation of two people, while large drones require four people, the pilot, the gimbal operator, the focus control and the assistant. It is difficult to cooperate with the control, the desired shooting effect cannot be achieved, and the shooting efficiency is low.

At present, there are patent documents that propose easy-to-control UAV control methods, such as the patent document entitled "A UAV control method, device and system based on gestures and eye movements" (publication number CN110412996A), through the hand-worn device The hand gesture signal is collected, the eye movement signal is collected by the head-mounted device, and the corresponding control command is obtained based on the combination of gesture and eye movement, which simplifies the control method of the UAV and realizes multi-modal UAV control. The disadvantage is that the signal source of the control command is not easy to collect and is unstable, and at the same time, it is prone to misoperation, and the control accuracy is not high enough. The patent document titled "A UAV Controlling Pedal" (CN110109507A) proposes a device for controlling the UAV through both feet, and controls the UAV separately by controlling the different strengths of stepping on the two pedals. The rotational speed of the left and right engines is used to tilt and steer the drone. The control accuracy of this method is high, but it is still not flexible enough. The above two control methods are only improvements to the control of the UAV, and cannot flexibly control the steering of the PTZ camera while controlling the UAV.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention proposes an unmanned aerial vehicle and a gimbal control system for film and television shooting, which can keep the attitude direction of the unmanned aerial vehicle and the gimbal always consistent with the interactive controller, so as to control their movement, or choose to use The drone automatically tracks the target to shoot, so that the camera angle can be flexibly switched while controlling the drone's flight.

The technical solution of the present invention is an unmanned aerial vehicle and a pan/tilt control system for film and television shooting, characterized in that the system includes an airborne part and a ground control terminal; the airborne part includes a flight controller, GPS positioning module, an image processing module and a first wireless data transmission module; the ground control terminal includes a human-computer interaction module, a monitoring computer and a second wireless data transmission module; the flight controller obtains the data received by the first wireless data transmission module The control command of the ground control terminal or the target coordinate sequence provided by the image processing module controls the attitude and flight of the drone; the GPS positioning module obtains the horizontal position and altitude information to obtain the actual spatial position of the fuselage and sends it to the flight control The image processing module collects the image and sends it to the monitoring computer or pushes the video stream to the network, receives the control instruction from the ground control terminal, adjusts the viewing angle of the screen, and calculates the coordinate sequence of the tracking target in the image and provides it to the flight controller; The first wireless data transmission module performs data wireless communication with the second wireless data transmission module, transmits the control instructions of the ground control terminal to the flight controller, and simultaneously feeds back the real-time state of the drone to the ground control terminal; the human The computer interaction module is used to control the flight status, flight mode, image transmission mode and information display of the drone; the monitoring computer is used to receive and display the image sent by the image processing module, record or capture the content of the screen, and frame the Select the specified target in the screen to make the drone automatically track the target and fly.

进行处理，其中

为采集的图像的幅数，根据监控计算机框选的位置从图像序列

中确定跟踪目标的坐标，生成目标坐标序列

，并将目标坐标序列

提供给飞行控制器，飞行控制器根据该序列控制无人机跟踪目标；云台固定于无人机机身正下方并与飞行控制器有线连接，用于调整摄像头的视角。Preferably, the image processing module is composed of a microcomputer, a camera module and a pan/tilt; the camera module is fixed on the pan/tilt, and is used to collect images and transmit them to the microcomputer; the microcomputer is wired to the flight controller, Used to send images to a monitoring computer or push video streams to the network, the chronological sequence of images collected by the camera module

processed, where

For the number of acquired images, select the position from the image sequence according to the frame selected by the monitoring computer.

Determine the coordinates of the tracking target and generate the target coordinate sequence

, and convert the target coordinate sequence

It is provided to the flight controller, and the flight controller controls the UAV to track the target according to the sequence; the gimbal is fixed directly under the UAV fuselage and is wired to the flight controller to adjust the viewing angle of the camera.

Preferably, the microcomputer is equipped with a communication module, which can optionally push a live video stream to the network while sending the picture to the ground control terminal, and a networked user can log in to a designated website to view the picture in real time.

Preferably, the human-computer interaction module is composed of a three-dimensional steering wheel, a gimbal joystick and an interactive controller; both the three-dimensional steering wheel and the gimbal joystick can rotate freely in three dimensions; the gimbal joystick is connected to the interactive controller, It is used to control the rotation of the onboard pan/tilt; the interactive controller is fixed on the three-dimensional steering wheel.

Preferably, the interactive controller can obtain the three-axis angle of the three-dimensional steering wheel, and simultaneously receives the three-axis angle data of the gimbal joystick and sends it to the flight controller through the second wireless data transmission module to control the flight of the drone and the gimbal. The rotation of the UAV and the three-dimensional steering wheel are always consistent to control the nose orientation of the UAV, and the pitch and roll angles of the two are in a proportional relationship to control the flight direction of the UAV.

Preferably, the interactive controller is provided with a button, a knob and a display screen; the button is used to select whether the image transmission mode pushes the video stream to the network, and whether the flight mode is to automatically track the target flight or manually control the flight; the knob The gear used to control the flying height and traverse speed of the drone; the display screen is used to display the real-time altitude, heading angle, traverse speed gear and power of the drone.

The beneficial effect of the present invention is that the system can collect the picture taken by the drone and send it to the control terminal to realize video recording, or push the video stream to the network to realize the live video broadcast, and the attitude direction of the drone and the PTZ is always related to the control terminal. The structure remains the same, and the flight direction of the drone is determined by its own attitude, so its flight status can be controlled by the interactive controller in real time, and the camera's viewing angle can be flexibly adjusted, or set to automatic tracking mode to make the drone automatically track and specify target shooting. This control system greatly reduces the operation difficulty of drone shooting, improves the flexibility of shooting, and can be operated by one person, so that drone aerial photography can be used in more and more professional film and television shooting scenes.

Description of drawings

Fig. 1 is the system structure block diagram of the present invention;

Fig. 2 is the top view of the human-computer interaction module of the present invention;

FIG. 3 is a three-dimensional structural diagram of the human-computer interaction module of the present invention.

Description of reference numerals: 1. Flight controller, 2. GPS positioning module, 3. Image processing module, 4. Microcomputer, 5. Camera module, 6. PTZ, 7. First wireless data transmission module, 8. Monitoring Computer, 9, Second wireless data transmission module, 10, Human-computer interaction module, 11, PTZ joystick, 12, Interactive controller, 13, 3D steering wheel, 14, Display screen, 15, Buttons, 16, Knob, 17 , the airborne part, 18, the ground control terminal.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and examples.

As shown in FIG. 1, an unmanned aerial vehicle and a pan/tilt control system for film and television shooting includes an airborne part 17 and a ground control terminal 18, and the airborne part 17 includes a flight controller 1 of the unmanned aerial vehicle, a GPS The positioning module 2 , the image processing module 3 and the first wireless data transmission module 7 . The ground control terminal 18 includes a human-computer interaction module 10 , a monitoring computer 8 and a second wireless data transmission module 9 .

进行处理，其中

为采集的图像的幅数，根据监控计算机8框选的位置从图像序列

中确定跟踪目标的坐标，生成目标坐标序列

，并将目标坐标序列

提供给飞行控制器1，飞行控制器1根据该序列控制无人机跟踪目标。云台6固定于机身正下方并于与飞行控制器1有线连接，用于调整摄像头的视角。The flight controller 1 can use any open source flight control board based on FPGA or single-chip microcomputer, or can be independently designed to control the flight of the quadrotor UAV and provide a stable platform for the UAV to take pictures. The GPS positioning module 2 is any device that can be used to obtain position information, and is connected to the flight controller 1 for obtaining the actual spatial position of the drone and sending it to the flight controller 1 . The image processing module 3 is used for image acquisition, processing, transmission and viewing angle switching, and includes a microcomputer 4 , a camera module 5 and a pan/tilt 6 . The camera module 5 is fixed on the pan/tilt 6 and is wired to the microcomputer 4 , and a common monocular camera can be used to capture images and transmit them to the microcomputer 4 . The microcomputer 4 can be any card-type computer that is easy to move and install or other edge devices for computing and processing, but must be equipped with a communication module to connect to the network for sending images to the monitoring computer 8 or pushing video streams to the network, The chronological sequence of images collected by the camera module 5

processed, where

For the number of images to be collected, according to the position selected by the monitoring computer 8 from the image sequence

Determine the coordinates of the tracking target and generate the target coordinate sequence

, and convert the target coordinate sequence

Provided to the flight controller 1, the flight controller 1 controls the UAV to track the target according to the sequence. The gimbal 6 is fixed directly below the fuselage and is wired to the flight controller 1 for adjusting the viewing angle of the camera.

The first wireless data transmission module 7 and the second wireless data transmission module 9 may use any wireless transceiver module capable of bidirectional communication, which may be a radio transceiver or other mobile communication devices. The two are used for data wireless communication, transmitting the control instructions of the ground control terminal 18 to the flight controller 1 , and feeding back the real-time state of the UAV to the ground control terminal 18 .

The monitoring computer 8 is a computer connected to the network, which can be an ordinary notebook computer or a desktop computer, and is used for receiving and displaying the image sent by the image processing module 3, recording or intercepting the content of the screen, and at the same time, the designated target in the frame can be selected, And the target position information is sent to the microcomputer 4 through the network, so that the drone can automatically track the target flight.

As shown in FIG. 2 and FIG. 3 , the human-computer interaction module 10 is used to control the flight state, flight mode, image transmission mode and information display of the UAV, and it includes a three-dimensional steering wheel 13 , a PTZ joystick 11 , and an interactive controller 12 . Both the three-dimensional steering wheel 13 and the gimbal joystick 11 can rotate freely in three dimensions, and the gimbal joystick 11 is connected to the interactive controller 12 for controlling the gimbal 6 to rotate. The interactive controller 12 is fixed on the three-dimensional steering wheel 13, and is provided with buttons 15, knobs 16, a display screen 14, and a gyroscope, which can obtain the three-axis angle of the three-dimensional steering wheel 13 and simultaneously receive the three-axis angle of the gimbal joystick 11. The data is sent to the flight controller 1 through the second wireless data transmission module 9 to control the flight of the drone and the rotation of the gimbal 6, so that the heading angle of the drone and the three-dimensional steering wheel 13 is always consistent to control the flight of the drone. The head is facing, and the pitch and roll angles of the two are proportional to control the flight direction of the drone. The button 15 is used to select whether the image transmission mode pushes the video stream to the network, and whether the flight mode is to automatically track the target flight or manually control the flight; the knob 16 is used to control the gear of the flying height and the traverse speed of the drone ; The display screen 14 is used to display the real-time altitude, heading angle, traverse speed gear and power of the drone.

In this embodiment, the unmanned aerial vehicle is selected as a quadrotor unmanned aerial vehicle, the flight controller 1 is selected as a self-designed flight control board, the Raspberry Pi is selected as the microcomputer 4, which is equipped with a 4G communication module, and the ordinary camera is selected as the camera module 5 , the NRF24L01-2.4G wireless transceiver module is selected as the first wireless data transmission module 7 and the second wireless data transmission module 9, and the three-axis brushless PTZ is selected as the PTZ 6.

This embodiment is connected in the following way: For the airborne part, the flight control board is connected to the GPS positioning module 2, Raspberry Pi, three-axis brushless gimbal, and airborne NRF24L01-2.4G wireless transceiver module through a serial port wired connection. The pie and the ordinary camera are connected through the FPC cable, the three-axis brushless gimbal is fixed directly under the fuselage, and the ordinary camera is fixed on the three-axis brushless gimbal; for the ground part, the interactive controller 12 and the gimbal joystick 11 and The ground NRF24L01-2.4G wireless transceiver module is connected by wire, and the interactive controller 12 is fixed on the three-dimensional steering wheel 13 .

After the connection is complete, use the system as follows:

(1) After the operator controls the interactive controller 12 to make the quadrotor drone take off, the height of the quadrotor drone is controlled by the adjustment knob 16, and the ordinary camera starts to collect images, which can be received and displayed on the monitoring computer 8 at this time. Images captured by ordinary cameras, followed by video recording;

(2) If the operator sets the selected flight mode as the automatic tracking target flight mode through the button 15 on the interactive controller 12, the target can be framed in the image window of the monitoring computer 8, and the monitoring computer 8 sends the frame selection information to the tree Raspberry Pi, Raspberry Pi runs the image processing algorithm and outputs the target position information to the flight control board, so that it can control the quadrotor UAV to track the target and realize the automatic tracking target shooting;

(3) If the operator sets the flight mode to manual control flight mode through the button 15, the interactive controller 12 sends the three-dimensional angle of the three-dimensional steering wheel 13 and the gimbal joystick 11 to the flight control board through the NRF24L01-2.4G wireless transceiver module. , the output control amount of the flight control board can make the posture of the quadrotor UAV and the NRF24L01-2.4G wireless transceiver module be consistent with the three-dimensional steering wheel 13 and the gimbal joystick 11 respectively;

(4) The operator controls the three-dimensional steering wheel 13 to tilt forward, backward, left and right, and the quadrotor drone will fly forward, back, left and right accordingly; and when the three-dimensional steering wheel 13 is rotated horizontally, the direction of the nose of the quadrotor drone changes, and the fuselage rotates at the same angle. ;Toggle the joystick of the gimbal joystick 11, and the NRF24L01-2.4G wireless transceiver module will rotate accordingly, which will change the shooting angle of the ordinary camera;

(5) The operator can rotate the knob 16 to change the sensitivity of the interactive controller 12 when it is tilted, so as to adjust the speed gear when the quadrotor drone traverses and fly, so that high-speed shots and slow-speed shots can be shot according to the corresponding scene during shooting. fine-tuning the lens;

(6) If the operator sets the image transmission mode to live mode by pressing the button 15, the Raspberry Pi will push the video stream captured by the ordinary camera to a designated website through the 4G network. Live video function.

The above are preferred examples of the present invention, but the present invention should not be limited to the contents disclosed in the examples and the accompanying drawings. Therefore, all equivalents or modifications accomplished without departing from the disclosed spirit of the present invention fall into the protection scope of the present invention.

Claims (6)

1. The utility model provides an unmanned aerial vehicle and cloud platform control system for movie & TV are shot which characterized in that: the system comprises an airborne part and a ground control terminal; the airborne part comprises a flight controller, a GPS positioning module, an image processing module and a first wireless data transmission module; the ground control terminal comprises a human-computer interaction module, a monitoring computer and a second wireless data transmission module; the flight controller acquires a control instruction of the ground control terminal received by the first wireless data transmission module or a target coordinate sequence provided by the image processing module to control the attitude and the flight of the unmanned aerial vehicle; the GPS positioning module acquires horizontal position and altitude information to obtain the actual space position of the airplane body and sends the actual space position to the flight controller; the image processing module collects images and sends the images to a monitoring computer or pushes a video stream to a network, receives a control instruction from a ground control terminal, adjusts the view angle of the image, calculates to obtain a coordinate sequence of a tracking target in the images and provides the coordinate sequence to the flight controller; the first wireless data transmission module and the second wireless data transmission module carry out data wireless communication, a control instruction of the ground control terminal is transmitted to the flight controller, and meanwhile the real-time state of the unmanned aerial vehicle is fed back to the ground control terminal; the human-computer interaction module is used for controlling the flight state, the flight mode, the image transmission mode and the information display of the unmanned aerial vehicle; the monitoring computer is used for receiving and displaying the image sent by the image processing module, recording or intercepting the content of the picture, and meanwhile, the designated target in the picture can be framed and selected to enable the unmanned aerial vehicle to automatically track the target to fly.

2. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 1, characterized in that: the image processing module consists of a microcomputer, a camera module and a holder; the camera module is fixed on the holder and used for collecting images and transmitting the images to the microcomputer; the microcomputer is connected with the flight controller by wire and is used for sending images to the monitoring computer or pushing video streams to the network and acquiring image sequences which are arranged according to time sequence and are acquired by the camera module

Processing is carried out, wherein k is the number of the acquired images, and the images are selected from the image sequence according to the position selected by the monitoring computer frame

Determining the coordinates of the tracked target, and generating a target coordinate sequence

And connecting the target coordinate sequence

Providing the sequence to a flight controller, and controlling the unmanned aerial vehicle to track the target according to the sequence by the flight controller; the cloud platform is fixed in under the unmanned aerial vehicle fuselage and with flight controller wired connection for the visual angle of adjustment camera.

3. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 2, characterized in that: the microcomputer is provided with a communication module, the pictures are sent to the ground control terminal, meanwhile, the video stream live broadcast pictures can be selectively pushed to the network, and a networking user can log in a specified website to watch the pictures in real time.

4. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 1, characterized in that: the man-machine interaction module consists of a three-dimensional steering wheel, a tripod head operating lever and an interaction controller; the three-dimensional steering wheel and the tripod head operating lever can freely rotate in three dimensions; the holder operating lever is connected with the interactive controller and is used for controlling the airborne holder to rotate; the interaction controller is fixed on the three-dimensional steering wheel.

5. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 4, wherein: the interactive controller can acquire the triaxial angle of the three-dimensional steering wheel, receives the triaxial angle data of the holder control rod and sends the triaxial angle data to the flight controller through the second wireless data transmission module, controls the flight of the unmanned aerial vehicle and the rotation of the holder, enables the course angle of the unmanned aerial vehicle and the three-dimensional steering wheel to be always kept consistent so as to control the head orientation of the unmanned aerial vehicle, and the pitch angle and the roll angle of the unmanned aerial vehicle and the roll angle of the three-dimensional steering wheel are in a certain proportional relation so as to control the flight direction of the unmanned.

6. The unmanned aerial vehicle and pan-tilt control system for movie and television shooting according to claim 4, wherein: the interactive controller is provided with a key, a knob and a display screen; the key is used for selecting whether an image transmission mode is used for pushing a video stream to a network or not, and the selected flight mode is automatic target tracking flight or manual control flight; the knob is used for controlling the flight height and the shifting speed of the unmanned aerial vehicle; the display screen is used for displaying real-time height, course angle, transverse moving speed gear and electric quantity of the unmanned aerial vehicle.

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