CN204697171U - A kind of intelligent multi-control flight capture apparatus - Google Patents
A kind of intelligent multi-control flight capture apparatus Download PDFInfo
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Abstract
The utility model discloses a kind of intelligent multi-control flight capture apparatus, belong to technical field of aerospace.Flight capture apparatus comprises frame, aviation mechanism, cradle head mechanism and controlling organization, cradle head mechanism is provided with filming apparatus, filming apparatus is used for captured target object, when meeting the shooting strategy that shooting strategy setting module presets, perform shooting action by controlling flight capture apparatus the corresponding shooting action of module installation is set.Preset shooting strategy and comprise scene strategy and time parameter method, the translational speed of destination object, environmental aspect is pre-conditioned as scene strategy, and namely time parameter method arranges corresponding shooting action based on the time shaft preset.By the utility model in tradition automatically with clapping in the technical foundation of destination object, complete the shooting of intelligent scene type with abundant screening-mode, when complete without the need to artificially manipulating, just can generate the shooting achievement that there is camera lens sense, shake effect.
Description
Technical field
The utility model relates to aviation and automatic control technology field, is specifically related to a kind of intelligent multi-control flight capture apparatus.
Background technology
Unmanned plane Aerial photography, demonstration flight, take precautions against natural calamities recover, there is wide application in the field such as scientific investigation.Along with the develop rapidly of electronic technology, small-sized, MAV has had obvious breakthrough in Remote, cruising time, flight quality, becomes the General Aviation field focus of rising in recent years, is generally considered and has good development prospect.
The Chinese invention patent application that application number is 201310059457.5, denomination of invention is " a kind of unmanned plane dynamic target tracking of view-based access control model and localization method " discloses a kind of unmanned plane dynamic target tracking and localization method of view-based access control model, described method comprises Video processing, carries out detection and the image trace of dynamic object; The Cloud Terrace SERVO CONTROL; Set up the corresponding relation of target in target and actual environment in image, measure the distance between video camera and dynamic object further, complete the accurate location of dynamic object; System for flight control computer independently follows the tracks of ground dynamic object flight.The present invention completes detection to moving target, image trace, automatic deflection optical axis, dynamic object is made to be presented on imaging plane central authorities all the time, the distance between unmanned plane and dynamic object is measured in real time according to the model set up in the basis obtaining unmanned plane elevation information, thus the location realized dynamic object, in this, as feedback signal, form closed-loop control, guide the tracking flight of unmanned plane.But the present invention can only realize to destination object from motion tracking, can not complete on the basis from motion tracking and the intelligence of destination object is taken.
The Chinese invention patent application that application number is 201410076366.7, denomination of invention is " a kind of no-manned plane three-dimensional aeroplane photography tree survey method " discloses a kind of no-manned plane three-dimensional aeroplane photography tree survey method.Adopt many rotor wing unmanned aerial vehicles as remote sensing platform, integrate 3D digital camera, differential GPS and gyropanel, utilize digital photography, obtain high ground resolution, the unmanned remote sensing image in large-scale low latitude, the image data realizing obtaining is by force ageing, and resolution is high.But the present invention just takes for fixing destination object, can not complete equally and take the intelligence of destination object.
Existing flight capture apparatus can pass through the combination such as remote sensing technology, automatic positioning technology, realize automatically track target object, and carry out the function continuing shooting, but the effect of automatic tracing destination object is single in prior art, general is exactly in the preset height of wide object and angle, carry out continuing take according to the translational speed suitable with target, the video display effect that obtains of shooting is single, shocking weak like this.
Utility model content
Goal of the invention of the present utility model is to provide a kind of intelligent multi-control flight capture apparatus, for the problems referred to above, in tradition automatically with clapping in the technical foundation of destination object, the shooting of intelligent scene type is completed with abundant screening-mode, without the need to carrying out manual control to destination object, the shooting achievement with camera lens sense, shock effect just can be generated.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is as follows:
A kind of intelligent multi-control flight capture apparatus, described flight capture apparatus comprises frame, aviation mechanism, filming apparatus and controlling organization, described controlling organization connects described frame, aviation mechanism and filming apparatus, receive from described aviation mechanism and filming apparatus, to fly specified altitude assignment and regulate the signal of described filming apparatus for controlling described flight capture apparatus, described controlling organization also comprises automatic tracking module, shooting action arranges module and shooting strategy setting module
Wherein, described automatic tracking module is by described filming apparatus identification destination object, and the motion track according to described destination object realizes tracks tracing, track shot;
Described shooting action arranges at least one shooting action of the capture apparatus that to fly described in module predefine;
Described shooting strategy setting module connects described automatic tracking module and shooting action arranges module, and pre-conditioned setting the according to described destination object takes strategy accordingly, meet described pre-conditioned time, perform corresponding described shooting action.
Further, described shooting action arranges the combination setting unit that module comprises flare maneuver setting unit and/or The Cloud Terrace action setting unit and/or flare maneuver and The Cloud Terrace action.
Further, described shooting strategy setting module comprises scene strategy setting unit, pre-conditioned using the scene characteristic of described destination object as described scene strategy, when meeting a certain scene characteristic, described flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
Further, described shooting strategy setting module comprises time parameter method setting unit, namely based on the time shaft preset, arranges corresponding shooting action.
Further, described flight capture apparatus also comprises arbitration mechanism Executive Module, connect described scene strategy setting unit and time parameter method setting unit inputs as it, be applicable to, when described scene strategy setting unit and described time parameter method setting unit meet executive condition simultaneously, judge current shooting action by described arbitration mechanism Executive Module.
Further, described arbitration mechanism Executive Module outputs signal to described controlling organization, presets the current shooting strategy performed of preferential execution.
Further, described flight capture apparatus also comprises cradle head mechanism, and described filming apparatus is arranged on described cradle head mechanism.
Further, described aviation mechanism comprises electron speed regulator, motor and screw, the output of described electron speed regulator connects described motor, the bottom of described screw is provided with a Fast detachable unit, described screw is connected with described motor activity by described Fast detachable unit, and described in described Electric Machine Control, screw rotates with different rotating speeds.
The utility model discloses a kind of intelligent multi-control flight capture apparatus, in the technical foundation of traditional auto-tracking shooting destination object, increase the screening-mode compared with horn of plenty, introduce and there is regular shooting action and shooting strategy, without any need for manual operation, intelligence shooting the video achievement with camera lens sense, shock effect can be obtained.
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, clearly understand in order to technological means of the present utility model can be made, reach the degree that those skilled in the art can be implemented according to the content of specification, and in order to above-mentioned and other objects, features and advantages of the present utility model can be allowed to become apparent, be illustrated with embodiment of the present utility model below.
Accompanying drawing explanation
By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Figure of description only for illustrating the object of preferred implementation, and is not thought restriction of the present utility model.Apparently, accompanying drawing described below is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, represent identical parts by identical reference symbol.In the accompanying drawings:
Fig. 1 shows the intelligent multi-control flight capture apparatus structured flowchart according to the utility model embodiment one;
Fig. 2 shows the flight control method flow chart of the intelligent multi-control flight capture apparatus according to the utility model embodiment two;
Fig. 3 shows the flight control method flow chart of the intelligent multi-control flight capture apparatus according to the utility model embodiment three.
Embodiment
In more detail specific embodiment of the utility model is described below with reference to accompanying drawings.Although show specific embodiment of the utility model in accompanying drawing, however should be appreciated that can realize the utility model in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the utility model can be understood, and complete for scope of the present utility model can be conveyed to those skilled in the art.
It should be noted that, in the middle of specification and claim, employ some vocabulary to censure specific components.Those skilled in the art should be appreciated that hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of noun the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " or " comprising " as mentioned in the middle of specification and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to ".Specification subsequent descriptions is for implementing better embodiment of the present utility model, and right described description is for the purpose of the rule of specification, and is not used to limit scope of the present utility model.Protection range of the present utility model is when being as the criterion depending on the claims person of defining.
For ease of the understanding to the utility model embodiment, be further explained explanation below in conjunction with accompanying drawing for several specific embodiment, and each accompanying drawing does not form the restriction to the utility model embodiment.
Before the utility model embodiment is described in detail, first a description is carried out to the intelligent multi-control flight capture apparatus in the utility model.
Flight capture apparatus described in the utility model is described for unmanned plane, and drone is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.
In the utility model embodiment, preferred unmanned plane is many rotor wing unmanned aerial vehicles (or being called multi-rotor aerocraft), can be four rotors, six rotors and rotor quantity is greater than six and is the unmanned plane of even number, described many rotor wing unmanned aerial vehicles comprise in rectangular fairshaped fuselage, fuselage is roughly rectangular structure, its corner and corner are flowing transition, to make air show as laminar flow when the surface of fuselage is flow through, thus reduce the resistance of many rotor wing unmanned aerial vehicles in flight course.Preferably, fuselage is made up of carbon fibre material, under the prerequisite meeting higher working strength and rigidity, significantly can alleviate the weight of fuselage, thus reduces the power demand of many rotor wing unmanned aerial vehicles and improve the mobility of many rotor wing unmanned aerial vehicles.Certainly, in other embodiments of the present utility model, fuselage can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple slurry arm be symmetric relative to the symmetrical plane in described fuselage, each slurry arm is provided with paddle components away from one end of described fuselage, described paddle components comprises the motor be arranged on described slurry arm and the blade be connected on the output shaft of described motor, and the rotation of every a slice blade is all positioned on the same face of cylinder.
Certainly, the explanation of described many rotor wing unmanned aerial vehicles is a simple declaration, specifically also comprises other composition components many, also also has other many kinds of unmanned plane types, all may be used for realizing the purpose of this utility model, do not repeat them here.
But, from the development trend of the manipulation convenience that demand and the user in consumer level market take for flight, the flight capture apparatus of technical solutions of the utility model mainly refers to little, miniature many rotor wing unmanned aerial vehicles, this unmanned plane is because volume is little, cost is low, flight stability is better, flight shooting cost is low, has captured the market of taking photo by plane of consumer level gradually.
Embodiment one, a kind of intelligent multi-control flight capture apparatus.
Fig. 1 is the intelligent multi-control flight capture apparatus structured flowchart of the utility model embodiment one, and composition graphs 1 is specifically described by the utility model embodiment.
As shown in Figure 1, the utility model embodiment provides a kind of intelligent multi-control flight capture apparatus, described flight capture apparatus comprises frame 101, aviation mechanism 105, filming apparatus 103 and controlling organization 104, described controlling organization 104 connects described frame 101, aviation mechanism 105 and filming apparatus 103, receive from described aviation mechanism 105 and filming apparatus 103, to fly specified altitude assignment and regulate the signal of described filming apparatus 103 for controlling described flight capture apparatus, described controlling organization 104 also comprises automatic tracking module 102, shooting action arranges module 106 and shooting strategy setting module 107, wherein:
Described automatic tracking module 102 identifies destination object by described filming apparatus 103, and the motion track according to described destination object realizes tracks tracing, track shot;
Described shooting action arranges at least one shooting action of the capture apparatus that to fly described in module 106 predefine;
Described shooting strategy setting module 107 connects described automatic tracking module 102 and shooting action arranges module 106, and pre-conditioned setting the according to described destination object takes strategy accordingly, meet described pre-conditioned time, perform corresponding described shooting action.
Preferred in the utility model embodiment, described flight capture apparatus is unmanned plane, and described unmanned plane is multi-rotor aerocraft, is particularly useful for small-sized, Miniature multi-rotor aircraft.
Preferred in the utility model embodiment, described aviation mechanism 105 comprises electron speed regulator, motor and screw, the output of described electron speed regulator connects described motor, and described screw is connected with described motor, and described in described Electric Machine Control, screw rotates with different rotating speeds.
Preferred in the utility model embodiment, described flight capture apparatus can also comprise cradle head mechanism, described filming apparatus 103 is arranged on described cradle head mechanism, thus the flexible motion of described filming apparatus 103 can be realized, instead of being fixed on described flight capture apparatus, wherein said cradle head mechanism comprises carry part, fixed support, motor, The Cloud Terrace frame, camera support and camera.
Be illustrated with four rotor wing unmanned aerial vehicles below, described four rotor wing unmanned aerial vehicles comprise frame, aviation mechanism, cradle head mechanism and controlling organization, frame stretches out four horns along its body, underpart is provided with foot rest, horn and foot rest all can be lightweight fixed structure or lightweight folding structure, aviation mechanism is arranged at the end of four horns, cradle head mechanism passes through carry bar carry in unmanned plane organism bottom, cradle head mechanism is provided with camera, cradle head mechanism is for regulating the shooting angle of camera optical axis and ground, controlling organization 104 is for controlling unmanned plane during flying to specified altitude assignment and the upset of adjustment cradle head mechanism.This aviation mechanism 105 comprises electron speed regulator, motor and screw, and the output of electron speed regulator connects motor, and the bottom of screw is provided with a Fast detachable unit, and screw is connected with motor activity by this Fast detachable unit, and Electric Machine Control screw rotates with different rotating speeds.Described cradle head mechanism comprises carry part, fixed support, X-axis motor, The Cloud Terrace frame, camera support, y-axis motor and camera, one end of described carry part is provided with bayonet socket, carry part is sticked on carry bar by this bayonet socket, the other end and the fixed support of carry part are connected, support bracket fastened bottom is connected X-axis motor, the output shaft of X-axis motor is connected with The Cloud Terrace frame, and X-axis Electric Machine Control The Cloud Terrace frame rotates; Described The Cloud Terrace frame is U-shaped structure, and one end of this The Cloud Terrace frame is fixed with y-axis motor, and the other end of The Cloud Terrace frame is symmetrically arranged with rotating shaft; Described camera support is also U-shaped structure, and one end of this camera support is connected with the output shaft of y-axis motor, and the other end of camera support is connected with rotating shaft, and y-axis motor controls camera support and rotates; Described camera is fixed on camera support.
Described cradle head mechanism also comprises gyroscope, X-axis electron speed regulator and Y-axis electron speed regulator, described gyrostatic input is connected with described receiver, this gyroscope controls described X-axis electron speed regulator and the action of described Y-axis electron speed regulator respectively, described X-axis electron speed regulator connects described X-axis motor, and described Y-axis electron speed regulator connects described y-axis motor.
Preferred in the utility model embodiment, described controlling organization 104 also comprises master controller, battery, GPS navigator, IMU module (Inertial measurement unit, Inertial Measurement Unit) and receiver, the input of described master controller is connected with the output of described GPS navigator, described IMU module respectively, the output of described master controller connects described electron speed regulator and described receiver, the output of described electron speed regulator connects described motor, the output of described receiver connects described gyroscope, and described battery is that unmanned plane action is powered.
Described frame 101, carry part, fixed support, The Cloud Terrace frame and camera support are carbon fibre materials, small in volume.
Can the current geographical location information of accurate feedback by the location of described GPS navigator, by described IMU module then accurate feedback angular speed and acceleration information, flight attitude information is then fed back by gyroscope, described master controller is according to above-mentioned feedback information, automatically X-axis motor and the y-axis motor of cradle head mechanism is driven in conjunction with the strategy preset, thus control camera moves in X, Y both direction, the shooting angle of camera optical axis and Earth Surface can be adjusted automatically according to anticipation, realize the various shooting action wanted.
Described camera is Canon S120 digital camera.
Preferred in the utility model embodiment, described shooting action arranges the combination setting unit that module comprises flare maneuver setting unit and/or The Cloud Terrace action setting unit and/or flare maneuver and The Cloud Terrace action.
Concrete, described flare maneuver setting unit, namely by the control to described flight capture apparatus, realize the regulation flare maneuver that presets, upwards fly while such as comprising surrounding target object circumaviate, the object that follows the trail of the objective, fly downwards while the object that follows the trail of the objective, follow the trail of the objective while to while flight on the left of self, the object that follows the trail of the objective to flying on the right side of self; Described The Cloud Terrace action setting unit, namely realized the The Cloud Terrace action preset by signal controlling, such as The Cloud Terrace adjusts shooting angle, The Cloud Terrace upward and adjusts shooting angle, The Cloud Terrace downwards to adjusting shooting angle, The Cloud Terrace on the left of self to adjusting shooting angle etc. on the right side of self; The combination setting unit of described flare maneuver and The Cloud Terrace action, namely by while the control realization flare maneuver to described flight capture apparatus, The Cloud Terrace completes the action preset simultaneously, and both coordinate jointly, completes specific shooting effect.
Such as, when controlling described flight capture apparatus surrounding target object circumaviate, cradle head mechanism remains the steady shot to destination object; Again such as, control while described flight capture apparatus upwards flies, cradle head mechanism is to adjusting shooting angle, rotating 360 degrees on the left of self; For another example, the direction that described flight capture apparatus advances towards target can also be controlled, overshoot object.
Utilize the combination of above-mentioned flare maneuver setting unit and/or The Cloud Terrace action setting unit, just can realize some specific scene type shoot functions.
If be basic screening-mode by following the trail of the mode-definition of taking of flying, described basic screening-mode can be the screening-mode of the object of automatically track target described in background technology, and the signal source can also carried according to destination object realizes signal tracing etc.So, the function around destination object flight shooting can be defined as around shooting contextual model; The function that rotating 360 degrees is taken can be defined as pan-shot contextual model; In addition, can also have the combination of more flare maneuvers and The Cloud Terrace action, such as limit rising edge follows the trail of the objective object shooting, shooting of such as vacillating now to the left, now to the right, such as flight overshoot object, photographic subjects object front etc.
In another embodiment of the utility model, described The Cloud Terrace action not necessarily.In fact, when simplifying for some, such as in order to reduce equipment cost, part of functions can be sacrificed.The capture apparatus that such as flies does not arrange The Cloud Terrace, and filming apparatus adopts basic fixing mode, is fixed on described flight capture apparatus, now, by the control of flight capture apparatus flare maneuver, can complete abundant shooting task equally.Track up, zoom out the shooting that furthers, around shooting, around front shooting etc., all can be realized equally by the control of flying speed, flying height, heading etc. to described flight capture apparatus.
Preferred in the utility model embodiment, described shooting strategy setting module comprises scene strategy setting unit, pre-conditioned using the scene characteristic of described destination object as described scene strategy, when meeting a certain scene characteristic, described flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
Preferred in the utility model embodiment, described shooting strategy setting module comprises time parameter method setting unit, namely based on the time shaft preset, arranges corresponding shooting action.
Preferred in the utility model embodiment, described flight capture apparatus also comprises arbitration mechanism Executive Module, connect described scene strategy setting unit and time parameter method setting unit inputs as it, be applicable to, when described scene strategy setting unit and described time parameter method setting unit meet executive condition simultaneously, judge current shooting action by described arbitration mechanism Executive Module.
Preferred in the utility model embodiment, described arbitration mechanism Executive Module outputs signal to described controlling organization, presets the current shooting strategy performed of preferential execution.
Described four rotor wing unmanned aerial vehicles are above further described with concrete example, but example is here only easier to understand in order to illustrate, instead of for limiting the scope of application of the present utility model.
The flight control method of embodiment two, intelligent multi-control flight capture apparatus.
Unmanned plane is used for taking photo by plane and has found broad application, have the unmanned plane that tracking target object carries out taking at present, its cardinal principle make use of visual pursuit system, judged by filming apparatus and identify destination object, filming apparatus described here can be camera, also can be camera, then according to the motion track identifying destination object, realize tracks tracing, track shot.In addition, also have a lot of other to select for realizing from the technology of motion tracking, such as at tracked destination object signalization reflector with it, the signal that unmanned plane sends according to this signal transmitter carries out target following etc.But existing tracking chases after bat technology, only pay close attention to destination object and do not lose, no matter target how to move, and angle of taking photo by plane relatively is fixed substantially.Such mode is taken photo by plane, and its effect of the shot film finally obtained is single, shortage presence.
In fact, if not the technique for taking adopted from motion tracking, prior art also mainly realizes shooting process by artificial remotely pilotless machine, this remote control process had both comprised the flight line of unmanned plane, also the shooting angle of picture pick-up device on unmanned plane is comprised, rely on experienced manipulator, can realize ground cannot be taken the angle and combined effect that obtain.
Above-mentioned two kinds of mode Problems existing are, these two kinds of styles of shooting respectively have its feature, and the artistic feeling of automatically following the convenience of clapping and science and technology sense and artificial controlled to clap and flexibility can not get both.
Fig. 2 is the flight control method flow chart of the intelligent multi-control flight capture apparatus of the utility model embodiment two, comprises the following steps:
Step S201: by being installed on the filming apparatus captured target object on described flight capture apparatus;
Step S202: judge that whether captured target object is successful; If success, then perform next step; Otherwise, jump to step S206;
Step S203: when performing basic screening-mode after the success of captured target object;
Step S204: whether real-time judge meets is taken strategy accordingly; If met, then perform downwards; Otherwise, jump back to step S203;
Step S205: control the corresponding shooting action that described flight capture apparatus performs described shooting strategy;
Step S206: terminate.
Preferred in the utility model embodiment, described shooting strategy comprises scene strategy, that is, using pre-conditioned as described scene strategy of the scene characteristic of described destination object, when meeting a certain scene characteristic, described flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
Preferred in the utility model embodiment, described scene characteristic can comprise the translational speed of destination object, moving direction, translational acceleration, obstacle situation and/or destination object quantity etc.
Preferred in the utility model embodiment, described shooting strategy comprises time parameter method, namely based on the time shaft preset, arranges corresponding shooting action.
Except being used alone above-mentioned two kinds of shooting strategies, above-mentioned two kinds of shooting strategies can also be combined, now, also should comprise an arbitration mechanism, namely, when described scene strategy and described time parameter method meet executive condition simultaneously, current shooting action is judged by performing arbitration mechanism.
Preferred in the utility model embodiment, described arbitration mechanism preferentially performs the current shooting strategy performed.Certainly, in other embodiments, the described scene strategy of preferential execution or time parameter method also can be set.
The shooting of contextual model described in the utility model embodiment one both can be the pre-designed shooting strategy based on time shaft, and also can be that strategy is taken in the intellectuality carrying out judging according to the concrete condition of destination object, be also scene strategy.
About the time parameter method implemented according to time shaft, be exemplified below:
Such as pre-designed, under basic screening-mode, follow the trail of flight shooting after 5 seconds, perform 10 seconds around shooting, then continue to follow the trail of flight shooting 5 seconds, then perform 2 seconds wave shooting, then continue to follow the trail of flight shooting 3 seconds, then perform pan-shot, make a return voyage after completing pan-shot.
Taking strategy about intellectuality is also described scene strategy, is exemplified below:
Using the translational speed of destination object, environmental aspect etc. as condition, can preset corresponding shooting strategy, flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
Such as:
Under basic screening-mode, perform automatic tracing destination object and the task of shooting, flying speed and destination object translational speed match, and flying height is 5 meters;
When destination object translational speed is at more than 5m/s, perform basic screening-mode, namely follow the trail of flight shooting;
When destination object translational speed is within the scope of 3-5m/s, and when continuing more than 5 seconds, perform flight overshoot, and control The Cloud Terrace and remain " clapping positive face " pattern to destination object;
When destination object stops mobile maintenance more than 3 seconds, perform once around shooting;
When after the shooting completing 5 not substantially screening-modes, perform order of making a return voyage.
By adjusting the design parameter of above-mentioned shooting strategy, different intellectuality shootings can be realized, the simplest, only just basic screening-mode and the combination around pattern also can allow dull uninteresting track up effect improve to become one and have " sheet " that enrich bandwagon effect.
Such as, only need flight capture apparatus to be simply set to the track up performing basic screening-mode, after target stops mobile 5 seconds, implement around shooting, the working method of then making a return voyage.Then user allows flight capture apparatus start flight shooting, user only need complete and jog 1 minute afterwards, approach trestle arrives at island, then stop motionless motion process, then the capture apparatus that flies can complete track up on the way automatically, and, after user arrives at island, carry out, around the effect of shooting, under the easiest condition, user can being helped to complete the shooting effect of design to user location.
Again such as, when described unmanned plane detect to occur around the current destination object taken multiple with destination object similar individual time, be judged as entering group photo screening-mode, now adjusting focal length and shooting angle, shooting distance, complete group photo shooting.
Adjustable strategy and parameter, determine the intelligence degree of this flight capture apparatus, and user can use familiarity to determine freely according to it, has been simple direct shooting effect ingenious, or the full length shot shooting of specialty.No matter for the user of what type, the enjoyment of shooting therefrom fully can be experienced.
These predefined contextual models, have different shooting and present effect.If in the process following the trail of the objective shooting, be combined these sight screening-modes, just can be implemented in when coordinating without the need to professional, complete and there is the various user enriching shooting effect from shooting the video, greatly reduce shooting cost, and also improve experience.
Preferred in the utility model embodiment, the shooting strategy based on time shaft and the shooting strategy based on scene, can also be combined, and only needs to formulate suitable conflict ruling mechanism, just can realize coexisting of multiple strategy.In fact, mode the most common, is exactly there is conflict ruling mechanism, if ruling mechanism is effectively, then performs corresponding strategy according to ruling result, if ruling mechanism failure, then and the flight of the basic screening-mode of Predicated execution.
Although the shooting strategy that the utility model embodiment provides and shooting action are limited, relatively-stationary, in conjunction with the use of user and the situation of destination object, the consumption market with unlimited demand can be derived.
In a word, the utility model embodiment proposes a kind of method, on the basis of automatic tracking technology, propose the screening-mode increased compared with horn of plenty, by introducing, there is regular shooting action and shooting strategy, when complete without the need to artificially manipulating, also can realize splendid shooting effect.Once sense that destination object is within a scheduled time (such as 5 seconds), does not have occurrence positions to convert, then proceeds to the pattern of surrounding target object rotary taking; Or when the translational speed of induction targets object reduces by half, automatically proceed to the pattern around front shooting; So without the need to destination object manual control, the shooting effect with camera lens sense, shock effect just can be generated.
The flight control method of embodiment three, intelligent multi-control flight capture apparatus.
Fig. 3 is the flight control method flow chart of the intelligent multi-control flight capture apparatus of the utility model embodiment three, comprises the following steps:
Step S301: start;
Step S302: camera captured target object;
Step S303: judge that whether captured target object is successful; If success, then enter next step; Otherwise, jump to step S315;
Step S304: obtain timing strategies, timer is set;
Step S305: described intelligent multi-control flight capture apparatus performs accompanying flying pattern;
Step S306: judge whether described flight capture apparatus triggers intelligent screening-mode; If so, then next step is entered; Otherwise, jump to step S311;
Step S307: judge whether the shooting action that will perform according to scene strategy conflicts mutually with the shooting action of the existing strategy performed; If there is conflict, then jump to step S309; Otherwise, enter next step;
Step S308: described flight capture apparatus performs the shooting action that scene strategy is preset;
Step S309: described flight capture apparatus performs arbitration mechanism;
Step S310: pre-set and preferably perform current strategies;
Step S311: judge whether timer triggers; If so, then next step is entered; Otherwise, jump to step 314;
Step S312: judge whether the time parameter method preset conflicts mutually with existing implementation strategy; If there is conflict, then jump back to step S309; Otherwise, enter next step;
Step S313: the shooting action that time of implementation strategy is preset;
Step S314: judge whether to terminate accompanying flying pattern; If so, then step S316 is jumped to; Otherwise, jump back to step S305 and continue to perform accompanying flying pattern;
Step S315: prompting catches unsuccessfully;
Step S316: terminate.
In the method flow diagram shown in Fig. 3, be divided into scene strategy (using the translational speed of target, environmental aspect etc. as condition described shooting strategy, preset corresponding shooting strategy) and time parameter method (being predefined in the strategy that after performing accompanying flying pattern, set time point will perform), flight capture apparatus carrys out the execution of trigger scenario strategy in flight course by poll scene policy condition, carried out the execution of triggered time strategy by timer.When a collision occurs (namely scene strategy and time parameter method at a time all meet executive condition), need to judge by performing arbitration mechanism.Client can meet oneself demand (as preferentially performed scene strategy or time parameter method, preferential perform current executed strategy etc.) by customizing resolving strategy.The current strategy performed of preferential execution is have employed exemplarily in Fig. 3.
In several embodiment provided by the utility model, should be understood that, disclosed equipment and method, can realize by another way.Such as, apparatus embodiments described above is only schematic, such as, the division of described module or unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the utility model can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that the technical solution of the utility model contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) perform all or part of step of method described in each embodiment of the utility model.And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The utility model can bring these useful technique effects: intelligent multi-control flight capture apparatus disclosed in the utility model embodiment, on the basis of automatic tracking technology, preset shooting strategy and comprise scene strategy and time parameter method, by the translational speed of described destination object, environmental aspect is pre-conditioned as described scene strategy, described flight capture apparatus implements shooting according to the countermeasures preset, described time parameter method arranges corresponding shooting action based on the time shaft preset, add the screening-mode compared with horn of plenty, by introducing, there is regular shooting action and shooting strategy, when complete without the need to artificially manipulating, also splendid shooting effect can be realized.
One of ordinary skill in the art will appreciate that: accompanying drawing is the schematic diagram of an embodiment, the module in accompanying drawing or flow process might not be that enforcement the utility model is necessary.
The foregoing is only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model specification and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Obviously, those skilled in the art can carry out various change and modification to the utility model and not depart from spirit and scope of the present utility model.Like this, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technologies thereof, then the utility model is also intended to comprise these change and modification.
Claims (8)
1. an intelligent multi-control flight capture apparatus, described flight capture apparatus comprises frame, aviation mechanism, filming apparatus and controlling organization, described controlling organization connects described frame, aviation mechanism and filming apparatus, receive from described aviation mechanism and filming apparatus, to fly specified altitude assignment and regulate the signal of described filming apparatus for controlling described flight capture apparatus, it is characterized in that: described controlling organization also comprises automatic tracking module, shooting action arranges module and shooting strategy setting module
Wherein, described automatic tracking module identification destination object, realizes tracks tracing for described destination object, track shot;
Described shooting action arranges at least one shooting action of the capture apparatus that to fly described in module predefine;
Described shooting strategy setting module connects described automatic tracking module and shooting action arranges module, and pre-conditioned setting the according to described destination object takes strategy accordingly, meet described pre-conditioned time, perform corresponding described shooting action.
2. intelligent multi-control flight capture apparatus according to claim 1, is characterized in that: described shooting action arranges the combination setting unit that module comprises flare maneuver setting unit and/or The Cloud Terrace action setting unit and/or flare maneuver and The Cloud Terrace action.
3. intelligent multi-control flight capture apparatus according to claim 1 and 2, it is characterized in that: described shooting strategy setting module arranges and comprises scene strategy setting unit, pre-conditioned using the scene characteristic of described destination object as described scene strategy, when meeting a certain scene characteristic, described flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
4. intelligent multi-control flight capture apparatus according to claim 3, is characterized in that: described shooting strategy setting module arranges and comprises time parameter method setting unit, namely based on the time shaft preset, arranges corresponding shooting action.
5. intelligent multi-control flight capture apparatus according to claim 4, it is characterized in that: described flight capture apparatus also comprises arbitration mechanism Executive Module, connect described scene strategy setting unit and time parameter method setting unit inputs as it, be applicable to, when described scene strategy setting unit and described time parameter method setting unit meet executive condition simultaneously, judge current shooting action by described arbitration mechanism Executive Module.
6. intelligent multi-control flight capture apparatus according to claim 5, is characterized in that: described arbitration mechanism Executive Module outputs signal to described controlling organization, presets the current shooting strategy performed of preferential execution.
7. intelligent multi-control flight capture apparatus according to claim 1 and 2, it is characterized in that: also comprise cradle head mechanism, described filming apparatus is arranged on described cradle head mechanism.
8. intelligent multi-control flight capture apparatus according to claim 1 and 2, it is characterized in that: described aviation mechanism comprises electron speed regulator, motor and screw, the output of described electron speed regulator connects described motor, the bottom of described screw is provided with a Fast detachable unit, described screw is connected with described motor activity by described Fast detachable unit, and described in described Electric Machine Control, screw rotates with different rotating speeds.
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| TWI557526B (en) * | 2015-12-18 | 2016-11-11 | 林其禹 | Selfie-drone system and performing method thereof |
| WO2017032126A1 (en) * | 2015-08-26 | 2017-03-02 | 小米科技有限责任公司 | Unmanned aerial vehicle photographing control method and apparatus, and electronic device |
| WO2017084240A1 (en) * | 2015-11-20 | 2017-05-26 | 西安斯凯智能科技有限公司 | Target positioning and tracking system, device, and positioning and tracking method |
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| TWI557526B (en) * | 2015-12-18 | 2016-11-11 | 林其禹 | Selfie-drone system and performing method thereof |
| CN108965689A (en) * | 2017-05-27 | 2018-12-07 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane image pickup method and device, unmanned plane and ground control unit |
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| CN110139038A (en) * | 2019-05-22 | 2019-08-16 | 深圳市道通智能航空技术有限公司 | It is a kind of independently to surround image pickup method, device and unmanned plane |
| CN112154653A (en) * | 2019-08-13 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Shooting method based on handheld cloud deck, handheld cloud deck and storage medium |
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