[0025] First embodiment
[0026] See figure 2 , Shows a functional block diagram of a video shooting control device 200 provided by a preferred embodiment of the present invention. The video shooting control device 200 provided by the preferred embodiment of the present invention includes: a receiving module 210, a control module 220, and a generating module 230.
[0027] The receiving module 210 is used to receive a trigger instruction.
[0028] In the embodiment of the present invention, the user can set a preset shooting mode for the drone 100 through a remote control terminal such as a universal remote control for the drone or a smart phone. Point surround shooting, drone accelerated flight shooting, camera flying at a preset angle to the horizontal plane, etc., where the linear long lens shooting means that the drone moves along a straight line, and the camera takes a relatively long time to continuously Shooting to form a relatively complete segment of the shot; shooting around the point of interest means that the drone flies along the circle with the point of interest as the center and shoots the video; the speed of the drone for accelerated flight shooting means that the speed of the drone is set at a preset The acceleration gradually accelerates the flight and shoots the video; the camera and the horizontal plane are flying at a preset angle to shoot means that the camera and the horizontal plane during the flight of the UAV are at a preset angle for video shooting. The user can set the corresponding preset shooting mode as required, and the present invention does not limit the preset shooting mode set for the drone 100.
[0029] After the user has set the preset shooting mode for the drone 100, the drone 100 can be placed at a preset height position through the remote control terminal to facilitate video shooting, for example, the drone 100 can be placed flush with the user's head. The height of the drone, the height of 2 meters from the ground, etc., and the drone 100 can be controlled to hover to prepare for video shooting.
[0030] The user then sends a trigger instruction to the drone 100. The trigger instruction is an instruction to make the drone 100 enter the automatic shooting mode. In the automatic shooting mode, the drone 100 can perform video shooting according to a preset shooting mode. The trigger instruction can be triggered by a button of the remote control terminal or input through voice control, gestures, etc., and the present invention does not limit the input manner of the trigger instruction. For the trigger command input by the button trigger, the user triggers the button, and the trigger command is sent to the drone 100 via the wireless network in the form of a signal, and can be received by the antenna provided in the drone 100. For the trigger command input in the voice control mode, the user can input a designated voice control command, such as "automatic shooting", and the drone 100 receives the voice control command as the trigger command through the voice control sensor. For the trigger instructions input by gestures, the user can make designated gesture instructions, such as gestures such as swinging the palm up and down, and the drone 100 receives the gesture instructions as the trigger instruction through the image acquisition device. In the foregoing embodiment, the antenna, voice control sensor, and image acquisition device of the drone 100 may send the trigger instruction to the receiving module 210 after receiving the trigger instruction, and the receiving module 210 may send the trigger instruction to the control module 220.
[0031] In addition, for drones that can perform multiple preset shooting methods, it is usually necessary for the user to use a remote control terminal to send instructions to set the preset shooting methods to the drone in advance. For example, when the drone can perform linear long lens shooting 、In the shooting mode around the point of interest, the user can use the remote control terminal to pre-send the command to set the straight long lens shooting to the drone to pre-set the shooting method for the drone, and then the drone will respond to the trigger command . For drones that only execute a single preset shooting mode, it is usually not necessary to set the preset shooting mode through the above remote control terminal, but a preset shooting mode is built in the drone in advance.
[0032] It should be noted that the present invention may not limit the preset height position of the drone 100, nor the flight mode or shooting mode of the drone 100 before receiving the trigger instruction. The drone 100 can receive a trigger command in any altitude position, flight mode, or shooting mode. If the drone is in another flight mode or shooting mode before receiving the trigger command, the drone 100 will exit the other flight mode or shooting mode in response to the trigger command.
[0033] The control module 220 is configured to respond to the trigger instruction to control the drone 100 to enter the automatic shooting mode.
[0034] In the embodiment of the present invention, after the control module 220 receives the trigger instruction, it can control the drone 100 to enter the automatic shooting mode. Further, a warning signal can be issued through a warning system to remind the user that the drone 100 has entered the automatic shooting mode. The warning system can be an existing LED indicator set on the drone 100. For example, when the drone 100 is flying normally, the LED indicator can be displayed in green. When the receiving module 210 receives a trigger instruction to enter the automatic shooting mode, The LED indicator can be displayed in red and flash quickly, etc. In addition, the warning system may also be a warning light or a voice alarm that is different from the existing LED indicator lights on the UAV 100. If the warning system uses warning lights, for example, when the UAV 100 is flying normally, the warning lights can be displayed in green. When the receiving module 210 receives the trigger instruction to enter the automatic shooting mode, the warning lights can be displayed in red and flash quickly, etc. If the warning system uses a voice alarm, for example, when the receiving module 210 receives a trigger instruction to enter the automatic shooting mode, the voice alarm can send out a voice signal such as "ready to shoot". It should be noted that the warning system can be set according to actual needs, and those skilled in the art can change the warning mode of the warning system by themselves.
[0035] The generating module 230 is used for generating route information corresponding to the preset shooting mode in the automatic shooting mode.
[0036] In the embodiment of the present invention, the generating module 230 may calculate and generate route information corresponding to the preset shooting mode through a variety of algorithms. The route information may include first route information and second route information, and the first route information includes unmanned route information. The flight trajectory (route), flight speed, flight time, etc. of the aircraft 100, and the second route information includes camera angles and the like. For the flight trajectory of the drone, for example, the preset shooting mode is shooting around the point of interest, and the radius of the circular motion of the drone in the preset shooting mode is preset, when the drone 100 receives the trigger instruction , The generating module 230 uses the current position of the drone 100 as the center of the circle, and calculates and generates the circular motion trajectory with the preset circular motion radius. For the flight speed of the drone 100, for example, the preset shooting mode is the drone accelerated flight shooting, and the acceleration of the drone 100 in the preset shooting mode is preset, when the drone 100 receives a trigger instruction After that, the generating module 230 calculates the flying speed of the drone 100 at the next moment with the preset acceleration. For the camera angle, for example, the preset shooting mode is that the camera is flying at a preset angle to the horizontal plane. When the drone 100 receives the trigger instruction, the generation module 230 calculates the angle between the camera and the horizontal plane in real time for use Camera posture control during subsequent video shooting.
[0037] The control module 220 is also used to control the drone 100 to fly according to the route information, and control the video shooting device installed on the drone 100 to perform video shooting according to the route information.
[0038] In the embodiment of the present invention, since the first route information includes the flight trajectory (route) of the drone 100, flight speed and other information related to the flight parameters of the drone, the control module 220 can control the drone 100 according to the first Flight route information, for example, the UAV 100 monitors the position and speed of the UAV 100 in real time through GPS, optical flow sensors, radar, ultrasound, barometer, IMU inertial measurement unit, etc., and then uses the control algorithm to make the UAV 100 100 flies according to the first route information. Since the second route information includes camera angle and other information related to camera shooting parameters, the control module 220 can control the video shooting device (camera) provided on the drone 100 to perform video shooting according to the second route information, for example, video shooting The device is fixedly connected with a pan-tilt or a similar movement mechanism, and the control module 220 drives the video shooting device to move by controlling the movement mechanism. The angle sensor installed on the motion mechanism can monitor the rotation angle of the camera of the video shooting device, and then the control module 220 uses a control algorithm according to the rotation angle of the camera to make the camera of the video shooting device perform video shooting according to the second route information.
[0039] It should be noted that the posture information such as the camera angle of the video shooting device may also be set before the drone 100 enters the automatic shooting mode, and the camera posture does not need to be changed during the video shooting process of the drone 100.
[0040] When the drone 100 is flying based on the route information and shooting videos, the user can send a first control instruction to the drone 100 through the buttons of the remote control terminal, voice control, gestures, etc. The first control instruction may be An instruction to control the drone 100 to exit the automatic shooting mode. After the receiving module 210 receives the first control instruction, the control module 220 can control the drone 100 to exit the automatic shooting mode according to the first control instruction and fly to a preset position or in the original Hover immediately. It should be noted that the preset position may be the starting point position of the route corresponding to the first route information, or any position other than the starting position preset by the user. The present invention does not make any adjustments to the preset position. limited. When the preset position is the starting position of the route corresponding to the first route information, the control module 220 may control the drone 100 to return to the starting position according to the original route of the route corresponding to the first route information. Alternatively, the generation module 230 generates a better return route according to the route starting point and current position of the first route information, and the control module 220 can control the UAV 100 to return to the starting position according to the return route, for example, when it is with the first route. When the route corresponding to the information is an arc route, in order to save time, the generation module 230 can generate a straight route from the current position to the starting position, and the control module 220 controls the drone 100 to quickly return to the starting position along the straight route. When the preset position is a position other than the starting position preset by the user, the generating module 230 can generate a straight line from the current position to the preset position according to the current position and the preset position, and the control module 220 controls the The man-machine 100 quickly flies along the straight line to the preset position.
[0041] When the drone 100 is flying based on the route information and shooting videos, the user may also send a second control instruction to the drone through the buttons of the remote control terminal, voice control, gestures, etc. The second control instruction may be In addition to the above-mentioned first control instructions, for example, drone hovering instructions, landing instructions, etc., after the receiving module 210 receives the second control instruction, the control module 220 can control the drone 100 to exit according to the second control instruction The automatic shooting mode executes the action corresponding to the second control command. This control method can conveniently and quickly control the drone 100 to exit the automatic shooting mode when the drone 100 encounters an accident, so as to ensure the flight safety of the drone 100.
[0042] The UAV 100 may be equipped with an obstacle avoidance device. When the UAV 100 is flying based on the route information and shooting videos, it may collect obstacle information within a preset range through the obstacle avoidance device, and the control module 220 may follow the obstacles The object information controls the drone 100 to exit the automatic shooting mode and fly to a preset position or hover. This control method can conveniently and quickly control the drone 100 to exit the automatic shooting mode when the drone 100 is about to encounter an obstacle, so as to prevent the drone 100 from encountering obstacles and ensure the flight safety of the drone 100. Here, the manner in which the control module 220 controls the drone 100 to fly to the preset position is the same as the manner in which the drone 100 is controlled to fly to the preset position according to the first control command, and will not be repeated here.
[0043] When the drone 100 completes the route corresponding to the first route information and flies to the end position of the route corresponding to the first route information, the control module 220 can also control the drone 100 to fly to a preset position or at the end of the route Position hover. It should be noted that when the drone 100 flies to the end position of the route corresponding to the first route information, the control module 220 can first control the drone 100 to exit the automatic shooting mode, and then control the drone 100 to fly to the preset position. Since the UAV 100 is flying from the end position of the route to the preset position, no video shooting is performed. In addition, when the drone 100 flies to the end position of the route corresponding to the first route information, the drone 100 may not exit the automatic shooting mode, but directly fly to the preset position in the automatic shooting mode. The man-machine 100 will continue to perform video shooting during the flight from the end position of the route to the preset position. Here, the manner in which the control module 220 controls the drone 100 to fly to the preset position is the same as the manner in which the drone 100 is controlled to fly to the preset position according to the first control command, and will not be repeated here.
[0044] Further, the receiving module 210 may also receive the starting position and the ending position of the route corresponding to the first route information. The starting position and the ending position may be generated by the generating module 230 and sent to the receiving module 210 after the route information is generated. When the man-machine 100 flies to the start position and the end position, it is detected by the GPS sensor on the drone 100 and then sent to the receiving module 210. The control module 220 may obtain the start position and the end position from the receiving module 210, and determine whether the start position and the end position are consistent. When the drone 100 flies to the end position and the end position is inconsistent with the starting position (for example, if the drone 100 is flying in a straight line, the end position is inconsistent with the starting position), the control module 220 can control the drone 100 to exit the automatic Shooting mode and fly to the starting position of the route or hovering at the end position of the route. When the drone 100 flies to the end position and the end position is consistent with the starting position (for example, if the drone 100 is flying along a circle, the end position is consistent with the starting position), the control module 220 can control the drone 100 to exit the automatic Shooting mode and hover at the end of the route (that is, the starting position).
