Anti-shake unmanned aerial vehicle shooting preparation prompting system and method

Abstract

According to the anti-shake unmanned aerial vehicle shooting preparation prompting system and method, a small horn and a small display screen are integrated in the system, the system is installed on an unmanned aerial vehicle, and meanwhile various prompting voices are recorded. Besides, the system also has a multi-angle shooting function, can realize a preset shooting angle mode, such as high-angle shooting, back-up shooting, side shooting and the like, through flight control of the unmanned aerial vehicle and rotation of the holder, and can perform real-time adjustment according to actual requirements. According to the camera attitude anti-jitter optimization, the attitude change of the unmanned aerial vehicle is monitored in real time by using a sensor, the camera angle is quickly adjusted to compensate the influence of jitter on shooting, and the stability of a shot picture in the flight process is ensured.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to an anti-shake unmanned aerial vehicle shooting preparation prompting system and method. Background Art

[0002] With the rapid advancement of drone technology, drone technology has been widely used in various fields, especially in photography and videography. With its unique bird's-eye view and high flexibility, drones provide users with unprecedented high-altitude perspective experience and efficient data collection channels. However, in complex flight environments, such as strong winds, mechanical vibrations and other factors, drones often face jitter problems, which poses a severe test to the quality of shooting. Therefore, ensuring the stability of the drone shooting process, especially the improvement of anti-shake technology, has become the core driving force for the development of drone shooting technology.

[0003] The history of anti-shake technology can be traced back to 1994, when Nikon Corporation of Japan innovatively launched a pocket camera equipped with vibration reduction (VR) technology, leading the way in anti-shake technology. Since then, this technology has rapidly expanded to digital cameras, professional camcorders and even drones, and has spawned a variety of technical schools such as optical image stabilization, electronic image stabilization and photosensitive element (such as CCD / CMOS) image stabilization. Although these technologies have their own advantages, they are all committed to minimizing or eliminating jitter interference during shooting to significantly improve the clarity and stability of images and videos. However, in actual operation, drone shooting still faces some challenges, such as flight stability, shooting angle control and image quality. Summary of the invention

[0004] To solve the above problems, the present invention proposes an anti-shake drone shooting preparation prompt system and method. The system integrates a small speaker and a small display screen, can record different prompt voices and display text information on the display screen, and play the corresponding voice prompts through the small speaker. During the flight, the operator can select the corresponding prompt voice according to the shooting requirements, and the shooting object can cooperate according to the prompt to complete the shooting.

[0005] The anti-shake drone shooting preparation prompt system integrates a speaker and a display screen and is installed on the drone. At the same time, a prompt voice is recorded. The system also has a multi-angle shooting function. It can achieve preset shooting angle modes through the drone's flight control and gimbal rotation, including overhead shooting, downward shooting and side shooting, and can be adjusted in real time according to actual needs.

[0006] The method of the anti-shake drone shooting preparation prompt system, the specific steps are as follows:

[0007] Step 1: Build a drone shooting preparation reminder system, integrate a speaker and a display screen, and mount it on the drone;

[0008] Step 2, record different prompt voices, and when the text message is displayed on the display screen, the speaker plays the corresponding voice prompt;

[0009] Step 3, shooting angle selection, through the flight control of the drone and the rotation of the gimbal, multi-angle shooting can be achieved. A variety of shooting angle modes can be preset, including overhead shooting, downward shooting and side shooting, and real-time adjustment can be made according to actual shooting needs to obtain the best shooting angle;

[0010] Step 4: Camera attitude anti-shake optimization: Use sensors to monitor the changes in the drone’s attitude in real time, quickly adjust the camera’s angle, compensate for the impact of drone shaking, and ensure the stability of the images captured during flight.

[0011] Step 5: Light adaptation and adjustment. The camera is equipped with an automatic light adjustment function, which can automatically adjust the exposure parameters according to the light changes in the shooting environment to ensure good shooting effects under different lighting conditions. In addition, it also supports manual light adjustment so that the photographer can make personalized settings according to actual needs.

[0012] Step 6, real-time image transmission, uses high-speed wireless transmission technology to transmit the real-time images taken by the drone to the ground control terminal, ensuring the stability and low latency of image transmission, so that the photographer can view the shooting screen in time and conduct real-time monitoring and adjustment.

[0013] Furthermore, the process of recording different prompt voices in step 2 is expressed as:

[0014] Step 2.1, fix the reminder device to a suitable position on the drone to ensure that it does not affect the flight and shooting angle of the drone;

[0015] Step 2.2, connect the power cable and control cable of the device to the drone to ensure the normal operation of the device;

[0016] Step 2.3, before the drone takes off, the operator checks whether the reminder device is working properly;

[0017] Step 2.4: During the flight, according to the shooting requirements, the operator selects the corresponding prompt voice by touching or pressing buttons;

[0018] Step 2.5, when text information appears on the display screen, the small speaker plays the corresponding voice prompt synchronously;

[0019] Step 2.6: The subject cooperates according to the prompts to complete the shooting.

[0020] Further, the process of presetting multiple shooting angle modes in step 3 is as follows:

[0021] Step 3.1, preset shooting angle modes, including overhead shooting, downward shooting, side shooting, and follow shooting;

[0022] Step 3.1.1, Overhead shooting mode: The drone flies directly above the target, and the gimbal shoots vertically downward. It is suitable for showing the full view of the ground or large scenes. The angle formula of the overhead shooting mode is:

[0023] α=θ-90°

[0024] In the formula, α is the depression angle, θ is the vertical rotation angle of the gimbal. When the UAV flies directly above the target, the gimbal rotates vertically downward so that θ = 90°, and α = 0°, achieving vertical downward shooting;

[0025] Step 3.1.2, Upward shooting mode: The drone is located below the target, and the gimbal shoots upward. It is suitable for showing towering buildings or natural landscapes. The angle formula of the upward shooting mode is:

[0026] β=90°-θ

[0027] Where β is the pitch angle. When the UAV is below the target, the gimbal rotates upward, θ is less than 90°, and β is greater than 0°, achieving upward shooting.

[0028] Step 3.1.3, side shooting mode: The drone is parallel to the target, and the gimbal is shooting horizontally. It is suitable for showing the side details of the object or dynamic scenes. In side shooting mode, the side angle is equal to the horizontal rotation angle of the gimbal. When the drone is parallel to the target, the gimbal rotates horizontally. The side angle can be any angle between 0° and 180° to achieve side shooting.

[0029] Step 3.1.4, Follow mode: The drone follows the target, maintaining a certain distance and angle. It is suitable for shooting moving objects. The angle formula of the follow mode is:

[0030]

[0031] Where δ is the following angle, The horizontal rotation angle of the gimbal allows the drone to follow the target and adjust and θ to maintain a certain following angle δ;

[0032] Step 3.2, flight control adjustment: The operator adjusts the flight altitude, direction and speed of the drone in real time through the remote controller or ground station software to change the shooting angle;

[0033] Step 3.3, pan / tilt rotation adjustment: The operator controls the horizontal rotation angle and vertical angle of the pan / tilt to achieve a shooting range of 360 degrees in the horizontal direction and a certain angle in the vertical direction.

[0034] Furthermore, the process of camera posture anti-shake optimization in step 4 is expressed as follows:

[0035] Step 4.1: The attitude change of the drone is monitored in real time by the built-in gyroscope and other sensors to obtain the angular velocity vector [w x ,w y ,w z ],w x is the angular velocity of the drone on the roll axis, w y is the angular velocity of the drone on the pitch axis, w z is the angular velocity of the UAV on the yaw axis;

[0036] Step 4.2, collect the angular velocity angle of the drone according to step 4.1, and calculate the total angle adjustment of the camera on each axis:

[0037]

[0038] In the formula, Δθ c,x , Δθ c,y , Δθ c,z They represent the angle adjustment of the camera gimbal on the roll axis, the pitch axis, and the yaw axis, respectively. p Represents the proportional gain, K i Represents the integral gain, K d represents the differential gain, Δw x , Δw y , Δw z It represents the angular velocity change of the drone on the roll axis, the pitch axis, and the yaw axis. T is the sampling time interval, and t represents the integration time.

[0039] Step 4.3: The angle adjustment calculated in step 4.2 is added to the current angle of the camera to obtain the total angle of the camera on each axis, and the camera posture is updated.

[0040] The anti-shake drone shooting preparation prompt system and method of the present invention have beneficial effects. The technical effects of the present invention are:

[0041] 1. The present invention integrates a small speaker and a small display screen, and the system can provide voice and text prompts to the subject in real time, ensuring smooth communication between the two parties during the shooting process and improving the success rate of shooting;

[0042] 2. The present invention has a multi-angle shooting function, and realizes preset shooting angle modes, such as overhead shooting, upward shooting, side shooting, etc., through the flight control and pan / tilt rotation of the drone, and can be adjusted in real time according to actual needs to obtain the best shooting angle;

[0043] 3. The camera attitude anti-shake optimization of the present invention uses sensors to monitor the attitude changes of the drone in real time, quickly adjust the angle of the camera, compensate for the impact of the drone shaking, and ensure the stability of the picture taken during the flight;

[0044] 4. The present invention is equipped with an automatic light adjustment function, which can automatically adjust the exposure parameters according to the light changes in the shooting environment, ensuring that good shooting effects can be obtained under different lighting conditions. At the same time, it supports manual light adjustment so that the photographer can make personalized settings according to actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of the present invention;

[0046] Figure 2 This is a flowchart of the camera posture anti-shake optimization of the present invention. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0048] The present invention proposes an anti-shake drone shooting preparation prompt system and method, the invention flow chart is as follows: Figure 1 As shown, the steps of the present invention are described in detail below.

[0049] Step 1: Build a drone shooting preparation reminder system, integrate a small speaker and a small display screen, and mount it on the drone;

[0050] Step 2, record different prompt voices, such as "Please look at the camera", and when the text message is displayed on the screen, the small speaker plays the corresponding voice prompt;

[0051] Step 2.1, fix the reminder device to a suitable position on the drone to ensure that it does not affect the flight and shooting angle of the drone;

[0052] Step 2.2, connect the power cable and control cable of the device to the drone to ensure the normal operation of the device;

[0053] Step 2.3, before the drone takes off, the operator checks whether the reminder device is working properly;

[0054] Step 2.4: During the flight, according to the shooting requirements, the operator selects the corresponding prompt voice by touching or pressing buttons;

[0055] Step 2.5, when text information appears on the display screen, the small speaker plays the corresponding voice prompt synchronously;

[0056] Step 2.6: The subject cooperates according to the prompts to complete the shooting.

[0057] Step 3, shooting angle selection, through the flight control of the drone and the rotation of the gimbal, multi-angle shooting can be achieved. A variety of shooting angle modes can be preset, such as overhead shooting, upward shooting, side shooting, etc., and can also be adjusted in real time according to actual shooting needs to obtain the best shooting angle;

[0058] Step 3.1, preset shooting angle modes, including overhead shooting, downward shooting, side shooting, and follow shooting;

[0059] Step 3.1.1, Overhead shooting mode: The drone flies directly above the target, and the gimbal shoots vertically downward. It is suitable for showing the full view of the ground or large scenes. The angle formula of the overhead shooting mode is:

[0060] α=θ-90°

[0061] In the formula, α is the depression angle, θ is the vertical rotation angle of the gimbal. When the UAV flies directly above the target, the gimbal rotates vertically downward so that θ = 90°, and α = 0°, achieving vertical downward shooting;

[0062] Step 3.1.2, Upward shooting mode: The drone is located below the target, and the gimbal shoots upward. It is suitable for showing towering buildings or natural landscapes. The angle formula of the upward shooting mode is:

[0063] β=90°-θ

[0064] Where β is the pitch angle. When the UAV is below the target, the gimbal rotates upward, θ is less than 90°, and β is greater than 0°, achieving upward shooting.

[0065] Step 3.1.3, side shooting mode: The drone is parallel to the target, and the gimbal is shooting horizontally. It is suitable for showing the side details of the object or dynamic scenes. In side shooting mode, the side angle is equal to the horizontal rotation angle of the gimbal. When the drone is parallel to the target, the gimbal rotates horizontally. The side angle can be any angle between 0° and 180° to achieve side shooting.

[0066] Step 3.1.4, Follow mode: The drone follows the target, maintaining a certain distance and angle. It is suitable for shooting moving objects. The angle formula of the follow mode is:

[0067]

[0068] Where δ is the following angle, The horizontal rotation angle of the gimbal allows the drone to follow the target and adjust and θ to maintain a certain following angle δ;

[0069] Step 3.2, flight control adjustment: The operator adjusts the flight altitude, direction and speed of the drone in real time through the remote controller or ground station software to change the shooting angle;

[0070] Step 3.3, pan / tilt rotation adjustment: The operator controls the horizontal rotation angle and vertical angle of the pan / tilt to achieve a shooting range of 360 degrees in the horizontal direction and a certain angle in the vertical direction.

[0071] Step 4: Camera attitude anti-shake optimization. Use sensors to monitor the changes in the drone’s attitude in real time, quickly adjust the camera’s angle, compensate for the impact of the drone’s shaking, and ensure the stability of the captured image during flight. The camera attitude anti-shake optimization flow chart is as follows: Figure 2 As shown;

[0072] Step 4.1: The attitude change of the drone is monitored in real time by the built-in gyroscope and other sensors to obtain the angular velocity vector [w x ,w y ,w z ],w x is the angular velocity of the drone on the roll axis, w y is the angular velocity of the drone on the pitch axis, w z is the angular velocity of the UAV on the yaw axis;

[0073] Step 4.2, collect the angular velocity angle of the drone according to step 4.1, and calculate the total angle adjustment of the camera on each axis:

[0074]

[0075] In the formula, Δθ c,x , Δθ c,y , Δθ c,z They represent the angle adjustment of the camera gimbal on the roll axis, the pitch axis, and the yaw axis, respectively. p Represents the proportional gain, K i Represents the integral gain, K d represents the differential gain, Δw x , Δw y , Δw z It represents the angular velocity change of the drone on the roll axis, the pitch axis, and the yaw axis. T is the sampling time interval, and t represents the integration time.

[0076] Step 4.3: The angle adjustment calculated in step 4.2 is added to the current angle of the camera to obtain the total angle of the camera on each axis, and the camera posture is updated.

[0077] Step 5: Light adaptation and adjustment. The camera is equipped with an automatic light adjustment function, which can automatically adjust the exposure parameters according to the light changes in the shooting environment to ensure good shooting effects under different lighting conditions. In addition, it also supports manual light adjustment so that the photographer can make personalized settings according to actual needs.

[0078] Step 6, real-time image transmission, uses high-speed wireless transmission technology to transmit the real-time images taken by the drone to the ground control terminal, ensuring the stability and low latency of image transmission, so that the photographer can view the shooting screen in time and conduct real-time monitoring and adjustment.

[0079] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. Anti-shake drone shooting preparation prompt system, the system integrates a speaker and a display screen, and is installed on the drone, and also records a prompt voice, which is characterized by: The system also has a multi-angle shooting function, which can achieve preset shooting angle modes through the flight control and gimbal rotation of the drone, including overhead shooting, downward shooting and side shooting, and can be adjusted in real time according to actual needs.

2. According to the method of claim 1, the specific steps of the anti-shake drone shooting preparation prompt system are as follows, characterized in that: Step 1: Build a drone shooting preparation reminder system, integrate a speaker and a display screen, and mount it on the drone; Step 2, record different prompt voices, and when the text message is displayed on the display screen, the speaker plays the corresponding voice prompt; Step 3, shooting angle selection, through the flight control of the drone and the rotation of the gimbal, multi-angle shooting can be achieved. A variety of shooting angle modes can be preset, including overhead shooting, downward shooting and side shooting, and real-time adjustment can be made according to actual shooting needs to obtain the best shooting angle; Step 4: Camera attitude anti-shake optimization: Use sensors to monitor the changes in the drone’s attitude in real time, quickly adjust the camera’s angle, compensate for the impact of drone shaking, and ensure the stability of the images captured during flight. Step 5: Light adaptation and adjustment. The camera is equipped with an automatic light adjustment function, which can automatically adjust the exposure parameters according to the light changes in the shooting environment to ensure good shooting effects under different lighting conditions. In addition, it also supports manual light adjustment so that the photographer can make personalized settings according to actual needs. Step 6, real-time image transmission, uses high-speed wireless transmission technology to transmit the real-time images taken by the drone to the ground control terminal, ensuring the stability and low latency of image transmission, so that the photographer can view the shooting screen in time and conduct real-time monitoring and adjustment.

3. The method of the anti-shake drone shooting preparation prompt system according to claim 1, characterized in that: The process of recording different prompt voices in step 2 is expressed as follows: Step 2.1, fix the reminder device to a suitable position on the drone to ensure that it does not affect the flight and shooting angle of the drone; Step 2.2, connect the power cable and control cable of the device to the drone to ensure the normal operation of the device; Step 2.3, before the drone takes off, the operator checks whether the reminder device is working properly; Step 2.4: During the flight, according to the shooting requirements, the operator selects the corresponding prompt voice by touching or pressing buttons; Step 2.5, when text information appears on the display screen, the small speaker plays the corresponding voice prompt synchronously; Step 2.6: The subject cooperates according to the prompts to complete the shooting.

4. The method of the anti-shake drone shooting preparation prompt system according to claim 1, characterized in that: The process of presetting multiple shooting angle modes in step 3 is as follows: Step 3.1, preset shooting angle modes, including overhead shooting, downward shooting, side shooting, and follow shooting; Step 3.1.1, Overhead shooting mode: The drone flies directly above the target, and the gimbal shoots vertically downward. It is suitable for showing the full view of the ground or large scenes. The angle formula of the overhead shooting mode is: α=θ-90° In the formula, α is the depression angle, θ is the vertical rotation angle of the gimbal. When the UAV flies directly above the target, the gimbal rotates vertically downward so that θ = 90°, and α = 0°, achieving vertical downward shooting; Step 3.1.2, Upward shooting mode: The drone is located below the target, and the gimbal shoots upward. It is suitable for showing towering buildings or natural landscapes. The angle formula of the upward shooting mode is: β=90°-θ Where β is the pitch angle. When the UAV is below the target, the gimbal rotates upward, θ is less than 90°, and β is greater than 0°, achieving upward shooting. Step 3.1.3, side shooting mode: The drone is parallel to the target, and the gimbal is shooting horizontally. It is suitable for showing the side details of the object or dynamic scenes. In side shooting mode, the side angle is equal to the horizontal rotation angle of the gimbal. When the drone is parallel to the target, the gimbal rotates horizontally. The side angle can be any angle between 0° and 180° to achieve side shooting. Step 3.1.4, Follow Mode: The drone follows the target, maintaining a certain distance and angle. It is suitable for shooting moving objects. The angle formula of the Follow Mode is: Where δ is the following angle, The horizontal rotation angle of the gimbal allows the drone to follow the target and adjust and θ to maintain a certain following angle δ; Step 3.2, flight control adjustment: The operator adjusts the flight altitude, direction and speed of the drone in real time through the remote controller or ground station software to change the shooting angle; Step 3.3, pan / tilt rotation adjustment: The operator controls the horizontal rotation angle and vertical angle of the pan / tilt to achieve a shooting range of 360 degrees in the horizontal direction and a certain angle in the vertical direction.

5. The method of the anti-shake drone shooting preparation prompt system according to claim 1, characterized in that: The process of camera posture anti-shake optimization in step 4 is as follows: Step 4.1: The attitude change of the drone is monitored in real time by the built-in gyroscope and other sensors to obtain the angular velocity vector [w x ,w y ,w z ],w x is the angular velocity of the drone on the roll axis, w y is the angular velocity of the drone on the pitch axis, w z is the angular velocity of the UAV on the yaw axis; Step 4.2, collect the angular velocity angle of the drone according to step 4.1, and calculate the total angle adjustment of the camera on each axis: In the formula, Δθ c,x , Δθ c,y , Δθ c,z They represent the angle adjustment of the camera gimbal on the roll axis, the pitch axis, and the yaw axis, respectively. p Represents the proportional gain, K i Represents the integral gain, K d represents the differential gain, Δw x , Δw y , Δw z It represents the angular velocity change of the drone on the roll axis, the pitch axis, and the yaw axis. T is the sampling time interval, and t represents the integration time. Step 4.3: The angle adjustment calculated in step 4.2 is added to the current angle of the camera to obtain the total angle of the camera on each axis, and the camera posture is updated.

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