Unmanned equipment camera visual angle switching method and device based on remote control equipment type, equipment and storage medium

Abstract

The embodiment of the invention discloses an unmanned equipment camera visual angle switching method and device based on a remote control equipment type, equipment and a storage medium, and relates to the technical field of equipment control. The method comprises the following steps: acquiring type information of remote control equipment; under the condition that the remote control equipment is of the first type, generating a first switching instruction based on the received visual angle switching operation so as to control a camera of the unmanned equipment to switch visual angles according to first control logic; and under the condition that the remote control equipment is of the second type, generating a second switching instruction based on the received visual angle switching operation so as to control the camera of the unmanned equipment to switch the visual angle according to a second control logic. According to the technical scheme, the camera of the unmanned equipment is controlled to switch the visual angle according to different control logics according to the type information of the remote control equipment, so that the unmanned equipment can realize quick, accurate and smooth switching of the visual angle of the camera under the control of various types of remote control equipment, and the flexibility and individuation degree of user experience are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of device control technology, and in particular, to a method, apparatus, device and storage medium for switching the camera perspective of an unmanned device based on the type of remote control device. Background Art

[0002] In the field of drones, in order to fully capture key information during the flight of drones and assist the intelligent visual operations of drones, current drones generally adopt a first-person perspective remote control strategy.

[0003] Drones can be equipped with multiple cameras to take into account the image acquisition needs of all directions. However, equipping drones with multiple cameras leads to high costs, complex software and hardware design, and very limited viewing angles, making it difficult to cover the middle area of ​​the drone's flight path.

[0004] To overcome the above limitations, some drones are equipped with fisheye cameras, which can capture images of a wide range of scenes. However, in actual applications, users need special remote control equipment to switch the viewing angle of the fisheye camera or adjust the shooting parameters, which undoubtedly raises the technical threshold for users to operate drones.

[0005] Therefore, how to enable unmanned devices to achieve fast, accurate and smooth switching of camera perspectives under the control of various types of remote control devices, and improve the flexibility and personalization of user experience is an urgent problem that people in this field need to solve. Summary of the invention

[0006] The embodiments of the present invention provide a method, apparatus, device and storage medium for switching the camera perspective of an unmanned device based on the type of remote control device, which can enable the unmanned device to quickly, accurately and smoothly switch the camera perspective under the control of various types of remote control devices, thereby improving the flexibility and personalization of the user experience.

[0007] In a first aspect, an embodiment of the present invention provides a method for switching camera perspectives of an unmanned device based on the type of remote control device, wherein the unmanned device is configured with a camera for acquiring image data of at least two perspectives; the method comprises:

[0008] Get the type information of the remote control device;

[0009] In the case where the remote control device is of the first type, generating a first switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the first control logic;

[0010] In the case where the remote control device is of the second type, a second switching instruction is generated based on the received perspective switching operation to control the camera of the unmanned device to switch perspectives according to a second control logic.

[0011] In a second aspect, an embodiment of the present invention further provides a device for switching camera angles of an unmanned device based on the type of remote control device, the device comprising:

[0012] A type information acquisition module, used to acquire type information of a remote control device;

[0013] A first type control module, configured to generate a first switching instruction based on a received perspective switching operation when the remote control device is of the first type, so as to control the camera of the unmanned device to switch the perspective according to a first control logic;

[0014] The second type control module is used to generate a second switching instruction based on the received perspective switching operation when the remote control device is of the second type, so as to control the camera of the unmanned device to switch the perspective according to the second control logic.

[0015] In a third aspect, an embodiment of the present invention further provides an unmanned device, which is equipped with a camera and includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the unmanned device camera perspective switching method based on the remote control device type described in an embodiment of the present invention.

[0016] In a fourth aspect, an embodiment of the present invention further provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to execute the unmanned device camera perspective switching method based on the remote control device type described in an embodiment of the present invention.

[0017] In an embodiment of the present invention, the type information of the remote control device is obtained; when the remote control device is of the first type, a first switching instruction is generated based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the first control logic; when the remote control device is of the second type, a second switching instruction is generated based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the second control logic. The above-mentioned unmanned device camera perspective switching method based on the type of remote control device controls the camera of the unmanned device to switch the perspective according to different control logics according to the type information of the remote control device, so that the unmanned device can achieve fast, accurate and smooth switching of the camera perspective under the control of various types of remote control devices, thereby improving the flexibility and personalization of the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a process of switching the camera perspective of an unmanned device based on the type of remote control device provided in the first embodiment of the present application;

[0019] Figure 2 A schematic flow chart of a method for switching camera viewing angles of an unmanned device based on the type of remote control device provided in the second embodiment of the present invention;

[0020] Figure 3 A schematic diagram of a flow chart of a method for switching camera viewing angles of an unmanned device based on the type of remote control device provided in Embodiment 3 of the present application;

[0021] Figure 4 is an example diagram of the orientation relationship between viewing angles provided in Embodiment 3 of the present application;

[0022] Figure 5 is an example diagram of the orientation relationship between viewing angles provided in Embodiment 3 of the present application;

[0023] Figure 6 A schematic diagram of a flow chart of a method for switching camera viewing angles of an unmanned device based on the type of remote control device provided in the fourth embodiment of the present application;

[0024] Figure 7 This is a structural schematic diagram of an unmanned equipment camera viewing angle switching device based on a remote control device type provided in Example 5 of the present application;

[0025] Figure 8 It is a structural schematic diagram of an unmanned device provided in Example 6 of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0027] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0028] The following, in conjunction with the accompanying drawings, describes in detail the camera perspective switching method for an unmanned device based on the remote control device type provided in the embodiment of the present application through specific embodiments and their application scenarios.

[0029] Embodiment 1

[0030] Figure 1 1 is a flow chart of a method for switching camera viewing angles of an unmanned device based on the type of remote control device provided in the first embodiment of the present application. Figure 1 As shown, the specific steps include:

[0031] S101, obtaining type information of the remote control device;

[0032] The application scenario of this solution can be a scenario where the user needs to switch the camera perspective to obtain the target perspective when the unmanned equipment is waiting or executing a task instruction.

[0033] Based on the above usage scenarios, it can be understood that the executor of the present application can be the unmanned device, specifically the processor in the unmanned device, etc., and no excessive limitations are made here.

[0034] Unmanned equipment can refer to unmanned equipment that can execute tasks or instructions issued by users, such as unmanned aerial vehicles and agricultural drones. A camera is a device used to capture image data; image data is information used to represent an image, stored and processed in digital form. The viewing angle refers to the range and angle of the scene that a user can see through a camera, and the image data of a viewing angle refers to the image presented by the scene within the range and angle that can be seen through the viewing angle.

[0035] In this technical solution, optionally, the camera uses electronic pan-tilt technology to switch viewing angles.

[0036] Electronic pan / tilt technology is a new type of integrated pan / tilt technology compared to traditional mechanical pan / tilt technology. Electronic pan / tilt technology does not require mechanical rotating parts, and directly controls the lens's viewing angle and zoom function inside the camera through a program, so that the target viewing angle can be selected within its wide field of view.

[0037] Cameras that can use electronic pan / tilt technology include fisheye cameras or wide-angle cameras. Specifically, fisheye cameras have an extremely short focal length and a very large field of view, which can reach or exceed 180 degrees; wide-angle cameras have a shorter focal length and a field of view that is generally above 60 degrees, but smaller than the field of view of fisheye lenses, and the degree of image distortion is smaller than that of fisheye cameras.

[0038] In this solution, the camera can simultaneously obtain image data from various viewing angles between 0 degrees (forward view) and 90 degrees (downward view), where 0 degrees refers to the forward direction of the unmanned device.

[0039] The advantage of this arrangement is that by using the electronic pan-tilt technology of the camera to switch the viewing angle, it can avoid the shortcomings of multi-eye cameras such as high cost and blind spots in the field of view, and achieve fast, smooth and mechanically wear-free viewing angle switching.

[0040] The remote control device may refer to a tool used by a user to remotely control an unmanned device. The type information of the remote control device may be a result of classification according to the operation type of the remote control device, including a first type and a second type. A connection needs to be established between the remote control device and the unmanned device so that the user can remotely control the unmanned device through the remote control device. During or after the remote control device and the unmanned device establish a connection, the remote control device and the unmanned device may communicate, and the remote control device sends the type information to the unmanned device so that the unmanned device obtains the type information of the remote control device.

[0041] S102: if the remote control device is of the first type, generating a first switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to a first control logic;

[0042] The first type may refer to a device dedicated to controlling unmanned equipment, which can achieve high-precision switching of the camera angle of the unmanned equipment through angle switching operations, such as a remote controller device, wherein the high-precision switching may refer to switching with a granularity of 1 degree.

[0043] The perspective switching operation may refer to an operation performed by a user on a remote control device. The remote control device may directly send the perspective switching operation to the unmanned device, and the unmanned device may generate a switching instruction; the remote control device may also generate a switching instruction according to the perspective switching operation, and then send the switching instruction to the unmanned device.

[0044] Depending on the type information of the remote control device, the viewing angle switching operation is also different. For example, if the remote control device is a remote control device, and its type information is the first type, the user can perform the viewing angle switching operation through the wheel and / or knob of the remote control device.

[0045] The first switching instruction may refer to an instruction for controlling the camera of the unmanned device to switch the viewing angle, generated according to the viewing angle switching operation of the first type of remote control device. If the remote control device is a remote control device, and its type information is the first type, the viewing angle switching operation can be obtained through the wave wheel and / or knob of the remote control device to obtain the viewing angle adjustment value, and the first switching instruction is generated based on the viewing angle adjustment value to control the camera of the unmanned device to switch the viewing angle according to the viewing angle adjustment value.

[0046] S103: When the remote control device is of the second type, generate a second switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch perspective according to a second control logic.

[0047] The second type may refer to a device that is not dedicated to controlling unmanned devices and can only be switched among candidate perspectives of the unmanned device through a perspective switching operation, such as a smart terminal device.

[0048] According to the different type information of the remote control device, the view switching operation is also different accordingly. For example, if the remote control device is a smart terminal device and its type information is the second type, the view switching operation includes a click switching operation and a slide switching operation.

[0049] The second switching instruction may refer to an instruction for controlling the camera of the unmanned device to switch the viewing angle, generated according to the viewing angle switching operation of the second type of remote control device. If the remote control device is a smart terminal device, its type information is the second type, and the viewing angle switching operation is a click switching operation, the target candidate viewing angle is determined according to the click area of ​​the click switching operation, and the second switching instruction is generated based on the target candidate viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target candidate viewing angle; if the remote control device is a smart terminal device, its type information is the second type, and the viewing angle switching operation is a sliding switching operation, the target candidate viewing angle is determined according to the sliding direction of the sliding switching operation, and the second switching instruction is generated based on the target candidate viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target candidate viewing angle.

[0050] In the present technical solution, optionally, in the process of controlling the camera of the unmanned device to switch the viewing angle according to the first control logic, or in the process of controlling the camera of the unmanned device to switch the viewing angle according to the second control logic, the camera of the unmanned device switches the viewing angle at a speed that is first fast and then slow.

[0051] The viewing angle switching speed may refer to the change value of the viewing angle of the camera of the unmanned device within a unit time.

[0052] In the present technical solution, optionally, the perspective switching speed is obtained based on iterative calculation.

[0053] In this solution, the iteration method may be based on the viewing angles at the previous moment and the current moment, and may also be based on the angle difference between the viewing angle at the current moment and the target viewing angle.

[0054] Specifically, the iterative calculation formula for the perspective switching speed is as follows:

[0055]

[0056] P t+1 =P t +V t+1

[0057] Where t represents the current moment, t+1 represents the next moment, and the granularity of t is 1 second; V t+1 Indicates the perspective switching speed at the next moment; P t Indicates the real-time viewing angle at the current moment, P t-1 Indicates the real-time viewing angle of the previous moment, P t+1 Indicates the real-time viewing angle at the next moment.

[0058] When |P t -P t-1 When the value of | is large, The value of this exponential part will be smaller, so The value of is close to 1, that is, the viewing angle switching speed is large. This means that in the initial stage of viewing angle switching, the viewing angle changes greatly and the viewing angle switching speed is fast. As time goes by, when the viewing angle change gradually decreases, that is, |P t -P t-1 The value of | is getting smaller and smaller. At this time, This exponential part is getting closer and closer to 1, then The value of becomes smaller and smaller, that is, the perspective switching speed gradually slows down.

[0059] The advantage of such a setting of the present solution is that, by iteratively calculating the perspective switching speed, the perspective switching speed can be made suitable for various perspective switching scenarios, thereby achieving the best perspective switching effect.

[0060] The advantage of this arrangement of the present invention is that the camera of the unmanned device switches the perspective at a speed that is first fast and then slow, which can make the switching of the camera perspective smoother and more in line with the natural transition habits of human vision.

[0061] In an embodiment of the present invention, the type information of the remote control device is obtained; when the remote control device is of the first type, a first switching instruction is generated based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the first control logic; when the remote control device is of the second type, a second switching instruction is generated based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the second control logic. The above-mentioned unmanned device camera perspective switching method based on the type of remote control device controls the camera of the unmanned device to switch the perspective according to different control logics according to the type information of the remote control device, so that the unmanned device can achieve fast, accurate and smooth switching of the camera perspective under the control of various types of remote control devices, thereby improving the flexibility and personalization of the user experience.

[0062] Embodiment 2

[0063] Figure 2It is a flow chart of the method for switching the camera angle of an unmanned device based on the remote control device type provided in the second embodiment of the present application. This scheme makes a better improvement on the above embodiment, and the specific improvement is: the first type of remote control device includes a remote control device; accordingly, a first switching instruction is generated based on the received angle switching operation to control the camera of the unmanned device to switch the angle of view according to the first control logic, including: obtaining the angle switching operation through the wave wheel and / or knob of the remote control device to obtain the angle adjustment value; based on the angle adjustment value, a first switching instruction is generated to control the camera of the unmanned device to switch the angle of view according to the angle adjustment value.

[0064] like Figure 2 As shown, specifically including the following:

[0065] S201, obtaining type information of the remote control device;

[0066] S202: When the remote control device is of the first type, obtaining a viewing angle switching operation through a wheel and / or a knob of the remote control device to obtain a viewing angle adjustment value;

[0067] The remote control device can communicate with the unmanned device through wireless signals such as infrared, radio frequency or Bluetooth. The remote control device is equipped with a wheel and / or a knob. Among them, the wheel can be rolled and the knob can be pressed in a direction.

[0068] The viewing angle adjustment value is a parameter value used to describe the user's demand for how to adjust the viewing angle, and may include the viewing angle adjustment direction and the viewing angle adjustment angle. Specifically, the viewing angle switching operation is obtained through the wheel of the remote control device to obtain the viewing angle adjustment value. The viewing angle switching operation can be obtained through the wheel of the remote control device to obtain the wheel scrolling direction and the wheel scrolling distance, and the viewing angle adjustment direction is determined according to the wheel scrolling direction, and the viewing angle adjustment angle is determined according to the wheel scrolling distance; the viewing angle switching operation is obtained through the knob of the remote control device to obtain the viewing angle adjustment value. The viewing angle switching operation can be obtained through the knob of the remote control device to obtain the knob rotation angle after pressing and the knob continuous pressing time, and the viewing angle adjustment direction is determined according to the knob rotation angle after pressing, and the viewing angle adjustment angle is determined according to the knob rotation angle and the knob continuous pressing time.

[0069] In the technical solution, optionally, obtaining the viewing angle switching operation through the wheel and / or knob of the remote control device to obtain the viewing angle adjustment value includes:

[0070] Obtaining a viewing angle switching operation through a wheel of the remote control device to obtain a wheel scrolling direction and a wheel scrolling distance;

[0071] Determine the viewing angle adjustment direction according to the wheel scrolling direction, and determine the viewing angle adjustment angle according to the wheel scrolling distance;

[0072] and / or,

[0073] Obtaining a viewing angle switching operation through a knob of the remote control device, and obtaining a knob rotation angle after being pressed and a knob continuous pressing time;

[0074] The viewing angle adjustment direction is determined according to the rotation angle of the knob after being pressed, and the viewing angle adjustment angle is determined according to the rotation angle of the knob and the duration for which the knob is continuously pressed.

[0075] The viewing angle adjustment direction may refer to the orientation of the target viewing angle relative to the current viewing angle, and the viewing angle adjustment angle may refer to the difference between the target viewing angle and the current viewing angle. For example, if the target viewing angle is 0 degrees (forward viewing) and the current viewing angle is 90 degrees (downward viewing), the viewing angle adjustment direction is a negative direction and the viewing angle adjustment angle is 90 degrees.

[0076] The wheel scrolling direction may refer to the direction in which the user scrolls the wheel, such as left and right or up and down; the wheel scrolling distance may refer to the length of displacement of the wheel caused by the user scrolling the wheel. The wheel scrolling direction and wheel scrolling distance may be acquired by a sensor or other device connected to the wheel on the remote control device.

[0077] The correlation between the impeller scrolling direction and the viewing angle adjustment direction can be preset; for example, when the impeller scrolling direction is left or upward, the associated viewing angle adjustment direction is the negative direction, and when the impeller scrolling direction is right or downward, the associated viewing angle adjustment direction is the positive direction. The correlation between the impeller scrolling distance and the viewing angle adjustment angle can also be preset; for example, when the impeller scrolling distance is 1 cm, the associated viewing angle adjustment angle is 30 degrees, and when the impeller scrolling distance is 2 cm, the associated viewing angle adjustment angle is 60 degrees.

[0078] The knob rotation angle may be a parameter used to describe the direction in which the user presses the knob to rotate. For example, 0 degrees means that the user presses the knob upward, and 180 degrees means that the user presses the knob downward. The knob continuous pressing duration may refer to the duration for which the user presses the knob. The knob rotation angle and the knob continuous pressing duration may be obtained by a sensor or other device connected to the knob on the remote control device.

[0079] The relationship between the knob rotation angle and the viewing angle adjustment direction can be preset; for example, when the knob rotation angle is 0 degrees, the viewing angle adjustment direction is negative, and when the wheel scrolls 180 degrees, the viewing angle adjustment direction is positive. The relationship between the duration of the knob being pressed and the viewing angle adjustment angle can also be preset; for example, when the knob is pressed for 1 second, the viewing angle adjustment angle is 30 degrees, and when the knob is pressed for 2 seconds, the viewing angle adjustment angle is 60 degrees.

[0080] The advantage of this arrangement of the present invention is that by determining the viewing angle adjustment direction according to the direction of the wheel scrolling or the knob rotation angle, and determining the viewing angle adjustment angle according to the wheel scrolling distance or the continuous pressing time of the knob, the viewing angle adjustment direction and the viewing angle can be accurately determined, thereby improving the accuracy of viewing angle switching.

[0081] S203, generating a first switching instruction based on the viewing angle adjustment value to control the camera of the unmanned device to switch the viewing angle according to the viewing angle adjustment value;

[0082] The method of generating the first switching instruction based on the perspective adjustment value can be adopted to determine the target perspective angle according to the perspective adjustment value, so as to iteratively determine the perspective switching speed and the real-time perspective angle at each moment, and generate a switching instruction at each moment according to the perspective switching speed and the real-time perspective angle at that moment, so as to control the unmanned equipment to adjust the perspective angle to the real-time perspective angle at that moment according to the perspective switching speed at that moment, until the real-time perspective angle at a certain moment is consistent with the target perspective angle, and stop generating the switching instruction.

[0083] Specifically, the calculation formula for determining the perspective switching speed at a moment is:

[0084]

[0085] The calculation formula for determining the real-time viewing angle at a moment is:

[0086] P t+1 =P t +V t+1

[0087] Where t represents the current moment, t+1 represents the next moment, and the granularity of t is 1 second; V t+1 Indicates the perspective switching speed at the next moment; P t Indicates the real-time viewing angle at the current moment, P t-1 Indicates the real-time viewing angle of the previous moment, P t+1 It indicates the real-time viewing angle at the next moment. It is understandable that the viewing angle switching speed and the real-time viewing angle at the next moment are determined at the current moment and a switching instruction is generated, so that the camera viewing angle of the unmanned device can be smoothly switched.

[0088] Optionally, in this solution, the operation type information of the unmanned equipment can also be obtained, and the view switching speed and the real-time view angle at each moment can be determined according to the operation type information. Specifically, the calculation formula for determining the view switching speed at a moment is:

[0089]

[0090] The calculation formula for determining the real-time viewing angle at a moment is:

[0091] P t+1 =P t +V t+1

[0092] Among them, α1 is the scaling factor associated with the job type information.

[0093] S204: When the remote control device is of the second type, generate a second switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the second control logic.

[0094] The advantage of this arrangement of the present solution is that the viewing angle switching operation is obtained through the wave wheel and / or knob of the remote control device, the viewing angle adjustment value is obtained, and the first switching instruction is generated based on the viewing angle adjustment value, so as to realize high-precision switching of the camera viewing angle of the unmanned device.

[0095] Embodiment 3

[0096] Figure 3 It is a flow chart of the method for switching the camera perspective of an unmanned device based on the remote control device type provided in Example 2 of the present application. This solution makes a better improvement on Example 1, and the specific improvement is: the first type of remote control device includes a remote control device; accordingly, a first switching instruction is generated based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the first control logic, including: obtaining the perspective switching operation through the quick switching button of the remote control device to obtain the target custom perspective; based on the target custom perspective, a first switching instruction is generated to control the camera of the unmanned device to jump from the current perspective to the target custom perspective.

[0097] like Figure 3 As shown, specifically including the following:

[0098] S301, obtaining type information of the remote control device;

[0099] S302: When the remote control device is of the first type, obtaining a view switching operation through a quick switch button of the remote control device to obtain a target custom view;

[0100] The quick switch button may be a button for the user to switch between custom perspectives. The custom perspective may refer to a commonly used perspective set by the user. The target custom perspective may refer to the custom perspective that the current user needs to switch to after pressing the quick switch button.

[0101] The method of obtaining the target custom perspective by obtaining the perspective switching operation through the quick switching button of the remote control device can be to determine the custom perspective with the smallest or largest angle difference with the current perspective (except the custom perspective that is the same as the current perspective) as the target custom perspective among the pre-stored custom perspectives.

[0102] In this technical solution, the process of pre-storing the custom perspective optionally includes:

[0103] In case of receiving a custom viewing angle setting operation, determining the current viewing angle as a custom viewing angle and storing it in a custom viewing angle list; wherein the custom viewing angle list includes at least one custom viewing angle;

[0104] Correspondingly, the view switching operation is obtained through the quick switch button of the remote control device to obtain the target custom view, including:

[0105] A view switching operation is acquired through a quick switch button of the remote controller device, and a target custom view is determined in the custom view list.

[0106] The custom perspective setting operation may refer to an operation in which the user needs to set the current perspective to a custom perspective, such as pressing a custom perspective setting button, etc. When the custom perspective setting operation is received, a new data structure representing the custom perspective is created, and the specific value of the data representing the custom perspective angle in the data structure is determined as the angle of the current perspective.

[0107] The custom perspective list may be a list for storing custom perspectives in order. The target custom perspective may be determined in the custom perspective list by following the order of the custom perspectives in the custom perspective list and determining the custom perspective with the smallest or largest angle difference from the current perspective (except for the custom perspective that is the same as the current perspective) as the target custom perspective.

[0108] The benefit of this arrangement of the solution is that by pre-storing custom perspectives, it is possible to quickly switch between the user's commonly used perspectives, meet the user's personalized needs, and optimize the user's usage experience.

[0109] S303, generating a first switching instruction based on the target custom viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target custom viewing angle;

[0110] The method of generating the first switching instruction based on the target customized perspective can use iteration to determine the perspective switching speed and the real-time perspective angle at each moment, and generate a switching instruction at each moment according to the perspective switching speed and the real-time perspective angle at that moment, so as to control the unmanned equipment to adjust the perspective angle to the real-time perspective angle at that moment according to the perspective switching speed at that moment, until the real-time perspective angle at a certain moment is consistent with the angle of the target customized perspective, and stop generating the switching instruction.

[0111] Specifically, the calculation formula for determining the perspective switching speed at a moment is:

[0112]

[0113] The calculation formula for determining the real-time viewing angle at a moment is:

[0114] P t+1 =P t +V t+1

[0115] Optionally, in this solution, the perspective switching speed and the real-time perspective angle at each moment can also be determined according to the azimuth relationship between the target custom perspective and the current perspective. Specifically, the calculation formula for determining the perspective switching speed at a moment is:

[0116]

[0117] The calculation formula for determining the real-time viewing angle at a moment is:

[0118] P t+1 =P t +V t+1

[0119] Among them, α2 is a proportional factor associated with the azimuth relationship between the target custom perspective and the current perspective. Specifically, when the azimuth relationship between the target custom perspective and the current perspective is an adjacent relationship, a lower perspective switching speed can be used, that is, α2 uses a smaller value; when the azimuth relationship between the target custom perspective and the current perspective is an interval relationship, a higher perspective switching speed can be used, that is, α2 uses a larger value.

[0120] Figure 4 is an example diagram of the orientation relationship between viewing angles provided in the third embodiment of the present application. Figure 4 As shown, the entire scene range can be divided into three perspectives: upper, middle and lower. This perspective setting model is suitable for scenes where the camera uses a monocular fisheye camera, which can simultaneously obtain image data of each perspective between 0 degrees (forward view) and 90 degrees (downward view).

[0121] Figure 5is an example diagram of the orientation relationship between viewing angles provided in the third embodiment of the present application. Figure 5 As shown, the entire scene range can also be divided into nine viewing angles, namely, upper left, upper, upper right, left, middle, right, lower left, lower and lower right. Among them, the specific orientation relationship is, for example, that the orientation relationship between the three viewing angles of upper, middle and left and the upper left viewing angle is an adjacent relationship, and the orientation relationship between the five viewing angles of upper right, right, lower right, lower and lower left and the upper left viewing angle is an interval relationship.

[0122] Optionally, the method of controlling the camera of the unmanned device to jump from the current perspective to the target custom perspective can also be used to control the camera of the unmanned device to jump directly from the current perspective to the target custom perspective, without excluding the smooth switching process in the middle, so as to jump the current perspective to the target custom perspective at the fastest speed.

[0123] In this solution, preferably, the current perspective is switched to the target custom perspective by translation, which can avoid the problem of abrupt viewing experience caused by perspective jump, and the user needs to confirm the perspective direction after the jump. By using the translation method, the user can feel the change of perspective switching, which is conducive to the user to determine the direction of the perspective after switching, and is convenient for actual production and life use.

[0124] S304: When the remote control device is of the second type, generate a second switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the second control logic.

[0125] The advantage of this arrangement of the present solution is that the perspective switching operation is obtained through the quick switching button of the remote control device, the target custom perspective is obtained, and a first switching instruction is generated based on the target custom perspective, which can realize quick switching between the user's custom perspectives, simplify the user's perspective switching operation, and improve efficiency.

[0126] Embodiment 4

[0127] Figure 6 This is a flow chart of the method for switching the camera perspective of an unmanned device based on the remote control device type provided in Example 2 of the present application. This solution makes a better improvement on Example 1, and the specific improvement is: the second type of remote control device includes a smart terminal device; accordingly, a second switching instruction is generated based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the second control logic, including: obtaining a click switching operation through the smart terminal device to obtain a click area; determining a target candidate perspective according to the click area; generating a second switching instruction based on the target candidate perspective to control the camera of the unmanned device to jump from the current perspective to the target candidate perspective.

[0128] like Figure 6As shown, specifically including the following:

[0129] S601, obtaining type information of the remote control device;

[0130] S602: if the remote control device is of the first type, generate a first switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the first control logic;

[0131] S603: When the remote control device is of the second type, acquiring a click switching operation through the smart terminal device to obtain a click area;

[0132] Smart terminal devices refer to electronic devices with computing capabilities, network connections, and multiple functions. Smart terminal devices may have a display screen, and users can perform click-to-switch operations and slide-to-switch operations on the display screen. The click-to-switch operation may refer to an operation in which the user briefly touches the display screen.

[0133] The click area may refer to the area clicked by the user on the display screen. The click area may be determined based on a pressure sensor under the display screen. When a pressure sensor under the display screen detects a pressure value, the display screen area corresponding to the pressure sensor is the click area.

[0134] S604, determining a target candidate viewing angle according to the click area;

[0135] The candidate perspective may refer to a preset perspective of the unmanned device, and the unmanned device generally includes two candidate perspectives. The target candidate perspective may refer to a candidate perspective that the current user needs to switch to after performing a click switch operation.

[0136] The association relationship between the click area and the target candidate viewing angle can be preset. For example, if the click area is the left half or the upper half of the display screen, the associated target candidate viewing angle is the first candidate viewing angle; if the click area is the right half or the lower half of the display screen, the associated target candidate viewing angle is the second candidate viewing angle.

[0137] S605: Generate a second switching instruction based on the target candidate viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target candidate viewing angle.

[0138] The method of generating the second switching instruction based on the target candidate perspective can use an iterative method to determine the perspective switching speed and the real-time perspective angle at each moment, and generate a switching instruction at each moment according to the perspective switching speed and the real-time perspective angle at that moment, so as to control the unmanned equipment to adjust the perspective angle to the real-time perspective angle at that moment according to the perspective switching speed at that moment, until the real-time perspective angle at a certain moment is consistent with the angle of the target candidate perspective, and stop generating the switching instruction.

[0139] Specifically, the calculation formula for determining the perspective switching speed at a moment is:

[0140]

[0141] The calculation formula for determining the real-time viewing angle at a moment is:

[0142] P t+1 =P t +V t+1

[0143] Optionally, in this solution, the perspective switching speed and the real-time perspective angle at each moment can also be determined according to the azimuth relationship between the target candidate perspective and the current perspective. Specifically, the calculation formula for determining the perspective switching speed at a moment is:

[0144]

[0145] The calculation formula for determining the real-time viewing angle at a moment is:

[0146] P t+1 =P t +V t+1

[0147] Among them, α3 is a scaling factor associated with the orientation relationship between the target candidate view and the current view.

[0148] The advantage of this arrangement of the present invention is that by generating a second switching instruction based on the click area of ​​the click switching operation on the smart terminal device, quick switching between candidate perspectives of the unmanned device can be achieved, simplifying the user's perspective switching operation on the smart terminal device and improving efficiency.

[0149] In this technical solution, optionally, the second type of remote control device includes an intelligent terminal device;

[0150] Accordingly, generating a second switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the second control logic includes:

[0151] Acquire a sliding switching operation through the smart terminal device to obtain a sliding direction;

[0152] Determine a target candidate viewing angle according to the sliding direction;

[0153] A second switching instruction is generated based on the target candidate viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target candidate viewing angle.

[0154] The intelligent terminal device may have a display screen, and the user may perform a click switching operation and a slide switching operation on the display screen, wherein the slide switching operation may refer to an operation in which the user slides and touches the display screen.

[0155] The sliding direction may refer to the direction of the sliding end point relative to the sliding start point when the user slides on the display screen. The sliding direction may be determined based on the pressure sensor under the display screen. When a pressure sensor under the display screen detects a pressure value, the display screen area corresponding to the pressure sensor is touched. The sliding direction may be determined based on the order in which the pressure sensors detect the pressure values.

[0156] The association relationship between the sliding direction and the target candidate viewing angle can be preset. For example, if the sliding direction is leftward or upward, the associated target candidate viewing angle is the first candidate viewing angle; if the sliding direction is rightward or downward, the associated target candidate viewing angle is the second candidate viewing angle.

[0157] The advantage of this arrangement of the present invention is that by generating a second switching instruction according to the sliding direction of the sliding switching operation on the smart terminal device, quick switching between candidate perspectives of the unmanned device can be achieved, simplifying the user's perspective switching operation on the smart terminal device and improving efficiency.

[0158] Embodiment 5

[0159] Figure 7 Schematic diagram of the structure of the camera viewing angle switching device for unmanned equipment based on remote control equipment type provided in the fifth embodiment of the present application. Figure 7 As shown, specifically including the following:

[0160] A type information acquisition module 710 is used to acquire type information of a remote control device;

[0161] The first type control module 720 is used to generate a first switching instruction based on the received perspective switching operation when the remote control device is of the first type, so as to control the camera of the unmanned device to switch the perspective according to the first control logic;

[0162] The second type control module 730 is used to generate a second switching instruction based on the received perspective switching operation when the remote control device is of the second type, so as to control the camera of the unmanned device to switch the perspective according to the second control logic.

[0163] In an embodiment of the present invention, a type information acquisition module is used to acquire type information of a remote control device; a first type control module is used to generate a first switching instruction based on a received perspective switching operation when the remote control device is of the first type, so as to control the camera of the unmanned device to switch perspectives according to a first control logic; a second type control module is used to generate a second switching instruction based on a received perspective switching operation when the remote control device is of the second type, so as to control the camera of the unmanned device to switch perspectives according to a second control logic. The above-mentioned unmanned device camera perspective switching device based on the type of remote control device controls the camera of the unmanned device to switch perspectives according to different control logics according to the type information of the remote control device, so that the unmanned device can achieve fast, accurate and smooth switching of the camera perspective under the control of various types of remote control devices, thereby improving the flexibility and personalization of the user experience.

[0164] The unmanned equipment camera perspective switching device based on remote control device type provided in the embodiment of the present application and the unmanned equipment camera perspective switching method based on remote control device type provided in the above embodiment have the same beneficial effects. To avoid repetition, they will not be described here.

[0165] Embodiment 6

[0166] Figure 8 Schematic diagram of the structure of an unmanned device provided by Embodiment 6 of the present invention. Figure 8 As shown, the embodiment of the present application also provides an unmanned device 800, which is configured with a camera 801 and includes: one or more processors 802; a storage device 803, which is used to store one or more programs. The one or more programs can be executed by the one or more processors 802, and the processor 802 can implement the various processes of the above-mentioned unmanned device camera perspective switching method embodiment based on the remote control device type, and can achieve the same technical effect, so it will not be repeated here to avoid repetition.

[0167] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0168] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal (which can be a mobile device, mobile phone, computer, server or network device, etc.) to execute the methods described in each embodiment of the present application.

[0169] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for switching camera viewing angles of an unmanned device based on the type of remote control device, characterized in that: The unmanned equipment is equipped with a camera for acquiring image data from at least two perspectives; the method comprises: Get the type information of the remote control device; In the case where the remote control device is of the first type, generating a first switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the first control logic; In the case where the remote control device is of the second type, a second switching instruction is generated based on the received perspective switching operation to control the camera of the unmanned device to switch perspectives according to a second control logic.

2. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 1, characterized in that: The camera uses electronic pan-tilt technology to switch viewing angles.

3. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 1, characterized in that: In the process of controlling the camera of the unmanned device to switch the viewing angle according to the first control logic, or in the process of controlling the camera of the unmanned device to switch the viewing angle according to the second control logic, the camera of the unmanned device switches the viewing angle at a viewing angle switching speed that is first fast and then slow.

4. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 3, characterized in that: The perspective switching speed is obtained based on iterative calculation.

5. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 1, characterized in that: The first type of remote control device includes a remote controller device; Accordingly, generating a first switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the first control logic includes: Obtaining a viewing angle switching operation through a wheel and / or a knob of the remote control device to obtain a viewing angle adjustment value; A first switching instruction is generated based on the viewing angle adjustment value to control the camera of the unmanned device to switch the viewing angle according to the viewing angle adjustment value.

6. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 5, characterized in that: Obtaining a viewing angle switching operation through a wave wheel and / or a knob of the remote control device to obtain a viewing angle adjustment value includes: Obtaining a viewing angle switching operation through a wheel of the remote control device to obtain a wheel scrolling direction and a wheel scrolling distance; Determine the viewing angle adjustment direction according to the wheel scrolling direction, and determine the viewing angle adjustment angle according to the wheel scrolling distance; and / or, Obtaining a viewing angle switching operation through a knob of the remote control device, and obtaining a knob rotation angle after being pressed and a knob continuous pressing time; The viewing angle adjustment direction is determined according to the rotation angle of the knob after being pressed, and the viewing angle adjustment angle is determined according to the rotation angle of the knob and the duration for which the knob is continuously pressed.

7. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 1, characterized in that: The first type of remote control device includes a remote controller device; Accordingly, generating a first switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the first control logic includes: Obtaining a view switching operation through a quick switch button of the remote control device to obtain a target custom view; A first switching instruction is generated based on the target custom viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target custom viewing angle.

8. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 7, characterized in that: The process of pre-storing a custom perspective includes: In case of receiving a custom viewing angle setting operation, determining the current viewing angle as a custom viewing angle and storing it in a custom viewing angle list; wherein the custom viewing angle list includes at least one custom viewing angle; Correspondingly, the view switching operation is obtained through the quick switch button of the remote control device to obtain the target custom view, including: A view switching operation is acquired through a quick switch button of the remote controller device, and a target custom view is determined in the custom view list.

9. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 1, characterized in that: The second type of remote control device includes an intelligent terminal device; Accordingly, generating a second switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the second control logic includes: Acquire a click switching operation through the smart terminal device to obtain a click area; Determine a target candidate viewing angle according to the click area; A second switching instruction is generated based on the target candidate viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target candidate viewing angle.

10. The method for switching camera angles of unmanned equipment based on remote control equipment type according to claim 1, characterized in that: The second type of remote control device includes an intelligent terminal device; Accordingly, generating a second switching instruction based on the received perspective switching operation to control the camera of the unmanned device to switch the perspective according to the second control logic includes: Acquire a sliding switching operation through the smart terminal device to obtain a sliding direction; Determine a target candidate viewing angle according to the sliding direction; A second switching instruction is generated based on the target candidate viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target candidate viewing angle.

11. A camera viewing angle switching device for unmanned equipment based on remote control equipment, characterized in that: The device comprises: A type information acquisition module, used to acquire type information of a remote control device; A first type control module, configured to generate a first switching instruction based on a received perspective switching operation when the remote control device is of the first type, so as to control the camera of the unmanned device to switch the perspective according to a first control logic; The second type control module is used to generate a second switching instruction based on the received perspective switching operation when the remote control device is of the second type, so as to control the camera of the unmanned device to switch the perspective according to the second control logic.

12. An unmanned device, characterized in that: The unmanned device is configured with a camera and includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the unmanned device camera perspective switching method based on the remote control device type as described in any one of claims 1-10.

13. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to execute the unmanned equipment camera perspective switching method based on the remote control device type as described in any one of claims 1-10 when executed by a computer processor.

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