Searchlight device, detection device, control method, control device, and mobile platform

Abstract

A searchlight device (100), a detection device (200), a control method, a control device (2000), and a mobile platform (1000). The searchlight device (100) comprises at least two searchlights (10) and at least one driving mechanism (20). The at least one driving mechanism (20) is used for driving at least one searchlight (10) among the at least two searchlights (10) to change the orientation. In response to the searchlight device (100) entering a first mode, the at least one driving mechanism (20) is used for driving at least one searchlight (10) to change the orientation, so as to adjust the overlap of illumination areas of the at least two searchlights (10) to a first overlap; and in response to the searchlight device (100) entering a second mode, the at least one driving mechanism (20) is used for driving at least one searchlight (10) to change the orientation, so as to adjust the overlap of the illumination areas of the at least two searchlights (10) to a second overlap. The first mode and the second mode are related to the photographing mode of the mobile platform (1000) used for carrying the searchlight device (100), and the first overlap is different from the second overlap. The overlap of the illumination areas can be adaptively adjusted.

Description

Searchlighting device, detection device, control method, control device and mobile platform Technical Field

[0001] This application relates to the field of illumination and detection equipment technology, and in particular to illumination devices, detection devices, control methods, control devices, and mobile platforms. Background Technology

[0002] When drones are searching or taking pictures in low-light environments, such as at night or in tunnels, operators often cannot clearly identify targets. In existing technologies that use two searchlights to improve ambient light, the pitch angles of the two searchlights are typically set to the same value, and their illumination areas almost completely overlap. This current approach results in a fixed and uniform angle control of the searchlights and the degree of overlap in the illuminated area, lacking adaptive adjustment. Therefore, it cannot adapt to the requirements of various usage scenarios, leading to reduced control efficiency and accuracy in the illuminated area, and consequently, low mission efficiency. Summary of the Invention

[0003] In view of this, this application proposes a searchlight device, a detection device, a control method, a control device, and a movable platform, aiming to achieve adjustable overlap between the searchlight area or the detection area, thereby improving the control efficiency and accuracy of the searchlight area or the detection area, and thus improving the efficiency of task execution.

[0004] The searchlight device according to the first aspect of this application includes: at least two searchlights; at least one driving mechanism, wherein the at least one driving mechanism is used to drive at least one of the at least two searchlights to change its posture; wherein, in response to the searchlight device entering a first mode, the at least one driving mechanism is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of the at least two searchlights is adjusted to a first overlap; in response to the searchlight device entering a second mode, the at least one driving mechanism is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of the at least two searchlights is adjusted to a second overlap; wherein the first overlap and the second overlap are different; and the first mode and the second mode are related to the shooting mode of a movable platform for mounting the searchlight device.

[0005] By adopting the solution of this application, under different shooting modes of the mobile platform, the overlap of the illumination areas of at least two searchlights is adjusted to different degrees by the drive mechanism, thereby realizing adaptive adjustment of the overlap of the illumination areas based on different shooting modes. Therefore, it can adapt to the usage requirements in various situations and adjust the overlap of the illumination areas for different shooting modes, thereby improving the control efficiency and control accuracy of the illumination area, and thus improving the efficiency of task execution.

[0006] The second aspect of this application discloses a searchlight device comprising: at least two searchlights; at least one driving mechanism, wherein the at least one driving mechanism is used to drive at least one of the at least two searchlights to change its posture; wherein, in response to the searchlight device entering a first mode, the at least one driving mechanism is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of the at least two searchlights is adjusted to a first overlap; in response to the searchlight device entering a second mode, the at least one driving mechanism is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of the at least two searchlights is adjusted to a second overlap; wherein the first overlap and the second overlap are different, and both the first mode and the second mode are user-desired operating modes.

[0007] By adopting the solution of this application, in two different desired operating modes of the searchlight device, the overlap of the search areas of at least two searchlights is adjusted to different degrees by the drive mechanism, thereby realizing adaptive adjustment of the overlap of the search areas based on different modes. Therefore, it can adapt to the usage requirements under various conditions and adjust the overlap of the search areas to different conditions, thereby improving the control efficiency and control accuracy of the search area, and thus improving the efficiency of task execution.

[0008] The searchlight device according to the third aspect of this application includes: at least two searchlights; at least one driving mechanism, wherein the at least one driving mechanism is used to drive at least one of the at least two searchlights to change its posture; wherein, in response to the searchlight device entering a first mode, the at least one driving mechanism is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of the at least two searchlights is adjusted to a first overlap; in response to the searchlight device switching from the first mode to a second mode, the at least one driving mechanism is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of the at least two searchlights is adjusted to a second overlap, wherein the first overlap is greater than the second overlap.

[0009] By adopting the solution of this application, in two different working modes of the searchlight device, the overlap of the illumination areas of at least two searchlights is adjusted from high overlap to low overlap by the drive mechanism, thereby increasing the illumination range of the searchlights and achieving a wider range of illumination. Therefore, it can adapt to the usage requirements under various conditions, and can adjust the overlap of the illumination areas for different situations, thereby improving the control efficiency and control accuracy of the illumination area, and thus improving the efficiency of task execution.

[0010] The detection device according to the fourth aspect of this application includes: at least two detectors; at least one drive mechanism, wherein the at least one drive mechanism is used to drive at least one of the at least two detectors to change its attitude; wherein, in response to the detection device entering a first mode, the at least one drive mechanism is used to drive the at least one detector to change its attitude so that the overlap of the detection ranges of the at least two detectors is adjusted to a first overlap; in response to the detection device entering a second mode, the at least one drive mechanism is used to drive the at least one detector to change its attitude so that the overlap of the detection ranges of the at least two detectors is adjusted to a second overlap, wherein the first overlap and the second overlap are different, the first mode and the second mode are related to parameters of a movable platform for mounting the detection device, and both the first mode and the second mode are user-desired operating modes.

[0011] By adopting the solution of this application, under different parameters of the mobile platform, the overlap of the detection areas of at least two detectors can be adjusted to different degrees by the drive mechanism, thereby realizing adaptive adjustment of the overlap of different detection areas based on different modes. Therefore, it can adapt to the usage requirements under various conditions and adjust the overlap of different detection areas for different modes, thereby improving the control efficiency and control accuracy of the detection area, and thus improving the efficiency of task execution.

[0012] The fifth aspect of this application discloses a control method for a searchlight device, the control method comprising: in response to the searchlight device entering a first mode, controlling at least one drive mechanism to drive at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap; in response to the searchlight device entering a second mode, controlling at least one drive mechanism to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap, wherein the first overlap and the second overlap are different, and the first mode and the second mode are related to a shooting mode for a movable platform for mounting the searchlight device.

[0013] The sixth aspect of this application discloses a control method for a searchlight device, the control method comprising: in response to the searchlight device entering a first mode, controlling at least one drive mechanism to drive at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap; in response to the searchlight device entering a second mode, controlling at least one drive mechanism to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap, wherein the first overlap and the second overlap are different, and both the first mode and the second mode are user-desired operating modes.

[0014] The seventh aspect of this application discloses a control method for a searchlight device, the control method comprising: in response to the searchlight device entering a first mode, controlling at least one drive mechanism to drive at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap; in response to the searchlight device entering a second mode, controlling at least one drive mechanism to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap, wherein the first overlap is greater than the second overlap.

[0015] The eighth aspect of this application discloses a control method for a detection device, the control method comprising: in response to the detection device entering a first mode, controlling at least one drive mechanism to drive the at least one detector to change its attitude so that the overlap of the detection ranges of at least two detectors is adjusted to a first overlap; in response to the detection device entering a second mode, controlling at least one drive mechanism to drive the at least one detector to change its attitude so that the overlap of the detection ranges of at least two detectors is adjusted to a second overlap, wherein the first overlap is different from the second overlap, the first mode and the second mode are related to parameters of a movable platform for mounting the detection device, and both the first mode and the second mode are user-desired operating modes.

[0016] The control apparatus according to the ninth aspect of this application includes: a processor and a memory, the memory being used to store computer program instructions, and the processor being used to invoke the computer program instructions to execute any one of the control methods proposed in the fifth to eighth aspects.

[0017] The apparatus according to the tenth aspect of this application includes: a processor, a memory, and the means according to the first to fourth aspects, wherein the memory is used to store computer program instructions, and the processor is used to invoke the computer program instructions to execute any one of the control methods according to the fifth to eighth aspects.

[0018] The portable platform proposed in the eleventh aspect of this application includes: a processor and a memory. The portable platform can be used to install any of the detection devices proposed in the first to third aspects mentioned above. The memory is used to store computer program instructions, and the processor is used to call the computer program instructions to execute any of the control methods proposed in the fifth to seventh aspects mentioned above. Alternatively, the portable platform can be used to install the detection device proposed in the fourth aspect mentioned above, and the processor is used to call the computer program instructions to execute the control method proposed in the eighth aspect mentioned above.

[0019] The twelfth aspect of this application provides a computer-readable storage medium having stored thereon computer program instructions that, when invoked by a processor, cause the processor to execute the control methods described in the fifth to eighth aspects above.

[0020] As can be seen from the above technical solutions, the control device, equipment, mobile platform, and computer-readable storage medium proposed in aspects nine to twelfth of this application, by using a memory to store computer program instructions and a processor to call the computer program instructions, enable the computer program instructions to execute control methods, thereby enabling the device to adjust the overlap of the illumination area / detection area for different modes, improving the control efficiency and accuracy of the illumination area / detection area, and improving the efficiency of task execution. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 is a three-dimensional structural schematic diagram of a detection device according to an embodiment of this application;

[0023] Figure 2 is a schematic diagram showing the different degrees of overlap between the first and second illumination areas formed by the illumination device according to an embodiment of this application when two searchlights are used.

[0024] Figure 3 is another schematic diagram showing that the overlap of the illumination areas formed by the illumination device according to an embodiment of this application is different when two searchlights are used;

[0025] Figure 4 is a schematic diagram showing the different degrees of overlap of the illumination areas formed when the illumination device proposed in one embodiment of this application uses more than two searchlights.

[0026] Figure 5 is another schematic diagram showing the different degrees of overlap of the illumination areas formed when the illumination device proposed in an embodiment of this application uses more than two searchlights.

[0027] Figure 6 is another schematic diagram showing the different degrees of overlap of the illumination areas formed when the illumination device proposed in an embodiment of this application uses more than two searchlights.

[0028] Figure 7 is a schematic diagram of a searchlight device according to an embodiment of this application, which drives multiple searchlights to different pitch angles through multiple pitch axis drive mechanisms.

[0029] Figure 8 is a schematic diagram of a searchlight device according to another embodiment of this application, in which multiple searchlights are driven by multiple yaw axis drive mechanisms at different yaw angles.

[0030] Figure 9 is a schematic diagram of the structure of a detection device according to an embodiment of this application;

[0031] Figure 10 is a three-dimensional structural schematic diagram of a detection device according to another embodiment of this application;

[0032] Figure 11 is a schematic flowchart of a control method for a detection device according to an embodiment of this application;

[0033] Figure 12 is a schematic flowchart of a control method for a detection device according to an embodiment of this application;

[0034] Figure 13 is a schematic flowchart of a control method for a detection device according to an embodiment of this application;

[0035] Figure 14 is a schematic flowchart of a control method for a detection device according to an embodiment of this application;

[0036] Figure 15 is a schematic diagram of the structure of a control device according to an embodiment of this application;

[0037] Figure 16 is a schematic diagram of the structure of a device according to an embodiment of this application;

[0038] Figure 17 is a schematic diagram of the structure of a device according to an embodiment of this application;

[0039] Figure 18 is a schematic diagram of a mobile platform equipped with a search device according to an embodiment of this application;

[0040] Figure 19 is a schematic diagram of the structure of a mobile platform proposed in an embodiment of this application;

[0041] Figure 20 is a schematic diagram of the structure of a mobile platform proposed in an embodiment of this application.

[0042] Explanation of reference numerals in the attached drawings: 100, searchlight device; 10, searchlight; 11, first search area; 12, second search area; 13, third search area; 20, drive mechanism; 21, pitch axis drive mechanism; 22, yaw axis drive mechanism; 30, mounting bracket; 200, detection device; 201, detector; 60, lidar; 1000, movable platform; 300, imaging device; 400, processor; 500, memory; 2000, control device; 3000, equipment. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] This application provides a mobile platform 1000, on which a searchlight device 100 and / or a detection device 200 are mounted. The mobile platform 1000 can be an aircraft (including but not limited to manned or unmanned aircraft), a vehicle, a ship, a robot, etc. The aircraft can include multi-rotor aircraft, fixed-wing aircraft, and aircraft combining rotor and fixed wings. The mobile platform 1000 can also be an amphibious mobile platform 1000, such as a flying car. The aircraft can include industrial aircraft, agricultural aircraft, logistics aircraft, aerial photography aircraft, etc. The implementation of this application will be explained below using the mobile platform 1000 as an example of an aircraft.

[0045] As the applications of the Mobile Platform 1000 become increasingly widespread, its uses (such as aircraft) are also rapidly expanding. In recent years, aircraft have also been used in agricultural irrigation, firefighting, disaster relief (search and rescue of victims), reconnaissance, express delivery, inspection, photography and lighting, airport positioning, power grid fault location, and target tracking. With the increasing number of applications, the environments in which aircraft operate are becoming increasingly complex. In such scenarios, it is necessary to illuminate or detect the operating area of ​​the Mobile Platform 1000 to assist it in illumination or environmental perception.

[0046] The following description of the mobile platform 1000 of this application uses a drone as an example for explanation. It should be noted that this does not limit the scope of protection of this application.

[0047] Please refer to Figure 1. A searchlighting device 100 according to an embodiment of this application includes: at least two searchlights 10 and at least one driving mechanism 20. The at least one driving mechanism 20 is used to drive at least one of the at least two searchlights 10 to change its posture. That is, the number of searchlights 10 in this application is at least two, and the number of driving mechanisms 20 is at least one. One driving mechanism 20 can drive only one searchlight 10 to change its posture, or it can drive multiple searchlights 10 to change their postures simultaneously. Specifically, the driving mechanism 20 may consist of only one, and it can drive only one searchlight 10 to change its posture, while the postures of the remaining searchlights 10 can remain fixed. Changing the posture of one searchlight 10 can also change the overlap of the search areas of multiple searchlights 10. Alternatively, the number of driving mechanisms 20 is the same as the number of searchlights 10, and each driving mechanism 20 can drive only one searchlight 10 to change its posture. Changing the postures of multiple searchlights 10 can also change the overlap of the search areas of multiple searchlights 10.

[0048] In response to the searchlight device 100 entering a first mode, at least one drive mechanism 20 is used to drive at least one searchlight 10 to change its posture so that the overlap of the search areas of at least two searchlights 10 is adjusted to a first overlap; in response to the searchlight device 100 entering a second mode, at least one drive mechanism 20 is used to drive at least one searchlight 10 to change its posture so that the overlap of the search areas of at least two searchlights 10 is adjusted to a second overlap.

[0049] For example, the first mode and the second mode are related to the shooting mode of the mobile platform 1000 (the structure of the mobile platform 1000 can be seen in FIG18) used to carry the search device 100.

[0050] The first degree of overlap and the second degree of overlap are different. Both the first and second degrees of overlap can be greater than 0 and have different values. In this case, the illumination areas of at least two searchlights 10 intersect, with the overlap area of ​​the first or second degree of overlap being larger. Alternatively, one can be greater than 0 and the other equal to 0. The first degree of overlap can be greater than the second degree of overlap, or vice versa.

[0051] As can be seen from the above technical solutions, the searchlight device 100 proposed in this application can actively adjust to the first mode and the second mode based on the different shooting modes of the mobile platform 1000. By adjusting the overlap of the illumination areas of at least two searchlights 10 to different degrees through at least one drive mechanism 20, the searchlight device 100 can adaptively adjust the overlap of different illumination areas based on different shooting modes. Ultimately, it can adapt to the usage requirements of the mobile platform 1000 under various conditions, thereby improving the control efficiency and accuracy of the illumination area and increasing the efficiency of task execution.

[0052] Here, the overlap is explained as follows: the illumination area can be determined based on the region within the outline of the light spot of the searchlight 10 falling on the surface to be illuminated. The illumination areas generated by the two searchlights 10 are respectively denoted as the first illumination area 11 and the second illumination area 12, as shown in Figures 2 and 3. The two searchlights 10 illuminate the surface to be illuminated, forming the first illumination area 11 and the second illumination area 12. The overlapping part of the first illumination area 11 and the second illumination area 12 is the overlap of the two illumination areas. In Figure 2, the overlap of the two illumination areas is not 0; in Figure 3, the first illumination area 11 and the second illumination area 12 do not intersect, so the overlap of the two illumination areas is 0; when the first illumination area 11 and the second illumination area 12 are basically completely overlapped, the overlap is infinitely close to 100%.

[0053] For a larger number of searchlights 10, such as 3 searchlights 10, the 3 illumination areas generated are denoted as the first illumination area 11, the second illumination area 12, and the third illumination area 13, respectively. The sum of the overlapping portions of the first illumination area 11, the second illumination area 12, and the third illumination area 13 is the overlap degree of the three illumination areas, as shown in Figure 4. The first illumination area 11 and the second illumination area 12 intersect and have a certain degree of overlap, and the second illumination area 12 and the third illumination area 13 intersect and have a certain degree of overlap. Therefore, the overlap degree of the three illumination areas is the sum of the two overlap degrees; as shown in Figure 5, the first illumination area 11... The first and second illumination areas 11 and 12 intersect and have a certain degree of overlap. The second illumination area 12 and the third illumination area 13 do not intersect and have a degree of zero overlap. Therefore, the degree of overlap of the three illumination areas is equal to the degree of overlap of the first illumination area 11 and the second illumination area 12. As shown in Figure 6, the first illumination area 11 and the second illumination area 12 intersect and have a certain degree of overlap. The second illumination area 12 and the third illumination area 13 have a degree of overlap close to 100%. Therefore, the total degree of overlap of the three illumination areas in Figure 6 is relatively high. The degree of overlap of the three illumination areas in Figure 6 is greater than the degree of overlap of the three illumination areas shown in Figures 4 and 5. Of course, for a larger number of searchlights 10, such as 3 searchlights 10, the 3 illumination areas generated are respectively denoted as the first illumination area 11, the second illumination area 12, and the third illumination area 13. The overlap of any two illumination areas can be considered separately. For example, the overlap of the first illumination area 11 and the second illumination area 12, the overlap of the second illumination area 12 and the third illumination area 13, and the overlap of the first illumination area 11 and the third illumination area 13. The overlap of these 3 illumination areas can all be considered separately, and the overlap of any two searchlights 10 can be different in different modes.

[0054] The determination of the overlap of the illumination areas of a larger number of searchlights 10 can be deduced by analogy, and will not be elaborated here.

[0055] Therefore, the different degrees of overlap between the first and second modes described in this application are clearly defined through the above-described determination of these different degrees of overlap. Furthermore, the degree of overlap of the illumination areas can also be characterized by the area of ​​the illumination areas; the greater the degree of overlap, the smaller the area of ​​the illumination areas, and vice versa. Additionally, the degree of overlap of the illumination areas can also be characterized by the brightness of the illumination areas; the greater the degree of overlap, the greater the brightness of the illumination areas, and vice versa.

[0056] In some embodiments of this application, in the first and second modes, at least two searchlights 10 have different optical axis angles. Since the distance between the searchlight 10 and the surface to be illuminated during illumination is sufficiently large compared to the distance between the two searchlights 10, the optical axes of the two searchlights 10 can be considered essentially parallel without adjustment. At this time, the detection ranges of the two searchlights 10 overlap significantly. When the optical axis of one, some, or all of the searchlights 10 is adjusted to rotate and deflect, thereby changing the initial parallelism of the optical axes of each searchlight 10 to different intersecting optical axes, or achieving different intersecting angles for the different optical axes, it is possible to achieve different optical axis angles for at least two of the searchlights 10. The optical axis angle of the different searchlights 10 can then be 0, or other angles, such as acute, right, or obtuse angles. The optical axes of the two searchlights 10 can also be non-parallel before or after adjustment; that is, the optical axes of the two searchlights 10 can have one angle before adjustment, and become another value after adjustment.

[0057] Optionally, the optical axis angles of at least two searchlights 10 being different includes: the optical axes of at least two searchlights 10 being different in the direction of the pitch axis, thereby making the illumination areas of at least two searchlights 10 movable in the direction of the pitch axis, thereby adjusting the degree of overlap of the illumination areas of the searchlights 10 corresponding to the first mode and the second mode.

[0058] Optionally, the optical axis angles of at least two searchlights 10 being different includes: the optical axes of at least two searchlights 10 being different in the yaw axis direction, thereby making the illumination areas of at least two searchlights 10 movable in the yaw axis direction, thereby adjusting the different overlap of the illumination areas of the searchlights 10 corresponding to the first mode and the second mode.

[0059] Optionally, as shown in FIG7, the pitch axis direction is the pitch axis direction of the reference searchlight device 100; as shown in FIG8, the yaw axis direction is the yaw axis direction of the reference searchlight device 100. In some embodiments, the positions of the plurality of searchlights 10 and the drive mechanism 20 for driving at least one searchlight 10 to adjust its attitude are relatively fixed. For example, as shown in FIG1, the plurality of searchlights 10 and the drive mechanism 20 are all mounted on a mounting frame 30, thereby fixing the position of each searchlight 10 relative to the mounting frame 30. The mounting frame 30, the drive mechanism 20, and the searchlights 10 are all part of the searchlight device 100, and the yaw axis direction, pitch axis direction, and roll axis direction are perpendicular to each other in each pair. The searchlight device 100 can have six directions: forward, backward, left, right, up, and down. The forward direction of the searchlight device 100 can be defined by the forward direction of the searchlight 10; the backward direction of the searchlight device 100 can be defined by the opposite direction of the forward direction of the searchlight 10; the left direction of the searchlight device 100 can be defined by the left direction of the searchlight 10; the right direction of the searchlight device 100 can be defined by the right direction of the searchlight 10; the up direction of the searchlight device 100 can be defined by the up direction of the searchlight 10; and the down direction of the searchlight device 100 can be defined by the down direction of the searchlight 10. The roll axis direction of the searchlight device 100 can be the same as the forward / backward direction of the searchlight 10; the pitch axis direction of the searchlight device 100 can be the same as the left / right direction of the searchlight 10; and the yaw axis direction of the searchlight device 100 can be the same as the up / down direction of the searchlight 10.

[0060] Optionally, as shown in Figure 18, the pitch axis direction is referenced to the pitch axis direction of the movable platform 1000 used to mount the searchlight 100, and the yaw axis direction is referenced to the yaw axis direction of the movable platform 1000. That is, when the drive mechanism 20 of the searchlight 100 and the searchlight 10 are directly connected to the movable platform 1000, the pitch axis direction, yaw axis direction, and roll axis direction can be determined based on the coordinate system of the movable platform 1000. The roll axis direction of the movable platform 1000 can be the same as the forward / backward direction of the movable platform 1000 (e.g., the nose of the aircraft is facing forward), the pitch axis direction can be the same as the left / right direction of the movable platform 1000, and the yaw axis direction can be the same as the up / down direction of the movable platform 1000.

[0061] Optionally, as shown in Figure 7, the drive mechanism 20 includes a pitch axis drive mechanism 21. At least one pitch axis drive mechanism 21 is mechanically coupled to at least one searchlight 10. In a first mode, the pitch axis drive mechanism 21 adjusts the searchlight 10 mechanically coupled to it to rotate around the pitch axis, so that at least two searchlights 10 have the same pitch angle, and the overlap of the illumination areas between searchlights 10 with the same pitch angle is relatively large. In a second mode, the pitch axis drive mechanism 21 adjusts the searchlight 10 mechanically coupled to it to rotate around the pitch axis, so that at least two searchlights 10 have different pitch angles, and the overlap of the illumination areas between searchlights 10 with different pitch angles is smaller than the overlap of the illumination areas between searchlights 10 with the same pitch angle, and the illumination area can cover a wider range.

[0062] In some examples, the number of pitch axis drive mechanisms 21 is the same as the number of searchlights 10. Each pitch axis drive mechanism 21 is mechanically coupled to one searchlight 10. In a first mode, each pitch axis drive mechanism 21 adjusts the rotation of the searchlight 10 it is mechanically coupled to around the pitch axis so that at least two searchlights 10 have the same pitch angle. In a second mode, each pitch axis drive mechanism 21 adjusts the rotation of the searchlight 10 it is mechanically coupled to around the pitch axis so that at least two searchlights 10 have different pitch angles. Therefore, when two searchlights 10 are used, each searchlight 10 is equipped with a corresponding pitch axis drive mechanism 21 to adjust its attitude. When three searchlights 10 are used, three pitch axis drive mechanisms 21 are connected to each searchlight 10 to adjust the pitch angle of all three searchlights. The configuration of other numbers of searchlights 10 and other numbers of pitch axis drive mechanisms 21 follows the same principle and will not be elaborated further. By enabling each searchlight 10 to adjust its pitch angle via the corresponding pitch axis drive mechanism 21, the adjustable range of pitch angles of different searchlights 10 can be made more flexible and do not interfere with each other. The degree of difference in pitch angles of each searchlight 10 is more abundant, which in turn makes the adjustment of the overlap of the illumination areas of each searchlight 10 more abundant and more precise.

[0063] In other examples, the number of pitch axis drive mechanisms 21 differs from the number of searchlights 10. Each pitch axis drive mechanism 21 is mechanically coupled to at least two searchlights 10. In a first mode, each pitch axis drive mechanism 21 adjusts the rotation of the at least two searchlights 10 it is mechanically coupled to about the pitch axis so that the pitch angles of the at least two searchlights 10 are the same. In a second mode, each pitch axis drive mechanism 21 adjusts the rotation of the at least two searchlights 10 it is mechanically coupled to about the pitch axis so that the pitch angles of the at least two searchlights 10 are different. In these examples, a pitch axis drive mechanism 21 can adjust the rotation of at least two searchlights 10 about the pitch axis so that the pitch angles of these searchlights 10 are the same as the pitch angles of other unadjusted searchlights 10, thus being in the first mode; or it can make the pitch angles of these searchlights 10 different from the pitch angles of other unadjusted searchlights 10 simultaneously, thus being in the second mode. Alternatively, by reasonably configuring the transmission mechanism inside the pitch axis drive mechanism 21, the output end of the pitch axis drive mechanism 21 can have the function of synchronous and opposite adjustment, so that the pitch angle adjustment of multiple searchlights 10 on the same pitch axis drive mechanism 21 is the same, thus being in the first mode; or the pitch angle adjustment of multiple searchlights 10 on the same pitch axis drive mechanism 21 can be different, thus being in the second mode; or the pitch angle adjustment of multiple searchlights 10 on the same pitch axis drive mechanism 21 can be the same, but different from the pitch angle of other unadjusted searchlights 10, thus also being in the second mode.

[0064] Optionally, as shown in Figure 8, the drive mechanism 20 includes a yaw axis drive mechanism 22. At least one yaw axis drive mechanism 22 is mechanically coupled to at least one searchlight 10. In a first mode, the yaw axis drive mechanism 22 adjusts the mechanically coupled searchlight 10 to rotate around the yaw axis so that the yaw angles of at least two searchlights 10 are the same, and the overlap of the illumination areas between searchlights 10 with the same yaw angle is relatively large. In a second mode, the yaw axis drive mechanism 22 adjusts the mechanically coupled searchlight 10 to rotate around the yaw axis so that the yaw angles of at least two searchlights 10 are different. The overlap of the illumination areas of searchlights 10 with different yaw angles is smaller than the overlap of the illumination areas between searchlights 10 with the same yaw angle, and the illumination area can cover a wider range.

[0065] In some examples, the number of yaw axis drive mechanisms 22 is the same as the number of searchlights 10. Each yaw axis drive mechanism 22 is mechanically coupled to one searchlight 10. In a first mode, each yaw axis drive mechanism 22 adjusts the rotation of the searchlight 10 it is mechanically coupled to around the yaw axis so that at least two searchlights 10 have the same yaw angle. In a second mode, each yaw axis drive mechanism 22 adjusts the rotation of the searchlight 10 it is mechanically coupled to around the yaw axis so that at least two searchlights 10 have different yaw angles. Therefore, when two searchlights 10 are used, each searchlight 10 is equipped with one yaw axis drive mechanism 22 to adjust its attitude. When three searchlights 10 are used, three yaw axis drive mechanisms 22 are connected to each searchlight 10 to adjust the yaw angle of the three searchlights. The configuration of other numbers of searchlights 10 and other numbers of yaw axis drive mechanisms 22 follows the same principle and will not be elaborated further. By enabling each searchlight 10 to adjust its yaw angle via its corresponding yaw axis drive mechanism 22, the adjustable range of the yaw angles of different searchlights 10 becomes more flexible and does not interfere with each other. The degree of difference in the yaw angles of each searchlight 10 becomes more diverse, thereby making the adjustment of the overlap of the illumination areas of each searchlight 10 more diverse and precise.

[0066] In other examples, the number of yaw axis drive mechanisms 22 differs from the number of searchlights 10. Each yaw axis drive mechanism 22 is mechanically coupled to at least two searchlights 10. In a first mode, each yaw axis drive mechanism 22 adjusts the rotation of the at least two searchlights 10 mechanically coupled to it about the yaw axis so that the yaw angles of the at least two searchlights 10 are the same. In a second mode, each yaw axis drive mechanism 22 adjusts the rotation of the at least two searchlights 10 mechanically coupled to it about the yaw axis so that the yaw angles of the at least two searchlights 10 are different. In these examples, a yaw axis drive mechanism 22 can adjust the rotation of at least two searchlights 10 about the pitch axis, thereby making the yaw angle of the adjusted searchlight 10 the same as the yaw angle of the other unadjusted searchlights 10, thus being in the first mode; or it can make the yaw angles of these searchlights 10 different from the yaw angles of the other unadjusted searchlights 10, thus being in the second mode. Alternatively, by reasonably configuring the transmission mechanism inside the yaw axis drive mechanism 22, the output end of the yaw axis drive mechanism 22 can have the function of synchronous and opposite adjustment, so that the yaw angle adjustment of multiple searchlights 10 on the same yaw axis drive mechanism 22 is the same, thus being in the first mode; or the yaw angle adjustment of multiple searchlights 10 on the same yaw axis drive mechanism 22 is different, thus being in the second mode; or the yaw angle adjustment of multiple searchlights 10 on the same yaw axis drive mechanism 22 is the same, but the yaw angle is different from that of other unadjusted searchlights 10, thus also being in the second mode.

[0067] In other examples, the drive mechanism 20 may include both a pitch axis drive mechanism 21 and a yaw axis drive mechanism 22, thereby allowing the searchlight 10 to adjust both the pitch and yaw angles. One of the pitch axis drive mechanism 21 and the yaw axis drive mechanism 22 is located at the drive end of the other, while the other is located on the mounting bracket 30 or on the movable platform 1000. For example, the pitch axis drive mechanism 21 and the searchlight 10 are located at the drive end of the yaw axis drive mechanism 22. In this case, the output end of the pitch axis drive mechanism 21 is connected to the searchlight 10. When the output end of the yaw axis drive mechanism 22 outputs force, the pitch axis drive mechanism 21 and the searchlight 10 located thereon simultaneously adjust the yaw angle relative to the yaw axis direction of the searchlight device 100 (or adjust the yaw angle relative to the yaw axis direction of the movable platform 1000). When the output end of the pitch axis drive mechanism 21 outputs force, the searchlight 10 located thereon adjusts the pitch angle relative to the pitch axis direction of the searchlight device 100 (or adjusts the pitch angle relative to the pitch axis direction of the movable platform 1000).

[0068] Optionally, the pitch axis drive mechanism 21 and / or the yaw axis drive mechanism 22 may include a brushed motor or a brushless motor.

[0069] The structures that can be selected for the pitch axis drive mechanism 21 and the yaw axis drive mechanism 22 are exemplary. Any drive mechanism 20 that can achieve the purpose of adjusting the pitch angle in the pitch axis direction and / or adjusting the yaw angle in the yaw axis direction of the searchlight 10 of this application should be within the protection scope of this application. The structure of the drive mechanism 20 is not limited.

[0070] In some embodiments of this application, the optical axis angle of at least two searchlights 10 being different includes: in the first mode, the optical axis angle of at least two searchlights 10 is smaller than that in the second mode. That is, the overlap of the illumination area formed by at least two searchlights 10 in the first mode is greater than that in the second mode, thereby enabling a larger illumination range in the second mode and a more concentrated illumination area in the first mode, resulting in brighter illumination light in the illumination area 10.

[0071] Optionally, in the first mode, the optical axes of at least two searchlights 10 are parallel to each other, and the illumination areas corresponding to the searchlights 10 when their optical axes are parallel to each other basically overlap; in the second mode, the optical axes of at least two searchlights 10 are not parallel to each other, so the overlap of the illumination areas corresponding to the at least two searchlights 10 is reduced, or even the illumination areas do not overlap, thereby making the overlap of the illumination areas of the two searchlights 10 greater in the first mode and less in the second mode, thus achieving adaptive adjustment of the overlap of the illumination areas in different modes.

[0072] Optionally, in the second mode, the optical axes of at least two searchlights 10 may have the same or different offset angles compared to the optical axes of at least two searchlights 10 in the first mode. That is, the optical axes of at least two searchlights 10 are offset in the second mode, thereby changing the illumination area of ​​the at least two searchlights 10 in the second mode, making it different from the illumination area of ​​the at least two searchlights 10 in the first mode. The offset of the optical axes of the at least two searchlights 10 can be the same or different, depending on actual needs.

[0073] In some embodiments of this application, the first mode and the second mode are automatically switched according to preset parameters.

[0074] Optionally, as shown in Figure 18, the searchlight device 100 is connected to the movable platform 1000, and the preset parameters include the parameters of the movable platform 1000 used to mount the searchlight device 100. That is, when the parameters of the movable platform 1000 change, the searchlight device 100 adaptively adjusts and selects to enter either the first mode or the second mode according to the parameters of the movable platform 1000.

[0075] In some examples, as shown in Figure 18, the movable platform 1000 also includes a shooting device 300. The parameters of the movable platform 1000 include the shooting mode of the shooting device 300. Different shooting modes include different field of view angles or different focal lengths of the shooting device 300.

[0076] For example, in the first mode, the field of view of the shooting device 300 is smaller than that in the second mode. In response to the smaller field of view of the shooting device 300 in the first mode, the drive mechanism 20 adjusts the overlap of the illumination areas of at least two spotlights 10 to a larger value, thus concentrating the illumination area and making the entire image captured by the shooting device 300 brighter. Simultaneously, in response to the larger field of view of the shooting device 300 in the second mode, the drive mechanism 20 adjusts the overlap of the illumination areas of at least two spotlights 10 to a smaller value, thus increasing the illumination area and illuminating a wider range of objects. This allows more areas of the image captured by the shooting device 300 with the larger field of view to be illuminated, enabling the capture of a clearer scene over a larger area.

[0077] For example, in the first mode, the focal length of the shooting device 300 is greater than that in the second mode. In response to the larger focal length of the shooting device 300 in the first mode, the drive mechanism 20 adjusts the overlap of the illumination areas of at least two spotlights 10 to a larger value, thus concentrating the illumination area and making the entire image captured by the shooting device 300 brighter. Simultaneously, in response to the smaller focal length of the shooting device 300 in the second mode, the drive mechanism 20 adjusts the overlap of the illumination areas of at least two spotlights 10 to a smaller value, thus expanding the illumination area and illuminating a wider range of objects. This allows for more areas of the image captured by the shooting device 300 with its large field of view to be illuminated, resulting in a clearer and wider-ranging scene.

[0078] Specifically, the first mode includes a telephoto mode, and the second mode includes a wide-angle mode. In telephoto mode, the overlap of the illumination areas of the multiple searchlights 10 of the searchlight device 100 is relatively large; in wide-angle mode, the overlap of the illumination areas of the multiple searchlights 10 of the searchlight device 100 is relatively small, and the illumination range is larger.

[0079] In some optional examples, the shooting device 300 is the same, and the focal length of the shooting device 300 is adjustable. In the first mode, the focal length of the shooting device 300 is greater than that in the second mode. That is, the same shooting device 300 can adjust its own focal length. For example, it has a zoom lens. When the focal length of the shooting device 300 is adjusted to a larger value, the searchlight device 100 automatically switches to the first mode; when the focal length of the shooting device 300 is adjusted to a smaller value, the searchlight device 100 automatically switches to the second mode.

[0080] In some alternative examples, the imaging device 300 includes at least two, wherein the focal length of the first imaging device is greater than the focal length of the second imaging device. In a first mode, the movable platform 1000 uses the first imaging device to take pictures, and in a second mode, the movable platform 1000 uses the second imaging device to take pictures. That is, the movable platform 1000 has multiple imaging devices with different focal lengths; when the first imaging device with a larger focal length is working, the searchlight device 100 automatically switches to the first mode; when the second imaging device with a smaller focal length is working, the searchlight device 100 automatically switches to the second mode. The first imaging device can be a telephoto lens, and the second imaging device can be a wide-angle lens.

[0081] In some examples, the parameters of the movable platform 1000 include the movement parameters of the movable platform 1000. The searchlight device 100 automatically switches its operating mode according to different movement parameters.

[0082] For example, the movement parameters of the mobile platform 1000 include flight altitude. When the flight altitude is high, the distance between the searchlight 10 and the object being illuminated is greater. Without adjusting the illuminance of the searchlight 10 itself, the illumination device 100 can be switched to the first mode, resulting in a greater overlap of the illumination areas of the multiple searchlights 10, thereby increasing the brightness of the illumination area. When the flight altitude is low, the distance between the searchlight 10 and the object being illuminated is closer. Without adjusting the illuminance of the searchlight 10 itself, the illumination device 100 can be switched to the second mode, resulting in a smaller overlap of the illumination areas of the multiple searchlights 10, thus expanding the illumination area and increasing the coverage, allowing for rapid illumination of a larger area. In other words, the flight altitude of the mobile platform 1000 in the first mode of this application is greater than that in the second mode. The illumination device 100 of this application can automatically switch its working mode according to the different flight altitudes of the mobile platform 1000.

[0083] For example, the movement parameters of the mobile platform 1000 include movement speed. For instance, if the mobile platform 1000 includes an aircraft, the movement speed and the aircraft's flight speed are considered. When the movement speed is high, the illumination time of the searchlight 10 on the object being illuminated is short. Therefore, it is necessary to illuminate the required area more brightly in a shorter time to facilitate analysis of the situation within the illuminated area. In this case, the searchlight device 100 can be switched to a first mode, increasing the overlap of the illumination areas of the multiple searchlights 10, thereby improving the brightness of the illuminated area and making it more concentrated. When the movement speed is slow, the illumination time between the searchlight 10 and the object being illuminated is longer. This allows for illuminating a wider area within the same time frame, facilitating analysis of the situation within a larger illuminated area. In this case, the searchlight device 100 can be switched to a second mode, decreasing the overlap of the illumination areas of the multiple searchlights 10, resulting in a wider illuminated area and a larger illumination range, thus improving the efficiency of the illumination. In other words, the moving speed of the movable platform 1000 in the first mode of this application is greater than the moving speed of the movable platform 1000 in the second mode.

[0084] For example, the movement parameters of the mobile platform 1000 include both flight speed and flight altitude. When the flight speed is high and the flight altitude is high, the searchlight device 100 switches to a first mode, which increases the overlap of the illumination areas of the multiple searchlights 10, thereby increasing the brightness of the illumination area and making the illumination area more concentrated. When the flight speed is slow and the flight altitude is low, the searchlight device 100 switches to a second mode, which decreases the overlap of the illumination areas of the multiple searchlights 10, resulting in a wider illumination area and a larger illumination range, thus improving the efficiency of the search.

[0085] In some embodiments of this application, the first mode and the second mode are switched based on user selection. Therefore, the user can actively switch the operating mode of the searchlight device 100 to either the first or second mode according to the target task to be performed. This results in different degrees of overlap in the illumination ranges produced by the multiple searchlights 10 of the searchlight device 100 operating in the first and second modes, thereby achieving different illumination purposes and efficiently performing the illumination task. For example, the user can select the operating mode of the searchlight device 100 by operating a button, thus switching the searchlight device 100 between the first and second modes. Alternatively, the user can select the operating mode of the searchlight device 100 by operating a remote control, thus switching the searchlight device 100 between the first and second modes.

[0086] In some embodiments of this application, at least one drive mechanism 20 is also used to adjust the orientation of at least two searchlights 10 according to the orientation of the shooting device 300 of the movable platform 1000, so that the illumination range of the at least two searchlights 10 covers at least a portion of the shooting image of the shooting device 300.

[0087] In these examples, the shooting device 300 can be mounted on the movable platform 1000 via an attitude-adjustable mechanism, which can be, for example, a gimbal, a robotic arm, etc. The attitude-adjustable mechanism can adjust the attitude of the shooting device 300 in one or more axes. For example, the gimbal can be a single-axis gimbal or a multi-axis gimbal; a multi-axis gimbal can include a dual-axis gimbal, a three-axis gimbal, etc.; and the robotic arm can be a single-joint robotic arm or a multi-joint robotic arm. The attitude adjustment of the shooting device 300 can be in the direction of pitch axis, yaw axis, or roll axis. When the shooting device 300 is adjusted along the pitch axis, at least one drive mechanism 20 can also drive the searchlight 10 to change its attitude, such as changing the pitch angle. When the shooting device 300 is adjusted along the yaw axis, at least one drive mechanism 20 can also drive the searchlight 10 to change its attitude, such as changing the yaw angle. When the shooting device 300 is adjusted along the roll axis, at least one drive mechanism 20 can also drive the searchlight 10 to change its attitude, such as changing the roll angle, so that the attitude of at least two searchlights 10 is consistent with the attitude adjustment of the shooting device 300. This allows the illumination range of at least two searchlights 10 to cover the shooting screen of the shooting device 300, improving the ambient light of the subject in the shooting screen and making the shooting scene clearer. This can improve the mission execution efficiency of the mobile platform 1000 (e.g., a drone). In some specific examples, such as when the shooting device 300 adjusts along the pitch axis, the pitch angles of at least two searchlights 10 also adjust. To maximize the overlap of the illumination range, the pitch angles of at least two searchlights 10 with adjusted postures can be determined based on the center position of the image captured by the shooting device 300. This allows the illumination ranges of the searchlights 10 to be staggered along the pitch axis. For example, if the illumination range of one searchlight 10 is adjusted upwards along the pitch axis and the illumination range of another searchlight 10 is adjusted downwards along the pitch axis, then the illumination ranges of at least these two searchlights 10 are staggered. This staggered illumination range allows for a larger illumination area, increasing the illumination range along the pitch axis. This results in more bright areas in the captured image, enabling the image to reflect more effective information. This facilitates decision-making by the operator of the mobile platform 1000 based on the content of the captured image, thereby controlling the mobile platform 1000 to complete tasks more efficiently and improving task execution efficiency.

[0088] Optionally, the shooting device 300 is directly connected to the movable platform 1000, and the search device 100 is also directly connected to the movable platform 1000. When the movable platform 1000 adjusts the body angle in the roll axis direction, the shooting device 300 and the search device 100 will also adjust their attitude in the roll axis direction accordingly.

[0089] Optionally, the shooting device 300 is connected to the movable platform 1000 via a gimbal. The shooting device 300 can then adjust its yaw, pitch, and roll axes via the gimbal. Correspondingly, the drive mechanism 20 and searchlight 10 of the searchlight device 100 are also connected to the movable platform 1000 via a mounting bracket 30. When the gimbal adjusts its attitude in the roll axis direction, the mounting bracket 30 can also adjust its attitude in the roll axis direction accordingly. In some specific embodiments, the gimbal adjusts its attitude in the roll axis direction according to the attitude of the movable platform 1000 in the roll axis direction. That is, at least one drive mechanism 20 of this application can be used to adjust the yaw, pitch, and / or roll angles of at least two searchlights 10 based on the yaw, pitch, and / or roll angles of the shooting device 300 on the movable platform 1000.

[0090] Optionally, the illumination range of at least two spotlights 10 shall cover at least the central area of ​​the image captured by the shooting device 300. This ensures that the ambient light in the central area of ​​the image is sufficient to capture the subject in the central area of ​​the image clearly, thus ensuring that the main subject of the image is sharp.

[0091] Optionally, the illumination range of at least two searchlights 10 covers the entire area of ​​the shooting frame of the shooting device 300, so that the subjects in the shooting frame can be clearly captured, the shooting effect is good, which helps the staff to identify the situation on site through the shooting frame, improves the efficiency of the mobile platform 1000 (such as a drone) in performing tasks, and makes the execution purpose clearer.

[0092] In some embodiments of this application, as shown in FIG9, the searchlight device 100 further includes a processor 400. The processor 400 is used to send information related to the attitude of the searchlight 10 to a movable platform 1000 for mounting the searchlight device 100. The attitude-related information of the searchlight 10 is used to instruct the movable platform 1000 to adjust the attitude of the shooting device 300 to a posture corresponding to the attitude of the searchlight 10, so that the illumination range of the searchlight 10 at least covers a portion of the shooting frame of the shooting device 300. Therefore, in these examples, the attitude of the shooting device 300 is adjusted based on the attitude-related information of the searchlight 10, so that the illumination range of the searchlight 10 also covers the shooting frame of the shooting device 300. For example, the pitch angle, yaw angle, and roll angle of the shooting device 300 can be adjusted according to the pitch angle, yaw angle, and roll angle information of the searchlight 10 sent by the processor 400, so that the shooting image of the shooting device 300 can at least partially overlap with the illumination range provided by the searchlight 10, increase the ambient light in the shooting image, and improve the clarity of the subject being photographed.

[0093] Referring again to Figure 1, a searchlight device 100 according to an embodiment of this application includes: at least two searchlights 10 and at least one drive mechanism 20. The at least one drive mechanism 20 is used to drive at least one of the at least two searchlights 10 to change its posture. In response to the searchlight device 100 entering a first mode, the at least one drive mechanism 20 is used to drive at least one searchlight 10 to change its posture so that the overlap of the illumination areas of the at least two searchlights 10 is adjusted to a first overlap. In response to the searchlight device 100 entering a second mode, the at least one drive mechanism 20 is used to drive at least one searchlight 10 to change its posture so that the overlap of the illumination areas of the at least two searchlights 10 is adjusted to a second overlap. The first overlap and the second overlap are different, and both the first mode and the second mode are user-desired operating modes.

[0094] As can be seen from the above technical solutions, the searchlight device 100 proposed in this application can adjust the overlap of the search areas of at least two searchlights 10 to different degrees through at least one drive mechanism 20 in two different desired working modes, thereby realizing adaptive adjustment of the overlap of the search areas based on different modes. Therefore, it can adapt to the usage requirements of multiple desired working modes, thereby improving the control efficiency and control accuracy of the search area and improving the efficiency of task execution.

[0095] The adjustments to the first and second modes in the above embodiments are both the operating modes of the illumination device 100 as desired by the user. In other words, the two operating modes switched by the illumination device 100 based on different purposes are both effective and have a certain function.

[0096] In these embodiments, the confirmation of overlap, the structure of the drive mechanism 20 and the searchlight 10, and the adjustment of the searchlight 10 by the drive mechanism 20 in the first and second modes are consistent with the aforementioned embodiments of the searchlight device 100, and will not be repeated here. The difference lies in that, in these embodiments, the switching between the first and second modes is based on the user's own expectations. That is, the user can switch the working mode of the searchlight device 100 to the first or second mode according to the real-time illumination situation of the searchlight device 100. In the two working modes, the overlap of the illumination areas of the two searchlights 10 is different. The working mode with a larger overlap is suitable for situations requiring greater and more concentrated illumination, such as achieving rescue work within a specific area. The working mode with a smaller or even zero overlap is suitable for situations with a large illumination area, increasing the number of targets that can be illuminated per unit time, such as achieving a large-scale search.

[0097] In addition, in this embodiment, the first mode and the second mode are not only related to the shooting mode of the shooting device of the mobile platform 1000, but also to other parameters, such as the movement parameters of the mobile platform 1000, including but not limited to: flight altitude and / or flight speed. The relevant descriptions can also be referred to the foregoing description, and will not be repeated here.

[0098] Referring again to FIG1, a searchlight device 100 according to an embodiment of this application includes: at least two searchlights 10 and at least one driving mechanism 20. The at least one driving mechanism 20 is used to drive at least one of the at least two searchlights 10 to change its posture. Specifically, in response to the searchlight device 100 entering a first mode, the at least one driving mechanism 20 is used to drive at least one searchlight 10 to change its posture so that the overlap of the illumination areas of the at least two searchlights 10 is adjusted to a first overlap. In response to the searchlight device 100 switching from the first mode to a second mode, the at least one driving mechanism 20 is used to drive at least one searchlight 10 to change its posture so that the overlap of the illumination areas of the at least two searchlights 10 is adjusted to a second overlap, wherein the first overlap is greater than the second overlap.

[0099] As can be seen from the above technical solutions, the searchlight device 100 proposed in this application adjusts the overlap of the illumination areas of at least two searchlights 10 from a large overlap to a small overlap through at least one drive mechanism 20, thereby increasing the illumination range of the searchlights 10 and achieving a wider illumination area. In these embodiments, the confirmation of overlap, the structure of the drive mechanism 20 and the searchlights 10, and the adjustment of the searchlights 10 by the drive mechanism 20 in the first and second modes are consistent with the various embodiments of the aforementioned searchlight device 100, and will not be repeated here. In addition, in this embodiment, the first and second modes are related not only to the shooting mode of the shooting device of the mobile platform 1000, but also to other parameters, such as the movement parameters of the mobile platform 1000, including but not limited to: flight altitude and / or flight speed. The relevant descriptions can also be referred to the foregoing descriptions, and will not be repeated here.

[0100] The detection device 200 proposed in this application will now be described.

[0101] Referring to Figure 10, a detection device 200 according to an embodiment of this application includes: at least two detectors 201 and at least one driving mechanism 20. The at least one driving mechanism 20 is used to drive at least one of the at least two detectors 201 to change its posture. In response to the detection device 200 entering a first mode, the at least one driving mechanism 20 is used to drive at least one detector 201 to change its posture so that the overlap of the detection ranges of the at least two detectors 201 is adjusted to a first overlap. In response to the detection device 200 entering a second mode, the at least one driving mechanism 20 is used to drive at least one detector 201 to change its posture so that the overlap of the detection ranges of the at least two detectors 201 is adjusted to a second overlap. The first overlap and the second overlap are different. The first mode and the second mode are related to the parameters of the movable platform 1000 used to mount the detection device 200. Both the first mode and the second mode are user-desired operating modes.

[0102] As can be seen from the above technical solutions, the detection device 200 proposed in this application can adjust the overlap of the detection areas of at least two detectors 201 to different degrees under different parameters of the movable platform 1000 through at least one drive mechanism 20, thereby realizing adaptive adjustment of the overlap of different detection areas based on different modes. Ultimately, it can adapt to the usage requirements under various conditions, and can adjust the overlap of different detection areas for different modes, thereby improving the control efficiency and control accuracy of the detection area and improving the efficiency of task execution.

[0103] In these embodiments, the confirmation of overlap is similar to that of the searchlight 100, except that the search area is changed to the detection area. That is, the detector 201 in this application is not necessarily the searchlight 10; it can also be other electronic devices, such as the lidar 60. When the detector 201 uses the searchlight 10, the searchlight 10 can provide illumination, and therefore the detection area corresponding to the searchlight 10 is the search area mentioned in the aforementioned searchlights 100. When the detector 201 is the lidar 60, there is no additional illumination on the detection area. Instead, the lidar 60 scans the detection area, emits detection signals, and receives signals returned from the detection area. The two signals are compared to detect the target area. In the case where the detector 201 is the lidar 60, the detection area is the area that the lidar 60 can scan. The lidar 60 can collect information from the environment, and the overlap is the area where the detection areas corresponding to the two lidars 60 intersect. In these examples, the searchlight 10 and the lidar 60 are both active detectors. Active detectors can also be other devices, and this application does not limit them.

[0104] The structure of the drive mechanism 20 and detector 201 when they are for the searchlight 10, as well as the adjustment methods of the drive mechanism 20 for the searchlight 10 in the first and second modes, are consistent with the various embodiments of the aforementioned searchlight device 100, and will not be repeated here. The adjustment method of the drive mechanism 20 for the lidar 60 can refer to the aforementioned adjustment method of the drive mechanism 20 for the searchlight 10, and will not be repeated here. The overlap of the detection areas can be characterized by the size of the detection areas; the greater the overlap, the smaller the area of ​​the detection area, and vice versa.

[0105] Optionally, the detector 201 includes an active detector, which may include a searchlight 10 or a lidar 60. By employing an active detector, the detector 201 actively acts on the detection area during the detection process, thereby quickly responding to the needs of the detection device 200 in different operating modes.

[0106] In some embodiments of this application, the first degree of overlap and the second degree of overlap are different, including: the first degree of overlap is greater than the second degree of overlap. That is, the first degree of overlap is larger in the first mode, while the second degree of overlap is smaller in the second mode. It can be that both the first degree of overlap and the second degree of overlap are greater than 0 and their values ​​are different; or it can be that the second degree of overlap is equal to 0 and the first degree of overlap is greater than 0.

[0107] Optionally, the parameters of the mobile platform 1000 include flight altitude and / or flight speed.

[0108] For example, the flight altitude of the mobile platform 1000 in the first mode is greater than that in the second mode. As for the case where the detector 201 is a searchlight 10, the adjustment method of the searchlight device 100 when the flight altitude of the mobile platform 1000 changes can be referred to above, and will not be elaborated here.

[0109] When the detector 201 is a lidar 60, at higher flight altitudes, the distance between the lidar 60 and the object being detected is greater. The detection device 200 can be switched to the first mode, making the detection areas of multiple lidars 60 more concentrated, resulting in denser detection signals. This allows the same object to be detected by multiple lidars 60, ensuring accurate and complete data collection. At lower flight altitudes, the distance between the lidar 60 and the object being detected is closer, resulting in stronger and faster signal transmission, and less signal loss. The detection device 200 can be switched to the second mode, reducing the overlap of detection areas and increasing the overall detection range. In other words, at least some detection areas of the multiple lidars 60 do not overlap. In these non-overlapping areas, each lidar 60 can independently complete its detection work, achieving large-scale, rapid detection.

[0110] For example, in the first mode, the flight speed of the mobile platform 1000 is greater than that in the second mode. Regarding the case where the detector 201 is a searchlight 10, the specific adjustment method of the searchlight device 100 when the flight speed of the mobile platform 100 changes can be referred to above, and will not be elaborated here.

[0111] When detector 201 is a lidar 60, at higher flight speeds, the detection time of lidar 60 on the object is shorter. Therefore, to improve the accuracy of the detected information, multiple lidars 60 need to be used to increase the detection density in a shorter time, resulting in more complete and accurate detection data. In this case, detector 200 can be switched to the first mode, making the detection areas of the multiple lidars 60 more concentrated, resulting in denser detection signals and allowing the same object to be detected by multiple lidars 60s, ensuring accurate and complete data. At lower flight speeds, the detection time between lidar 60 and the object is longer, resulting in better data transmission and less data loss. In this case, detector 200 can be switched to the second mode, reducing the overlap of the detection areas of the multiple lidars 60 and increasing the overall detection range. Therefore, the detection areas of multiple lidars 60 do not overlap at least partially. In the overlapping detection areas, the lidars collect data from multiple lidars, resulting in accurate data. In the non-overlapping detection areas, each lidar 60 can independently complete its own detection work, thereby achieving large-area rapid detection.

[0112] Without causing conflict, any content and implementation methods not mentioned in this embodiment can be referred to the relevant descriptions in the foregoing embodiments for the searchlight device 100, and will not be repeated here.

[0113] The control method of the aforementioned searchlight device 100 will now be described.

[0114] Please refer to Figure 11. A control method for a detection device 100 according to an embodiment of this application includes steps S101 and S102:

[0115] Step S101: In response to the searchlight device 100 entering the first mode, control at least one drive mechanism 20 to drive at least one searchlight 10 to change its posture so that the overlap of the search areas of at least two searchlights 10 is adjusted to the first overlap.

[0116] Step S102: In response to the searchlight device 100 entering the second mode, control at least one drive mechanism 20 to drive at least one searchlight 10 to change its posture so that the overlap of the illumination areas of at least two searchlights 10 is adjusted to a second overlap, wherein the first overlap is different from the second overlap, and the first mode and the second mode are related to the shooting mode of the movable platform 1000 for mounting the searchlight device 100.

[0117] In these embodiments, the confirmation of overlap, the structure of the drive mechanism 20 and the searchlight 10, and the adjustment of the searchlight 10 by the drive mechanism 20 in the first mode and the second mode are consistent with the various embodiments of the aforementioned searchlight device 100, and will not be repeated here.

[0118] As can be seen from the above technical solutions, the control method of the searchlight device 100 proposed in this application can control the searchlight device 100 to actively switch to the first mode or the second mode based on the different shooting modes of the mobile platform 1000. By controlling at least one drive mechanism 20 to adjust the overlap of the illumination areas of at least two searchlights 10 to different degrees, adaptive adjustment of the different overlap of the illumination areas generated by multiple searchlights 10 based on different shooting modes can be achieved. This can adapt to the usage requirements of the mobile platform 1000 under various conditions, improve the control efficiency and accuracy of the illumination area, and improve the efficiency of task execution.

[0119] The explanation of the relevant implementation methods and features in this embodiment can be found in the description of the structural embodiment of the search device 100 described above, and will not be repeated here.

[0120] Please refer to Figure 12. A control method for a detection device 100 according to an embodiment of this application is provided. The control method includes steps S201 and S202.

[0121] Step S201: In response to the searchlight device 100 entering the first mode, control at least one drive mechanism 20 to drive at least one searchlight 10 to change its posture so that the overlap of the search areas of at least two searchlights 10 is adjusted to the first overlap.

[0122] Step S202: In response to the searchlight device 100 entering the second mode, control at least one drive mechanism 20 to drive at least one searchlight 10 to change its posture so that the overlap of the search areas of at least two searchlights 10 is adjusted to a second overlap, wherein the first overlap is different from the second overlap, and both the first mode and the second mode are the operating modes desired by the user.

[0123] As can be seen from the above technical solutions, the control method of the searchlight device 100 proposed in this application can adjust the overlap of the search areas of at least two searchlights 10 to different degrees by controlling at least one drive mechanism 20 in two different desired working modes of the searchlight device 100, thereby realizing adaptive adjustment of the overlap of the search areas based on different modes. Therefore, it can adapt to the usage requirements of multiple desired working modes, thereby improving the control efficiency and control accuracy of the search area and improving the efficiency of task execution.

[0124] The adjustments to the first and second modes in the above embodiments are both the operating modes of the illumination device 100 as desired by the user. In other words, the two operating modes switched by the illumination device 100 based on different purposes are both effective and have a certain function.

[0125] Regarding the different switching control methods for the first mode and the second mode, as well as the different control methods for the drive mechanism 20 under the first mode and the second mode, please refer to the description of the aforementioned structural embodiment of the search device 100, which will not be repeated here.

[0126] Please refer to Figure 13. A control method for a detection device 100 according to an embodiment of this application is provided. The control method includes steps S301 and S302.

[0127] Step S301: In response to the searchlight device 100 entering the first mode, control at least one drive mechanism 20 to drive at least one searchlight 10 to change its posture so that the overlap of the search areas of at least two searchlights 10 is adjusted to the first overlap.

[0128] Step S302: In response to the searchlight device 100 entering the second mode, control at least one drive mechanism 20 to drive at least one searchlight 10 to change its posture so that the overlap of the illumination areas of at least two searchlights 10 is adjusted to a second overlap, wherein the first overlap is greater than the second overlap.

[0129] As can be seen from the above technical solutions, the control method of the searchlight device 100 proposed in this application controls at least one drive mechanism 20 to adjust the overlap of the illumination areas of at least two searchlights 10 from a large overlap to a small overlap, thereby increasing the illumination range of the searchlights 10, achieving a wider range of illumination, and thus improving the efficiency of performing tasks under different conditions.

[0130] In these embodiments, the confirmation of overlap, the structure of the drive mechanism 20 and the searchlight 10, the method of controlling the switching of the first mode and the second mode, and the method of controlling the drive mechanism 20 to adjust the searchlight 10 in the first mode and the second mode are all the same as described in the foregoing structural embodiments of the searchlight device 100, and will not be repeated here.

[0131] Please refer to Figure 14. A control method for a detection device 200 according to an embodiment of this application is provided. The control method includes steps S401 and S402.

[0132] Step S401: In response to the detection device 200 entering the first mode, control at least one drive mechanism 20 to drive at least one detector 201 to change its attitude so that the overlap of the detection ranges of at least two detectors 201 is adjusted to the first overlap.

[0133] Step S402: In response to the detection device 200 entering the second mode, control at least one drive mechanism 20 to drive at least one detector 201 to change its attitude so that the overlap of the detection ranges of at least two detectors 201 is adjusted to a second overlap, wherein the first overlap is different from the second overlap. The first mode and the second mode are related to the parameters of the movable platform 1000 used to mount the detection device 200. Both the first mode and the second mode are the operating modes desired by the user.

[0134] As can be seen from the above technical solutions, the control method of the detection device 200 proposed in this application, under different parameters of the mobile platform 1000, adjusts the overlap of the detection areas of at least two detectors 201 to different degrees by controlling at least one drive mechanism 20, thereby realizing adaptive adjustment of the overlap of different detection areas based on different modes. Ultimately, it can adapt to the usage requirements under various conditions, adjust the overlap of different detection areas for different modes, improve the control efficiency and accuracy of the detection area, and improve the efficiency of the mobile platform 1000 in performing tasks.

[0135] In these embodiments, the confirmation of overlap is similar to that of the searchlight 100, except that the search area is replaced by the detection area. That is, the detector 201 in this application is not necessarily the searchlight 10; it can be other electronic devices, such as the lidar 60. When the detector 201 uses the searchlight 10, the searchlight 10 provides illumination, and therefore the detection area corresponding to the searchlight 10 is the same as the search areas mentioned in the aforementioned searchlight devices 100. When the detector 201 is the lidar 60, no additional illumination is provided in the detection area. Instead, the lidar 60 scans the detection area, emits detection signals, and receives signals returned from the detection area. The two signals are compared to detect the target area. Therefore, in the case where the detector 201 is the lidar 60, the detection area is the area that the lidar 60 can scan, and the overlap is the area where the detection areas corresponding to the two lidars 60 intersect. Thus, in these examples, both the searchlight 10 and the lidar 60 are active detectors.

[0136] The timing structure of the drive mechanism 20 and detector 201 for the searchlight 10, as well as the control methods of the drive mechanism 20 for the searchlight 10 in the first and second modes, are consistent with the various embodiments of the aforementioned searchlight device 100, and will not be repeated here. The method of controlling the drive mechanism 20 for the lidar 60 can refer to the aforementioned method of controlling the drive mechanism 20 for the searchlight 10, and will not be repeated here.

[0137] Optionally, the detector 201 includes an active detector, which may include a searchlight 10 or a lidar 60. By employing an active detector, the detector 201 actively acts on the detection area during the detection process, thereby quickly responding to the needs of the detection device 200 in different operating modes.

[0138] In some embodiments of this application, the first degree of overlap and the second degree of overlap are different, including: the first degree of overlap is greater than the second degree of overlap. That is, the first degree of overlap is larger in the first mode, while the second degree of overlap is smaller in the second mode. It can be that both the first degree of overlap and the second degree of overlap are greater than 0 and their values ​​are different; or it can be that the second degree of overlap is equal to 0 and the first degree of overlap is greater than 0.

[0139] Optionally, the parameters for controlling the mobile platform 1000 include controlling the flight altitude and / or flight speed.

[0140] Without causing conflict, any content and implementation methods not mentioned in this embodiment can be referred to the description of the structural embodiment of the search device 100 above, and will not be repeated here.

[0141] The following describes a control device 2000.

[0142] Please refer to Figure 15. A control device 2000 according to an embodiment of this application includes a processor 400 and a memory 500. The memory 500 is used to store computer program instructions, and the processor 400 is used to call the computer program instructions to execute the control method of the detection device 100 or the control method of the detection device 200 in the aforementioned examples.

[0143] As can be seen from the above technical solutions, the control device 2000 proposed in this application uses a memory 500 to store computer program instructions and a processor 400 to call the computer program instructions, thereby enabling the computer program instructions to execute control methods. This allows the searchlight device 100 / detector 200 to enter the first mode or the second mode respectively, and controls at least one drive mechanism 20 to drive at least one searchlight 10 / detector 201 to change its posture, so that the overlap of the search area / detection area of ​​at least two searchlights 10 / detectors 201 is adjusted to different overlap degrees, thereby adapting to the usage requirements under various conditions. Different overlap degrees of search area / detection area can be adjusted for different modes, improving the control efficiency and accuracy of the search area / detection area, and improving the efficiency of task execution.

[0144] It should be noted that the aforementioned control device 2000 may be mounted on a mobile platform 1000 (such as an aircraft). For example, an unmanned aerial vehicle (UAV) may know its own mode or flight altitude and other parameters. Based on these parameters, it sends control signals to the drive mechanism 20 on the searchlight device 100 / detection device 200 through a communication interface, thereby realizing the aforementioned adjustment of the working mode of the searchlight device 100 / detection device 200, so that the overlap of the searchlight area / detection area is different in different working modes.

[0145] The aforementioned control device 2000 can also be installed on the searchlight device 100 / detection device 200, and obtain the movement parameters of the movable platform 1000 (such as an aircraft) through a communication interface. For example, if the movable platform 1000 is an aircraft, the movement parameters can be parameters such as flight altitude, flight speed, and flight attitude. Based on these parameters, the drive mechanism 20 is controlled to achieve the aforementioned adjustment of the working mode of the searchlight device 100 / detection device 200, so that the overlap of the searchlight area / detection area is different in different working modes.

[0146] The aforementioned control device 2000 may also be a controller independent of the mobile platform 1000 and the searchlight device 100 / detector 200. This controller can obtain the movement parameters of the mobile platform 1000 (such as an aircraft) through a communication interface, and then send a signal to the drive mechanism 20 based on the movement parameters of the mobile platform 1000 to instruct the drive mechanism 20 to adjust the attitude of the searchlight 10 of the searchlight device 100 or the detector of the detector 200.

[0147] The following describes a device 3000.

[0148] Please refer to Figures 16 and 17. According to an embodiment of this application, a device 3000 includes a processor 400, a memory 500, and the detection device 100 or the detection device 200 of the aforementioned embodiments. The memory 500 is used to store computer program instructions, and the processor 400 is used to call the computer program instructions to execute the control method of the aforementioned detection device 100 or to execute the control method of the detection device 200.

[0149] As can be seen from the above technical solutions, the device 3000 proposed in this application uses a memory 500 to store computer program instructions and a processor 400 to call the computer program instructions, thereby enabling the computer program instructions to execute control methods. This allows the searchlight device 100 / detector 200 to switch into a first mode or a second mode respectively, and controls at least one drive mechanism 20 to drive at least one searchlight 10 / detector 201 to change its posture, so that the overlap of the search area / detection area of ​​at least two searchlights 10 / detectors 201 is adjusted to different overlap degrees, thereby adapting to the usage requirements under various conditions. Different overlap degrees of search area / detection area can be adjusted for different modes, improving the control efficiency and accuracy of the search area / detection area, and improving the efficiency of task execution.

[0150] The aforementioned device 3000 may be a search or detection device, on which a search device 100 or a detection device 200 is installed.

[0151] The control methods of the above-mentioned device 3000 for the illumination device 100 and the detection device 200 are similar in principle and effect to those in the previous examples, and will not be elaborated here.

[0152] The following describes a mobile platform 1000.

[0153] Referring to Figures 19 and 20, a portable platform 1000 according to an embodiment of this application includes a processor 400 and a memory 500. The portable platform 1000 can be used to mount the illumination device 100 or the detection device 200 of the aforementioned embodiments. The memory 500 is used to store computer program instructions, and the processor 400 is used to invoke the computer program instructions to execute the control method of the illumination device 100 or the control method of the aforementioned detection device 200.

[0154] As can be seen from the above technical solution, the mobile platform 1000 proposed in this application uses a memory 500 to store computer program instructions and a processor 400 to call the computer program instructions. The illumination device 100 and the detection device 200 are respectively installed on the mobile platform 1000, thereby enabling the computer program instructions to execute a control method. This controls the illumination device 100 / detection device 200 to switch into a first mode or a second mode, and controls at least one drive mechanism 20 to drive at least one spotlight 10 / detector 201 to change its posture, so that the overlap of the illumination area / detection area of ​​at least two spotlights 10 / detectors 201 is adjusted to different overlap degrees. This adapts to the usage requirements under various conditions, and allows for different adjustments to the overlap of the illumination area / detection area for different modes, improving the control efficiency and accuracy of the illumination area / detection area, and increasing the efficiency of task execution.

[0155] Optionally, as shown in Figure 18, taking a drone as an example, the mobile platform 1000 has a searchlight device 100 or a detection device 200 fixedly installed on its fuselage, so that the searchlight device 100 or the detection device 200 is not easy to fall off the mobile platform 1000 after installation and the connection is stable. For example, the searchlight device 100 / detection device 200 can be welded to the mobile platform 1000 so that the relative position of the two remains unchanged.

[0156] Optionally, the illumination device 100 or the detection device 200 can be detachably mounted on the movable platform 1000. This allows for easy removal of the illumination device 100 / detection device 200 from the movable platform 1000 for repair or replacement if a new type of illumination device 100 / detection device 200 is needed to establish a new illumination / detection mode, or if a component is damaged and requires repair. The detachable connection can be achieved using fasteners (such as bolts, screws, or rivets) to connect the illumination device 100 or detection device 200 to the movable platform 1000; or by plugging or snapping the movable platform 1000 with the illumination device 100 / detection device 200; or by magnetic quick-release.

[0157] Optionally, as shown in Figure 18, the movable platform 1000 also includes a shooting device 300, which is used to take photos or videos. The spotlight device 100 / detector 200 can switch its own working mode according to the shooting mode of the shooting device 300. The selection of shooting mode and the corresponding different working modes of the spotlight device 100 / detector 200 can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0158] In some specific examples, the shooting device 300 can be mounted on the body of the movable platform 1000 via a gimbal, which can adjust the angle of the shooting device 300 in the roll axis direction, the pitch axis direction and / or the yaw axis direction.

[0159] Optionally, the illumination direction of the searchlight 10 / detection direction of the detector 201 can be aligned with the orientation of the imaging device 300, for example, the yaw axis direction, the pitch axis direction, and / or the roll axis direction. This allows the illumination area of ​​the searchlight 10 to cover the image captured by the imaging device 300 as much as possible, resulting in a clearer image captured by the imaging device 300; or the detection area of ​​the detector 201 (such as the lidar 60) can cover the area captured by the imaging device 300 as much as possible, thereby combining the image captured by the imaging device 300 with other data detected by the detector 201 (such as the lidar 60) to analyze the situation of the detected object, improving the accuracy of data analysis.

[0160] Optionally, the shooting device 300 can be a single camera or multiple cameras, and the shooting device 300 can capture images and transmit them to a ground-based remote control for display.

[0161] In multi-camera setups, each camera has a different focal length. Therefore, using different cameras or combining different cameras will result in different fields of view. For smaller fields of view, the illumination device 100 / detection device 200 can choose a mode with a higher overlap between the illumination and detection ranges. Conversely, for larger fields of view, the illumination device 100 / detection device 200 can choose a mode with a lower overlap between the illumination and detection ranges, thus expanding the illumination area and illuminating more parts of the captured image. In single-camera setups, the shooting device 300 can use a focal length-adjustable camera, allowing for different focal lengths during shooting. When the focal length is smaller, the field of view is usually larger. In this case, the illumination device 100 / detection device 200 can choose a mode with a lower overlap between the illumination and detection ranges, thus expanding the illumination area and illuminating more parts of the captured image. When the focal length is large, the field of view is usually small. In this case, the illumination device 100 / detection device 200 can select a working mode with a large overlap between the illumination range and the detection range, so that most of the captured image can be illuminated.

[0162] In specific examples, such as a multi-camera setup including 1X / 3X / 7X focal lengths, the 1X camera has the smallest focal length and the largest field of view; the 7X camera has the largest focal length and the smallest field of view. When a combination of 7X and 3X cameras is used, the camera device 300 is in telephoto mode. In this mode, the searchlight 10's illumination range easily fills most of the scene. Therefore, the searchlight device 100 / detection device 200 can be configured to have a larger overlap between its illumination and detection ranges, allowing for greater coverage of the image. When a 1X camera is used, the camera device 300 is in wide-angle mode. In this mode, the searchlight device 100 / detection device 200 can be configured to have a smaller overlap between its illumination and detection ranges, resulting in a larger illumination range and more areas of the image being illuminated. This makes it easier for the user operating the drone to observe the displayed content and control the drone to complete tasks more efficiently.

[0163] Optionally, the attitude adjustment of the searchlight 10 / detector 201 can be adjusted by the movable platform 1000. That is, by using a computer program instruction execution control method set on the movable platform 1000, the searchlight device 100 / detector 200 can be switched to either the first mode or the second mode.

[0164] Optionally, the posture of the shooting device 300 can be adjusted by the movable platform 1000. That is, the posture of the shooting device 300 can be adjusted by using a computer program instruction execution control method set on the movable platform 1000.

[0165] Optionally, the movable platform 1000 can obtain the orientation of the shooting device 300. The movable platform 1000 can control the searchlight 100 / detector 200 to adjust the orientation of the searchlight / detector to a corresponding orientation to the orientation of the shooting device 300, so that at least part of the shooting image captured by the shooting device 300 is illuminated or detected.

[0166] Optionally, the illumination device 100 can be installed above or below the movable platform 1000, as long as it is convenient for the illumination device 100 to illuminate the surface to be illuminated, making the arrangement convenient. In some embodiments, the illumination device 100 is arranged close to the imaging device 300 on the movable platform 1000, which helps the illumination range of the illumination device 100 to cover the imaging screen of the imaging device 300, making the imaging device 300 capture clearer images. The detection device 200 can be installed above or below the movable platform 1000, and currently it can also be installed in front of, behind, above, or below the movable platform 1000. The detection device 200 can be installed in one or more directions of the movable platform 1000.

[0167] In some examples, the searchlight device 100 / detection device 200 is connected to the movable platform 1000 via its own mounting bracket 30, thereby forming a mounting module. The mounting bracket 30 can also adjust the roll angle of the searchlight device 100 / detection device 200 according to the roll angle of the imaging device 300.

[0168] The following describes a computer-readable storage medium.

[0169] According to an embodiment of this application, a computer-readable storage medium is provided thereon, on which computer program instructions are stored. When the computer program instructions are invoked by a processor 400, the processor 400 causes the processor 400 to execute the control method of the detection device 100 of the aforementioned embodiments or to execute the control method of the detection device 200 of the aforementioned embodiments.

[0170] "Computer-readable storage medium" can be any means that contains a program for storage, communication, propagation, or transmission for use in or in conjunction with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Additionally, a computer-readable medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optical scanning of the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0171] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0172] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0173] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An illuminator device, characterized in that, include: At least two searchlights; At least one drive mechanism, wherein the at least one drive mechanism is used to drive at least one of the at least two searchlights to change its posture; In response to the searchlight device entering a first mode, at least one of the driving mechanisms is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap. In response to the searchlight device entering a second mode, at least one of the driving mechanisms is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap. The first overlap and the second overlap are different. The first mode and the second mode are related to the shooting mode of the movable platform for mounting the searchlight device.

2. An illuminator device, characterized in that include: At least two searchlights; At least one drive mechanism, wherein the at least one drive mechanism is used to drive at least one of the at least two searchlights to change its posture; In response to the searchlight entering a first mode, at least one of the driving mechanisms is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap. In response to the searchlight entering a second mode, at least one of the driving mechanisms is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap. The first overlap and the second overlap are different. Both the first mode and the second mode are the user's desired operating modes.

3. An illuminator device, characterized in that include: At least two searchlights; At least one drive mechanism, wherein the at least one drive mechanism is used to drive at least one of the at least two searchlights to change its posture; In response to the searchlight device entering a first mode, at least one of the driving mechanisms is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap. In response to the searchlight device switching from the first mode to a second mode, at least one of the driving mechanisms is used to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap, wherein the first overlap is greater than the second overlap.

4. The endoscope device according to claim 1 or 2, wherein The first degree of overlap is different from the second degree of overlap, including: the first degree of overlap is greater than the second degree of overlap.

5. The endoscope device according to claim 3 or 4, wherein Both the first degree of overlap and the second degree of overlap are greater than 0, or the first degree of overlap is greater than 0 and the second degree of overlap is equal to 0.

6. The endoscope device according to any one of claims 1 to 3, wherein In the first mode and the second mode, the optical axis angles of at least two of the searchlights are different.

7. The endoscope according to claim 6, wherein The optical axes of at least two of the searchlights are at different angles, including: the optical axes of at least two of the searchlights are at different angles in the pitch axis direction, and / or the optical axes of at least two of the searchlights are at different angles in the yaw axis direction.

8. The endoscope of claim 7, wherein the light source is a light emitting diode. The pitch axis direction is referenced to the pitch axis direction of the searchlight device, and the yaw axis direction is referenced to the yaw axis direction of the searchlight device; alternatively, the pitch axis direction is referenced to the pitch axis direction of the movable platform used to mount the searchlight device, and the yaw axis direction is referenced to the yaw axis direction of the movable platform.

9. The endoscope of claim 8, wherein the light source is a light emitting diode. The drive mechanism includes a pitch axis drive mechanism, at least one of which is mechanically coupled to at least one of the searchlights. In a first mode, the pitch axis drive mechanism adjusts the mechanically coupled searchlight to rotate about the pitch axis so that at least two searchlights have the same pitch angle. In a second mode, the pitch axis drive mechanism adjusts the mechanically coupled searchlight to rotate about the pitch axis so that at least two searchlights have different pitch angles.

10. The endoscope according to claim 9, wherein The number of pitch axis drive mechanisms is the same as the number of searchlights. Each pitch axis drive mechanism is mechanically coupled to one searchlight. In the first mode, each pitch axis drive mechanism adjusts the mechanically coupled searchlight to rotate around the pitch axis so that at least two searchlights have the same pitch angle. In the second mode, each pitch axis drive mechanism adjusts the mechanically coupled searchlight to rotate around the pitch axis so that at least two searchlights have different pitch angles. or, The number of pitch axis drive mechanisms is different from the number of searchlights. Each pitch axis drive mechanism is mechanically coupled to at least two searchlights. In the first mode, each pitch axis drive mechanism adjusts the at least two searchlights mechanically coupled to it to rotate around the pitch axis so that the pitch angles of at least two searchlights are the same. In the second mode, each of the pitch axis drive mechanisms adjusts the rotation of at least two of the searchlights mechanically coupled to it about the pitch axis so that the pitch angles of the at least two searchlights are different.

11. The endoscope of claim 8, wherein the light source is a light emitting diode. The drive mechanism includes a yaw axis drive mechanism, at least one of which is mechanically coupled to at least one of the searchlights. In a first mode, the yaw axis drive mechanism adjusts the mechanically coupled searchlight to rotate about a yaw axis so that the yaw angles of at least two searchlights are the same. In a second mode, the yaw axis drive mechanism adjusts the mechanically coupled searchlight to rotate about a yaw axis so that the yaw angles of at least two searchlights are different.

12. The endoscope of claim 11, wherein the light source is a light emitting diode. The number of yaw axis drive mechanisms is the same as the number of searchlights. Each yaw axis drive mechanism is mechanically coupled to one searchlight. In the first mode, each yaw axis drive mechanism adjusts the mechanically coupled searchlight to rotate around the yaw axis so that at least two searchlights have the same yaw angle. In the second mode, each yaw axis drive mechanism adjusts the mechanically coupled searchlight to rotate around the yaw axis so that at least two searchlights have different yaw angles. or, The number of yaw axis drive mechanisms is different from the number of searchlights. Each yaw axis drive mechanism is mechanically coupled to at least two searchlights. In the first mode, each yaw axis drive mechanism adjusts the rotation of at least two searchlights mechanically coupled to it around the yaw axis so that the yaw angles of at least two searchlights are the same. In the second mode, each of the yaw axis drive mechanisms adjusts the rotation of at least two of the searchlights mechanically coupled to it about the yaw axis so that the yaw angles of the at least two searchlights are different.

13. The endoscope of claim 6, wherein the light source is a light emitting diode. The optical axis angles of the at least two searchlights are different, including: in the first mode, the optical axis angles of the at least two searchlights are smaller than those of the at least two searchlights in the second mode.

14. The endoscope of claim 13, wherein the light source is a light emitting diode. In the first mode, the optical axes of at least two of the searchlights are parallel to each other; in the second mode, the optical axes of at least two of the searchlights are not parallel to each other.

15. The endoscope of claim 14, wherein the light source is a light emitting diode. In the second mode, the optical axes of at least two of the searchlights are offset by the same or different angles compared to the optical axes of at least two of the searchlights in the first mode.

16. The endoscope device according to any one of claims 2 to 15, wherein The first mode and the second mode are automatically switched according to preset parameters.

17. The endoscope of claim 16, wherein the light source is a light emitting diode. The preset parameters include parameters for the movable platform used to mount the searchlight device.

18. The endoscope of claim 17, wherein the light source is a light emitting diode. The parameters of the mobile platform include the shooting mode of the shooting device of the mobile platform.

19. The endoscope of claim 1 or 18, wherein, The field of view of the shooting device in the first mode is smaller than that of the shooting device in the second mode.

20. The endoscope of claim 1 or 18, wherein, In the first mode, the focal length of the shooting device is greater than that in the second mode.

21. The endoscope of claim 20, wherein the light source is a light emitting diode. The first mode includes a telephoto mode, and the second mode includes a wide-angle mode.

22. The endoscope of claim 20, wherein the light source is a light emitting diode. The shooting device is the same, and in the first mode the focal length of the shooting device is greater than the focal length of the shooting device in the second mode. Alternatively, the shooting device includes at least two, and the focal length of the first shooting device among the at least two shooting devices is greater than the focal length of the second shooting device. In the first mode, the movable platform uses the first shooting device to take pictures, and in the second mode the movable platform uses the second shooting device to take pictures.

23. The endoscope of claim 17, wherein the light source is a light emitting diode. The parameters of the mobile platform include the mobility parameters of the mobile platform.

24. The endoscope of claim 23, wherein the light source is a light emitting diode. The mobility parameters of the mobile platform include flight altitude and / or speed.

25. The endoscope of claim 24, wherein the light source is a light emitting diode. The flight altitude of the mobile platform in the first mode is greater than that of the mobile platform in the second mode.

26. The endoscope of claim 24, wherein the light source is a light emitting diode. The moving speed of the mobile platform in the first mode is greater than the moving speed of the mobile platform in the second mode.

27. The endoscope of any one of claims 1-15, wherein, The first mode and the second mode are switched based on the user's selection operation.

28. The endoscope of any one of claims 1-27, wherein, At least one of the drive mechanisms is also configured to adjust the orientation of at least two of the searchlights according to the orientation of the shooting device on the movable platform on which the searchlight is mounted, so that the illumination range of the at least two searchlights covers at least a portion of the image captured by the shooting device.

29. The endoscope of claim 28, wherein the light source is a light emitting diode. The illumination range of at least two of the searchlights covers at least the central area of ​​the image captured by the shooting device.

30. The endoscope of claim 28, wherein the light source is a light emitting diode. The at least one drive mechanism is further configured to adjust the attitude of at least two searchlights according to the attitude of the shooting device of the mobile platform, including: the at least one drive mechanism is further configured to adjust the yaw angle, pitch angle and / or roll angle of at least two searchlights according to the yaw angle, pitch angle and / or roll angle of the shooting device of the mobile platform.

31. The endoscope of any one of claims 1-27, wherein, The searchlight device also includes a processor, which is configured to send information related to the attitude of the searchlight to a movable platform for mounting the searchlight device. The information related to the attitude of the searchlight is configured to instruct the movable platform to adjust the attitude of the shooting device to a posture corresponding to the attitude of the searchlight, so that the illumination range of the searchlight covers at least a portion of the shooting image captured by the shooting device.

32. A detection device, characterized in that include: At least two detectors; At least one drive mechanism, wherein the at least one drive mechanism is used to drive at least one of the at least two detectors to change attitude; In response to the detection device entering a first mode, at least one of the driving mechanisms is used to drive the at least one detector to change its attitude so that the overlap of the detection ranges of at least two detectors is adjusted to a first overlap. In response to the detection device entering a second mode, at least one of the driving mechanisms is used to drive the at least one detector to change its attitude so that the overlap of the detection ranges of at least two detectors is adjusted to a second overlap. The first overlap is different from the second overlap. The first mode and the second mode are related to the parameters of the movable platform used to mount the detection device. Both the first mode and the second mode are the operating modes desired by the user.

33. The probe device of claim 32, wherein, The detectors include active detectors.

34. The probe device of claim 33, wherein, The active detector includes a searchlight or a lidar.

35. The probe device of claim 32, wherein, The first degree of overlap is different from the second degree of overlap, including: the first degree of overlap is greater than the second degree of overlap.

36. The probe device of claim 32, wherein, The parameters of the mobile platform include flight altitude and / or movement speed.

37. The probe device of claim 36, wherein, The flight altitude of the mobile platform in the first mode is greater than that of the mobile platform in the second mode.

38. The probe device of claim 36, wherein, The moving speed of the mobile platform in the first mode is greater than the moving speed of the mobile platform in the second mode.

39. A control method of an illuminating apparatus, characterized by, The control method includes: in response to the searchlight entering a first mode, controlling at least one drive mechanism to drive at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap. In response to the searchlight device entering a second mode, at least one of the drive mechanisms is controlled to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap, wherein the first overlap is different from the second overlap, and the first mode and the second mode are related to the shooting mode of the movable platform for mounting the searchlight device.

40. A control method of an illuminating apparatus, characterized by, The control method includes: In response to the searchlight entering a first mode, at least one drive mechanism is controlled to drive at least one searchlight to change its posture so that the overlap of the search areas of at least two searchlights is adjusted to a first overlap. In response to the searchlight entering the second mode, at least one of the drive mechanisms is controlled to drive the at least one searchlight to change its posture so that the overlap of the search areas of at least two searchlights is adjusted to a second overlap, wherein the first overlap is different from the second overlap, and both the first mode and the second mode are the user's desired operating modes.

41. A control method of an illuminating apparatus, characterized by, The control method includes: In response to the searchlight entering a first mode, at least one drive mechanism is controlled to drive at least one searchlight to change its posture so that the overlap of the search areas of at least two searchlights is adjusted to a first overlap. In response to the searchlight entering the second mode, at least one of the driving mechanisms is controlled to drive the at least one searchlight to change its posture so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap, wherein the first overlap is greater than the second overlap.

42. The control method of the endoscope apparatus according to claim 39 or 40, wherein The first degree of overlap is different from the second degree of overlap, including: the first degree of overlap is greater than the second degree of overlap.

43. The control method of the endoscope apparatus according to claim 41 or 42, wherein Both the first degree of overlap and the second degree of overlap are greater than 0, or the first degree of overlap is greater than 0 and the second degree of overlap is equal to 0.

44. The control method of the spot light device according to any one of claims 39 to 41, wherein In the first mode and the second mode, the optical axis angles of at least two of the searchlights are different.

45. The control method of the endoscope apparatus according to claim 44, wherein The optical axes of at least two of the searchlights are at different angles, including: the optical axes of at least two of the searchlights are at different angles in the pitch axis direction, and / or the optical axes of at least two of the searchlights are at different angles in the yaw axis direction.

46. The control method of the endoscope apparatus according to claim 45, wherein The pitch axis direction is adjusted with reference to the pitch axis direction of the searchlight device, and the yaw axis direction is adjusted with reference to the yaw axis direction of the searchlight device; or, the pitch axis direction is adjusted with reference to the pitch axis direction of the movable platform used to mount the searchlight device, and the yaw axis direction is adjusted with reference to the yaw axis direction of the movable platform.

47. The control method of the endoscope apparatus according to claim 46, wherein The drive mechanism includes a pitch axis drive mechanism, and at least one of the pitch axis drive mechanisms is mechanically coupled to at least one of the searchlights. The step of controlling at least one drive mechanism to change the attitude of at least one searchlight in response to the searchlight device entering a first mode, so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap, includes: controlling the pitch axis drive mechanism to adjust the mechanically coupled searchlight to rotate around the pitch axis in response to the searchlight device entering the first mode, so as to control the pitch angle of at least two searchlights to be the same; the step of controlling at least one drive mechanism to change the attitude of at least one searchlight in response to the searchlight device entering a second mode, so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap, includes: controlling the pitch axis drive mechanism to adjust the mechanically coupled searchlight to rotate around the pitch axis in response to the searchlight device entering the second mode, so as to control the pitch angle of at least two searchlights to be different.

48. The control method of the endoscope apparatus according to claim 47, wherein The number of pitch axis drive mechanisms is the same as the number of searchlights, and each pitch axis drive mechanism is mechanically coupled to one searchlight. The step of controlling the pitch axis drive mechanism to adjust the mechanically coupled searchlights around the pitch axis to control at least two searchlights to have the same pitch angle, in response to the searchlight entering the first mode, includes: controlling each pitch axis drive mechanism to adjust the mechanically coupled searchlights around the pitch axis to control at least two searchlights to have the same pitch angle, in response to the searchlight entering the second mode; the step of controlling the pitch axis drive mechanism to adjust the mechanically coupled searchlights around the pitch axis to control at least two searchlights to have different pitch angles, in response to the searchlight entering the second mode, includes: controlling each pitch axis drive mechanism to adjust the mechanically coupled searchlights around the pitch axis to control at least two searchlights to have different pitch angles, or... The number of pitch axis drive mechanisms differs from the number of searchlights, and each pitch axis drive mechanism is mechanically coupled to at least two searchlights. The step of controlling each pitch axis drive mechanism to adjust the mechanically coupled searchlights around the pitch axis to control the pitch angles of at least two searchlights to be the same, in response to the search device entering the first mode, includes: controlling each pitch axis drive mechanism to adjust the mechanically coupled searchlights around the pitch axis to control the pitch angles of at least two searchlights to be the same; the step of controlling each pitch axis drive mechanism to adjust the mechanically coupled searchlights around the pitch axis to control the pitch angles of at least two searchlights to be different, in response to the search device entering the second mode, includes: controlling each pitch axis drive mechanism to adjust the mechanically coupled searchlights around the pitch axis to control the pitch angles of at least two searchlights to be different.

49. The control method of the endoscope apparatus according to claim 46, wherein The drive mechanism includes a yaw axis drive mechanism, at least one of the yaw axis drive mechanisms being mechanically coupled to at least one of the searchlights. The step of controlling at least one drive mechanism to drive at least one searchlight to change its attitude in response to the searchlight device entering a first mode, so that the overlap of the illumination areas of at least two searchlights is adjusted to a first overlap, includes: in response to the searchlight device entering the first mode, controlling the yaw axis drive mechanism to adjust the mechanically coupled searchlight to rotate around a yaw axis, so that the yaw angles of at least two searchlights are the same; the step of controlling at least one drive mechanism to drive at least one searchlight to change its attitude in response to the searchlight device entering a second mode, so that the overlap of the illumination areas of at least two searchlights is adjusted to a second overlap, includes: in response to the searchlight device entering the second mode, controlling the yaw axis drive mechanism to adjust the mechanically coupled searchlight to rotate around a yaw axis, so that the yaw angles of at least two searchlights are different.

50. The control method of the endoscope apparatus according to claim 49, wherein The number of yaw axis drive mechanisms is the same as the number of searchlights. Each yaw axis drive mechanism is mechanically coupled to one searchlight. The step of controlling the yaw axis drive mechanism to adjust the mechanically coupled searchlight to rotate around the yaw axis in response to the searchlight entering the first mode, so as to control at least two searchlights to have the same yaw angle, includes: in response to the searchlight entering the first mode, each yaw axis drive mechanism adjusting the mechanically coupled searchlight to rotate around the yaw axis to control at least two searchlights to have the same yaw angle; the step of controlling the yaw axis drive mechanism to adjust the mechanically coupled searchlight to rotate around the yaw axis in response to the searchlight entering the second mode, so as to control at least two searchlights to have different yaw angles, includes: in response to the searchlight entering the second mode, each yaw axis drive mechanism adjusting the mechanically coupled searchlight to rotate around the yaw axis to control at least two searchlights to have different yaw angles; or... The number of yaw axis drive mechanisms differs from the number of searchlights. Each yaw axis drive mechanism is mechanically coupled to at least two searchlights. The step of controlling each yaw axis drive mechanism to adjust the mechanically coupled searchlights around a yaw axis to control the yaw angles of at least two searchlights to be the same, in response to the searchlight device entering the first mode, includes: controlling each yaw axis drive mechanism to adjust the mechanically coupled searchlights around a yaw axis to control the yaw angles of at least two searchlights to be the same; the step of controlling each yaw axis drive mechanism to adjust the mechanically coupled searchlights around a yaw axis to control the yaw angles of at least two searchlights to be different, in response to the searchlight device entering the second mode, includes: controlling each yaw axis drive mechanism to adjust the mechanically coupled searchlights around a yaw axis to control the yaw angles of at least two searchlights to be different.

51. The control method of the endoscope apparatus according to claim 44, wherein The optical axis angles of the at least two searchlights are different, including: in the first mode, the optical axis angles of the at least two searchlights are smaller than those of the at least two searchlights in the second mode.

52. The control method of the endoscope apparatus according to claim 51, wherein In the first mode, the optical axes of at least two of the searchlights are parallel to each other; in the second mode, the optical axes of at least two of the searchlights are not parallel to each other.

53. The control method of the endoscope apparatus according to claim 52, wherein In the second mode, the optical axes of at least two of the searchlights are offset by the same or different angles compared to the optical axes of at least two of the searchlights in the first mode.

54. The control method of the spot light device according to any one of claims 40-53, wherein, The first mode and the second mode are automatically switched according to preset parameters.

55. The control method of the endoscope apparatus according to claim 54, wherein The preset parameters include parameters for the movable platform used to mount the searchlight device.

56. The control method of the endoscope apparatus according to claim 55, wherein The parameters of the mobile platform include the shooting mode of the shooting device of the mobile platform.

57. The control method of the endoscope apparatus according to claim 39 or 56, wherein The field of view of the shooting device in the first mode is smaller than that of the shooting device in the second mode.

58. The control method of the endoscope apparatus according to claim 39 or 56, wherein In the first mode, the focal length of the shooting device is greater than that in the second mode.

59. The control method of the endoscope apparatus according to claim 58, wherein The first mode includes a telephoto mode, and the second mode includes a wide-angle mode.

60. The control method of the endoscope apparatus according to claim 58, wherein The shooting device is the same, and in the first mode the focal length of the shooting device is greater than the focal length of the shooting device in the second mode. Alternatively, the shooting device includes at least two, and the focal length of the first shooting device among the at least two shooting devices is greater than the focal length of the second shooting device. In the first mode, the movable platform uses the first shooting device to take pictures, and in the second mode the movable platform uses the second shooting device to take pictures.

61. The control method of the endoscope apparatus according to claim 55, wherein The parameters of the mobile platform include the mobility parameters of the mobile platform.

62. The control method of the endoscope apparatus according to claim 61, wherein The mobility parameters of the mobile platform include flight altitude and / or speed.

63. The control method of the endoscope apparatus according to claim 62, wherein The flight altitude of the mobile platform in the first mode is greater than that of the mobile platform in the second mode.

64. The control method of the endoscope apparatus according to claim 62, wherein The moving speed of the mobile platform in the first mode is greater than the moving speed of the mobile platform in the second mode.

65. The control method of the spot light device according to any one of claims 39 to 53, wherein The first mode and the second mode are switched based on the user's selection operation.

66. The control method of the spot light device according to any one of claims 39-65, wherein, The method further includes: controlling at least one of the drive mechanisms to adjust the attitude of at least two of the searchlights according to the attitude of the shooting device of the movable platform, so that the illumination range of at least two of the searchlights covers at least a portion of the shooting image of the shooting device.

67. The control method of the endoscope apparatus according to claim 66, wherein The illumination range of at least two of the searchlights covers at least the central area of ​​the image captured by the shooting device.

68. The control method of the endoscope apparatus according to claim 66, wherein The step of controlling at least one of the drive mechanisms to adjust the attitude of at least two searchlights based on the attitude of the shooting device of the mobile platform includes: controlling at least one of the drive mechanisms to adjust the yaw angle, pitch angle and / or roll angle of at least two searchlights based on the yaw angle, pitch angle and / or roll angle of the shooting device of the mobile platform.

69. The control method of the spot light device according to any one of claims 39 to 65, wherein The method further includes sending information related to the orientation of the searchlight to a movable platform for mounting the searchlight, the information related to the orientation of the searchlight being used to instruct the movable platform to adjust the orientation of the shooting device to an orientation corresponding to the orientation of the searchlight, so that the illumination range of the searchlight at least covers a portion of the shooting frame captured by the shooting device.

70. A control method of a probe device, characterized by, The control method includes: In response to the detection device entering the first mode, at least one of the driving mechanisms is controlled to drive the at least one detector to change its attitude so that the overlap of the detection ranges of at least two of the detectors is adjusted to a first overlap. In response to the detection device entering the second mode, at least one of the drive mechanisms is controlled to drive the at least one detector to change its attitude so that the overlap of the detection ranges of at least two detectors is adjusted to a second overlap, wherein the first overlap is different from the second overlap, the first mode and the second mode are related to the parameters of the movable platform for mounting the detection device, and both the first mode and the second mode are the operating modes desired by the user.

71. The method of controlling a probe device of claim 70, wherein, The detectors include active detectors.

72. The method of controlling a probe device of claim 71, wherein, The active detector includes a searchlight or a lidar.

73. The method of controlling a probe device of claim 70, wherein, The first degree of overlap is different from the second degree of overlap, including: the first degree of overlap is greater than the second degree of overlap.

74. The method of controlling a probe device of claim 70, wherein, The parameters of the mobile platform include flight altitude and / or movement speed.

75. The method of controlling a probe device of claim 74, wherein, The flight altitude of the mobile platform in the first mode is greater than that of the mobile platform in the second mode.

76. The method of controlling a probe device of claim 74, wherein, The moving speed of the mobile platform in the first mode is greater than the moving speed of the mobile platform in the second mode.

77. A control device characterized by comprising: It includes a processor and a memory, the memory being used to store computer program instructions, and the processor being used to invoke the computer program instructions to execute the control method as described in any one of claims 39-76.

78. An apparatus, comprising: The device includes a processor, a memory, and an apparatus as described in any one of claims 1-38, wherein the memory is used to store computer program instructions, and the processor is used to invoke the computer program instructions to perform the control method as described in any one of claims 39-76.

79. A movable platform, characterized by The portable platform includes a processor and a memory, and is capable of mounting a detection device as described in any one of claims 1-31, wherein the memory is used to store computer program instructions, and the processor is used to invoke the computer program instructions to execute the control method as described in any one of claims 39-69; or, the portable platform is capable of mounting a detection device as described in any one of claims 32-38, wherein the memory is used to store computer program instructions, and the processor is used to invoke the computer program instructions to execute the control method as described in any one of claims 70-76.

80. The movable platform of claim 79, wherein, The mobile platform is fixedly equipped with the illumination device or the detection device, or the illumination device or the detection device is detachably installed on the mobile platform.

81. The movable platform of claim 79, wherein, The illumination device is installed above or below the movable platform.

82. The movable platform of claim 79, wherein, The detection device is installed above, below, in front of, behind, to the left or right of the movable platform.

83. The movable platform of claim 79, wherein, The movable platform can be used to install the searchlight device as described in any one of claims 1-31, and the movable platform further includes a shooting device, the searchlight device's search range covering at least a portion of the shooting image captured by the shooting device.

84. A computer-readable storage medium, characterized in that, It stores computer program instructions, which, when invoked by a processor, cause the processor to execute the control method as described in any one of claims 39-76.

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