技术领域technical field
本发明涉及航拍技术领域，尤其涉及航拍设备的拍摄范围调整方面。The invention relates to the technical field of aerial photography, in particular to the adjustment of the shooting range of aerial photography equipment.
背景技术Background technique
随着多旋翼无人机(UAV)技术的迅猛发展，其不仅适用于专业航拍、监控、喷洒等专业领域，也越发为普通消费者所喜爱，尤其当多旋翼无人机的体积越来越小型化时，其作为全民娱乐的工具的优势也越发体现。例如，可以满足消费者各个特殊角度的自拍需求、可满足小型聚会的大量拍摄需求或监控需求。With the rapid development of multi-rotor unmanned aerial vehicle (UAV) technology, it is not only suitable for professional aerial photography, monitoring, spraying and other professional fields, but also more and more popular among ordinary consumers, especially when the size of multi-rotor UAV is getting bigger and bigger When miniaturized, its advantages as a tool for national entertainment are more and more reflected. For example, it can meet the needs of consumers for taking selfies from various special angles, and can meet the needs of a large number of shooting or monitoring of small parties.
中国专利CN201520375294.6提出了一种包括智能移动终端和地面控制终端的智能飞行系统，其中，该智能移动终端/地面移动终端为手机、平板电脑、笔记本电脑、PDA智能终端或可穿戴智能设备，且该智能移动终端包括基体和动力组件，基体上设有屏幕、导航模块、通信模块、处理器等，动力组件则包括螺旋桨、电机、机臂等。显然，上述智能飞行系统实际上相当于利用手机等智能终端对无人机进行飞行控制，便于用户实时对无人机进行控制。Chinese patent CN201520375294.6 proposes an intelligent flight system including an intelligent mobile terminal and a ground control terminal, wherein the intelligent mobile terminal/ground mobile terminal is a mobile phone, a tablet computer, a notebook computer, a PDA intelligent terminal or a wearable intelligent device, Moreover, the smart mobile terminal includes a base body and a power component. The base body is provided with a screen, a navigation module, a communication module, a processor, etc., and the power component includes a propeller, a motor, an arm, and the like. Obviously, the above-mentioned intelligent flight system is actually equivalent to using smart terminals such as mobile phones to control the flight of UAVs, which is convenient for users to control UAVs in real time.
然而，当利用上述智能飞行系统进行拍摄操作时，尽管可以实现取景范围基本的朝向、角度调整等功能，但是，对于最终取景范围的确认却往往还是需要用户利用手机手动输入表示方向的指令以对取景范围进行实时调整，并且在调整过程中还需要用户从拍摄设备的位置角度出发考虑如何移动才能取得适合的取景范围，显然，这样的拍摄范围调整方式操作繁琐、需要经常性的转换思考角度、容易出错、不利于用户体验，也不利于无人机在生活应用的拍摄方面的进一步推广。However, when the above-mentioned intelligent flight system is used for shooting operations, although the basic orientation and angle adjustment functions of the viewfinder range can be realized, the confirmation of the final viewfinder range often still requires the user to use the mobile phone to manually input instructions indicating the direction. The viewfinder range is adjusted in real time, and during the adjustment process, the user needs to consider how to move from the perspective of the shooting device to obtain a suitable viewfinder range. Obviously, such a shooting range adjustment method is cumbersome to operate and requires frequent conversion of thinking angles. It is easy to make mistakes, is not conducive to user experience, and is not conducive to the further promotion of drones in the shooting of life applications.
发明内容Contents of the invention
为了使用户可以方便直观地进行拍摄范围的调整，无需过多地转换思考角度，并使用户得到良好的拍摄体验，本发明提出以下技术方案：In order to enable the user to adjust the shooting range conveniently and intuitively without changing the thinking angle too much, and to enable the user to obtain a good shooting experience, the present invention proposes the following technical solutions:
一种航拍设备的拍摄范围调整系统，适用于装载在无人机的航拍设备，其中，所述拍摄范围调整系统包括：A shooting range adjustment system for aerial photography equipment, suitable for aerial photography equipment loaded on unmanned aerial vehicles, wherein the shooting range adjustment system includes:
控制模块，用于收发信号，其设置在所述无人机上，并对所述无人机进行飞行控制；A control module, used for sending and receiving signals, which is set on the drone and controls the flight of the drone;
第一通信模块，用于收发信息，其设置在所述无人机上，并与所述控制模块相连接；The first communication module is used to send and receive information, which is set on the drone and connected to the control module;
智能移动终端，其上设有与所述第一通信模块交互通信的第二通信模块以及与所述第二通信模块相连接的手势检测识别模块；An intelligent mobile terminal, which is provided with a second communication module for interactive communication with the first communication module and a gesture detection and recognition module connected with the second communication module;
其中，所述控制模块根据所述手势检测识别模块识别的手势信号而获得所述无人机的飞行控制指令。Wherein, the control module obtains the flight control instruction of the UAV according to the gesture signal recognized by the gesture detection and recognition module.
具体地，所述控制模块根据所述智能移动终端的操作用户在所述显示模块处执行的放大或缩小手势信号而获得用于调整所述无人机与所述航拍设备的拍摄对象之间相对距离的所述飞行控制指令；和/或，所述控制模块根据所述智能移动终端的操作用户在所述显示模块处执行的点击操作手势信号而获得使所述无人机围绕所述航拍设备的拍摄对象进行环绕飞行的所述飞行控制指令；和/或，所述控制模块根据所述智能移动终端的操作用户在所述显示模块处沿着任一方向执行的滑动手势信号而获得使所述无人机朝向所述任一方向进行移动的所述飞行控制指令。Specifically, the control module obtains a signal for adjusting the relative distance between the UAV and the photographed object of the aerial photography device according to the zoom-in or zoom-out gesture signal performed by the operating user of the smart mobile terminal at the display module. The flight control command of the distance; and/or, the control module obtains the drone to surround the aerial photography device according to the click operation gesture signal performed by the operating user of the smart mobile terminal at the display module. and/or, the control module obtains the control module according to the sliding gesture signal performed by the operating user of the smart mobile terminal along any direction at the display module to make the The flight control instruction for the UAV to move in any one direction.
进一步地，所述智能移动终端还设有一与所述第二通信模块和所述手势检测识别模块均连接的显示模块，且所述显示模块实时显示所述航拍设备的拍摄范围；其中，所述控制模块根据所述手势检测识别模块在所述显示模块处识别的手势信号而获得所述飞行控制指令。Further, the smart mobile terminal is also provided with a display module connected to both the second communication module and the gesture detection and recognition module, and the display module displays the shooting range of the aerial photography device in real time; wherein, the The control module obtains the flight control instruction according to the gesture signal recognized by the gesture detection and recognition module at the display module.
具体地，所述智能移动终端为搭载操作系统的智能手机或平板电脑或笔记本电脑或PDA智能终端，相应的，所述手势检测识别模块与所述显示模块集成为设置在所述智能移动终端的触摸屏组件。Specifically, the smart mobile terminal is a smart phone or a tablet computer or a notebook computer or a PDA smart terminal equipped with an operating system. Correspondingly, the gesture detection and recognition module is integrated with the display module as a Touch screen components.
又进一步的，所述拍摄范围调整系统还包括一数据处理模块，其可根据所述手势检测识别模块识别的手势信号而生成所述飞行控制指令，其中，所述数据处理模块设置在所述智能移动终端上，或设置在所述无人机上。Still further, the shooting range adjustment system also includes a data processing module, which can generate the flight control instruction according to the gesture signal recognized by the gesture detection and recognition module, wherein the data processing module is set in the intelligent on the mobile terminal, or on the drone.
更进一步的，所述拍摄范围调整系统还包括一存储模块，其上预先存储所述手势信号与所述无人机的飞行动作之间的对应关系。Furthermore, the shooting range adjustment system also includes a storage module, on which the corresponding relationship between the gesture signal and the flight action of the drone is stored in advance.
具体的，所述第一通信模块和/或所述第二通信模块为利用红外收发装置或蓝牙或WIFI模块或通信模组进行信号收发处理的无线收发装置。Specifically, the first communication module and/or the second communication module is a wireless transceiver device that uses an infrared transceiver device or a Bluetooth or WIFI module or a communication module to perform signal transceiving processing.
此外，本发明还提供一种适用于装载在无人机的航拍设备的拍摄范围调整方法，其中，所述拍摄范围调整方法包括以下步骤：In addition, the present invention also provides a shooting range adjustment method suitable for aerial photography equipment mounted on a drone, wherein the shooting range adjustment method includes the following steps:
A.在所述无人机与搭载手势检测识别模块的智能移动终端之间建立通信通道；A. Establish a communication channel between the drone and the smart mobile terminal carrying the gesture detection and recognition module;
B.根据所述手势检测识别模块识别的手势而生成所述无人机的飞行控制指令；B. Generate the flight control instruction of the drone according to the gesture recognized by the gesture detection and recognition module;
C.根据所述飞行控制指令而对所述无人机进行飞行控制。C. Perform flight control on the UAV according to the flight control instruction.
其中，所述步骤B具体为：根据所述手势检测识别模块在所述航拍设备的拍摄范围内识别的手势而生成以所述智能移动终端的操作用户所在地为目标基点而进行移动的飞行控制指令。Wherein, the step B is specifically: according to the gesture recognized by the gesture detection and recognition module within the shooting range of the aerial photography device, generating a flight control instruction for moving with the location of the operating user of the smart mobile terminal as the target base point .
而且，所述调整方法在所述步骤A之后、所述步骤B之前还包括以下步骤：控制所述无人机移动至所述航拍设备的拍摄范围中包括所述智能移动终端的操作用户。Moreover, the adjustment method further includes the following step after the step A and before the step B: controlling the UAV to move to the operating user of the intelligent mobile terminal in the shooting range of the aerial photography device.
采用上述技术方案，用户可以直接通过在智能移动终端实时显示航拍设备的拍摄范围，并通过在上述移动终端的拍摄范围中的手势控制即可调整无人机的飞行，从而调整航拍设备的拍摄角度，无需转换思考角度，无需输出各种指令，大大提高其产品使用体验，有利于小体积的无人机在生活应用层面，如自拍或合拍操作，的进一步推广。With the above technical solution, the user can directly display the shooting range of the aerial photography device on the smart mobile terminal in real time, and adjust the flight of the drone through gesture control in the shooting range of the mobile terminal, thereby adjusting the shooting angle of the aerial photography device , no need to change the angle of thinking, no need to output various commands, greatly improving the user experience of its products, and conducive to the further promotion of small-sized drones in daily life applications, such as Selfie or co-photographing operations.
附图说明Description of drawings
图1为本发明实施例无人机的基本组成示意图；Fig. 1 is a schematic diagram of the basic composition of an unmanned aerial vehicle according to an embodiment of the present invention;
图2为本发明实施例智能移动终端的基本组成示意图；FIG. 2 is a schematic diagram of the basic composition of an intelligent mobile terminal according to an embodiment of the present invention;
图3为本发明实施例拍摄范围调整系统的组成示意图；3 is a schematic diagram of the composition of the shooting range adjustment system according to the embodiment of the present invention;
图4为本发明实施例拍摄范围调整方法流程示意图；FIG. 4 is a schematic flow chart of a method for adjusting a shooting range according to an embodiment of the present invention;
图5为本发明实施例拍摄范围调整时飞行器与操作用户的位置示意图；5 is a schematic diagram of the position of the aircraft and the operating user when the shooting range is adjusted according to the embodiment of the present invention;
图6为本发明变形例一智能移动终端的基本组成示意图；FIG. 6 is a schematic diagram of the basic composition of an intelligent mobile terminal according to a modification example 1 of the present invention;
图7为本发明变形例二拍摄范围调整系统的组成示意图。FIG. 7 is a schematic composition diagram of a shooting range adjustment system according to Modification 2 of the present invention.
符号说明：10无人机，101航拍设备，102控制模块，103、204’数据处理模块，104第一通信模块，20、20’智能移动终端，201、201’第二通信模块，202、202’手势检测识别模块，203、203’无人机控制客户端，205、205’显示模块，30地面控制站。Description of symbols: 10 unmanned aerial vehicle, 101 aerial photography equipment, 102 control module, 103, 204' data processing module, 104 first communication module, 20, 20' intelligent mobile terminal, 201, 201' second communication module, 202, 202 'gesture detection and recognition module, 203, 203' UAV control client, 205, 205' display module, 30 ground control station.
具体实施方式detailed description
本发明的主要技术方案是：利用智能移动终端实时显示航拍设备的拍摄范围，并通过识别用户在所显示的拍摄范围上所执行的手势信号而实时操控无人机进行飞行调整，以使得航拍设备拍摄角度亦得以调整，从而可以实现拍摄范围的及时调整，提高用户使用无人机进行自拍或合拍的便利性。The main technical solution of the present invention is: use the intelligent mobile terminal to display the shooting range of the aerial photography equipment in real time, and control the UAV in real time to adjust the flight by recognizing the gesture signal performed by the user on the displayed shooting range, so that the aerial photography equipment The shooting angle is also adjusted, so that the shooting range can be adjusted in time, and the convenience for users to take selfies or co-shoots with drones is improved.
以下通过具体的实施例的描述对本发明的技术方案作出全面的、详细的描述。需要说明的是，这些具体的说明只是让本领域普通技术人员更加容易、清晰理解本发明，而非对本发明的限定性解释。The technical solution of the present invention is described comprehensively and in detail through the description of specific embodiments below. It should be noted that these specific descriptions are only for those skilled in the art to understand the present invention more easily and clearly, rather than limiting interpretation of the present invention.
实施例一：Embodiment one:
图1为本实施例无人机的基本组成示意图。如图1所示，无人机10包括：具有摄像头的航拍设备101，且优选地，航拍设备101可以以其在无人机10的固定点为基点作360度转动以使摄像头可以捕捉任意角度的画面；第一通信模块104，用于收发信号，如接收外部控制信号、输出所收集或采集的图像信号等，其可为利用红外收发装置或蓝牙或WIFI模块或通信模组进行信号收发处理的无线信号收发装置；控制模块102，分别与上述第一通信模块104和上述航拍设备101连接，根据上述第一通信模块104接收的信号而对无人机10进行飞行控制，同时也可对上述航拍设备101进行操控，具体地，其可为常见的中央处理器、微处理器或其它类似装置等。此外，无人机10还包括用于为无人机提供飞行动力的动力装置、实时监控无人机的飞行状态参数的传感器集成、为各个零部件提供电力的电源等。Fig. 1 is a schematic diagram of the basic composition of the drone of this embodiment. As shown in Figure 1, the UAV 10 includes: an aerial photographing device 101 with a camera, and preferably, the aerial photographing device 101 can rotate 360 degrees based on its fixed point on the UAV 10 so that the camera can capture any angle The first communication module 104 is used to send and receive signals, such as receiving external control signals, outputting collected or collected image signals, etc., which can use infrared transceiver devices or Bluetooth or WIFI modules or communication modules for signal sending and receiving processing The wireless signal transceiving device; the control module 102 is respectively connected with the above-mentioned first communication module 104 and the above-mentioned aerial photography equipment 101, and performs flight control to the unmanned aerial vehicle 10 according to the signal received by the above-mentioned first communication module 104, and can also control the above-mentioned The aerial photographing device 101 is controlled, specifically, it may be a common central processing unit, microprocessor or other similar devices. In addition, the UAV 10 also includes a power device for providing flight power for the UAV, sensor integration for real-time monitoring of the flight state parameters of the UAV, and a power supply for providing power to various components.
图2为本实施例智能移动终端的基本组成示意图。如图2所示，该智能移动终端20包括：第二通信模块201，与上述第一通信模块104之间建立通信通道以进行数据交互，其亦可为利用红外收发装置或蓝牙或WIFI模块或通信模组进行信号收发处理的无线信号收发装置；无人机控制客户端203，即无人机控制APP程序，其可利用上述第二通信模块201与第一通信模块104之间建立的通信通道而实时对无人机10进行飞行控制。具体地，在本实施例中，该智能移动终端20可为搭载操作系统的智能手机或平板电脑或笔记本电脑或PDA智能终端，或其它类似装置。此外，为了能够实时地显示上述航拍设备101的拍摄范围，优选的，本实施例中，上述智能移动终端20还包括一与上述第二通信模块201相连接的显示模块205，如此，上述航拍设备101的拍摄信号可经由上述第一通信模块104与第二通信模块201而传输至显示模块205进行显示。其中，本实施例中，上述显示模块为设置在智能移动终端20上的显示屏。FIG. 2 is a schematic diagram of the basic components of the smart mobile terminal in this embodiment. As shown in Figure 2, the smart mobile terminal 20 includes: a second communication module 201, which establishes a communication channel with the above-mentioned first communication module 104 for data interaction, and it can also use an infrared transceiver or Bluetooth or WIFI module or The communication module carries out the wireless signal transceiving device of signal transceiving processing; The UAV control client 203, namely the UAV control APP program, which can utilize the communication channel established between the above-mentioned second communication module 201 and the first communication module 104 And carry out flight control to unmanned aerial vehicle 10 in real time. Specifically, in this embodiment, the smart mobile terminal 20 may be a smart phone or a tablet computer or a notebook computer or a PDA smart terminal equipped with an operating system, or other similar devices. In addition, in order to be able to display the shooting range of the above-mentioned aerial photography device 101 in real time, preferably, in this embodiment, the above-mentioned smart mobile terminal 20 further includes a display module 205 connected to the above-mentioned second communication module 201, so that the above-mentioned aerial photography device The shooting signal of 101 can be transmitted to the display module 205 via the first communication module 104 and the second communication module 201 for display. Wherein, in this embodiment, the above-mentioned display module is a display screen provided on the smart mobile terminal 20 .
如前所述，为了解决现有技术中用户利用智能移动终端调整航拍设备的拍摄角度时所面临的操作不便、需要不断地换位思考的问题，优选地，本实施例中，上述智能移动终端20中还设有一手势检测识别模块202，其可用于检测及识别用户的手势信号，并将所检测的手势信号经由上述第二通信模块201、第一通信模块104而传输至上述控制模块102。其中，上述手势检测识别模块可为手势识别传感器。优选地，本实施例中，上述手势检测识别模块202与上述显示模块205集成为设置在上述智能移动终端上的触摸屏组件，如此可通过检测用户的手指在其上述航拍设备的拍摄范围上的操作所形成的信号变化而识别用户输入的手势信号。更确切地说，采用上述手势识别检测模块可以检测上述智能移动终端的操作用户对上述显示模块所显示的航拍设备的拍摄范围所执行的操作手势信号。具体地，上述触摸屏组件可为电阻屏组件或电容屏组件。本领域普通技术人员应理解，上述手势检测识别模块也可为设置在智能移动终端的摄像头组件或者其他可识别或感应用户手势的部件，无需与上述显示模块集成在一起。As mentioned above, in order to solve the problem of inconvenient operation and constant transposition thinking faced by users when using the smart mobile terminal to adjust the shooting angle of the aerial photography device in the prior art, preferably, in this embodiment, the above-mentioned smart mobile terminal There is also a gesture detection and recognition module 202 in 20, which can be used to detect and recognize the user's gesture signal, and transmit the detected gesture signal to the control module 102 through the second communication module 201 and the first communication module 104. Wherein, the above-mentioned gesture detection and recognition module may be a gesture recognition sensor. Preferably, in this embodiment, the above-mentioned gesture detection and recognition module 202 and the above-mentioned display module 205 are integrated into a touch screen component provided on the above-mentioned smart mobile terminal, so that the operation of the user's finger on the shooting range of the above-mentioned aerial photography device can be detected The resulting signal changes to recognize the gesture signal input by the user. More specifically, the above-mentioned gesture recognition detection module can detect the operation gesture signal performed by the operating user of the above-mentioned smart mobile terminal on the shooting range of the aerial photography device displayed by the above-mentioned display module. Specifically, the above-mentioned touch screen assembly may be a resistive screen assembly or a capacitive screen assembly. Those skilled in the art should understand that the above-mentioned gesture detection and recognition module can also be a camera assembly or other components that can recognize or sense user gestures installed in the smart mobile terminal, and need not be integrated with the above-mentioned display module.
与之相对应的，为了基于上述所识别的手势信号而获得相应的飞行控制指令，优选地，上述无人机10上还包括一数据处理模块103，其与上述控制模块102相连接，并可将上述手势检测识别模块202所检测和识别手势信号按照预定的规则转换为相应的飞行控制指令，并将上述飞行控制指令传输至控制模块102，从而使无人机10可以根据用户的手势而进行飞行调整，即航拍设备101可根据用户的手势而进行拍摄范围的调整。更进一步说，上述数据处理模块103可以将上述手势检测识别模块202在上述航拍设备101的拍摄范围内所识别的手势信号转换为上述无人机10的飞行控制指令，从而使上述无人机10可以根据上述智能移动终端20的操作用户在上述显示模块205所显示的拍摄范围上所执行的手势信号而进行飞行操作/飞行调整，以使上述航拍设备101的拍摄范围得以实时调整。另外，上述无人机10还包括一存储模块(图中未示出)，其中，该存储模块中预先存储各种手势信号与无人机10的飞行动作之间的对应关系，且本实施例中，该存储模块设置在/集成在上述数据处理模块103上，如此，数据处理模块103通过比较所接收的手势信号和预先存储的数据信息即可输出/生成对应的飞行控制指令。本领域普通技术人员应理解，上述数据处理模块也可根据其它预设的规则以根据所接收的手势信号而计算或生成对应的飞行控制指令。具体地，该数据处理模块可为常见的指令生成器。Correspondingly, in order to obtain corresponding flight control instructions based on the above-mentioned recognized gesture signal, preferably, the above-mentioned UAV 10 further includes a data processing module 103, which is connected to the above-mentioned control module 102, and can The gesture signal detected and recognized by the gesture detection and recognition module 202 is converted into corresponding flight control instructions according to predetermined rules, and the flight control instructions are transmitted to the control module 102, so that the UAV 10 can operate according to the user's gestures. Flight adjustment, that is, the aerial photography device 101 can adjust the shooting range according to the user's gesture. Furthermore, the above-mentioned data processing module 103 can convert the gesture signal recognized by the above-mentioned gesture detection and recognition module 202 within the shooting range of the above-mentioned aerial photography device 101 into the flight control instruction of the above-mentioned UAV 10, so that the above-mentioned UAV 10 The flight operation/flight adjustment can be performed according to the gesture signal performed by the operating user of the smart mobile terminal 20 on the shooting range displayed on the display module 205, so that the shooting range of the aerial photography device 101 can be adjusted in real time. In addition, the UAV 10 also includes a storage module (not shown in the figure), wherein the storage module pre-stores the correspondence between various gesture signals and the flight actions of the UAV 10, and the present embodiment Among them, the storage module is set/integrated on the above-mentioned data processing module 103, so that the data processing module 103 can output/generate corresponding flight control instructions by comparing the received gesture signal with the pre-stored data information. Those of ordinary skill in the art should understand that the above data processing module can also calculate or generate corresponding flight control instructions according to the received gesture signals according to other preset rules. Specifically, the data processing module can be a common instruction generator.
图3为本实施例拍摄范围调整系统的基本组成示意图，图4为利用该拍摄范围调整系统进行拍摄范围调整的方法的流程示意图。FIG. 3 is a schematic diagram of the basic composition of the shooting range adjustment system of this embodiment, and FIG. 4 is a schematic flowchart of a method for adjusting the shooting range by using the shooting range adjustment system.
结合图3和图4可知，该拍摄范围调整的方法具体包括如下步骤：3 and 4, it can be seen that the method for adjusting the shooting range specifically includes the following steps:
步骤S1：在上述无人机10与上述智能移动终端20之间建立通信通道；Step S1: Establish a communication channel between the above-mentioned drone 10 and the above-mentioned smart mobile terminal 20;
如图3所示，通过利用第一通信模块104与第二通信模块201之间的相互通信即可完成上述通信通道的搭建，如此，通过上述通信通道可以有效地在智能移动终端20与无人机10之间进行信号交互。As shown in FIG. 3 , the construction of the above-mentioned communication channel can be completed by using the mutual communication between the first communication module 104 and the second communication module 201. In this way, through the above-mentioned communication channel, the intelligent mobile terminal 20 and the unmanned Signal interaction between machines 10.
步骤S2：根据智能移动终端20的手势检测识别模块202识别的手势信号而生成上述无人机10的飞行控制指令；Step S2: Generate the flight control instruction of the UAV 10 according to the gesture signal recognized by the gesture detection and recognition module 202 of the smart mobile terminal 20;
具体地，手势检测识别模块202检测并识别上述智能移动终端20的操作用户在上述显示模块205上所执行的手势信号，并将其经由第一通信模块104和第二通信模块201而传输至数据处理模块103以生成相应的操作指令。显然，本实施例中，优选地，上述手势检测识别模块202检测并识别上述操作用户在上述显示模块205所实时显示的航拍设备101的拍摄范围上所执行的手势信号，从而使得操作用户只需要简单对拍摄范围进行手势操作即可及时调整上述无人机10的飞行操作以实时调整上述航拍设备101的拍摄范围。Specifically, the gesture detection and recognition module 202 detects and recognizes the gesture signal performed by the operating user of the smart mobile terminal 20 on the display module 205, and transmits it to the data via the first communication module 104 and the second communication module 201. The processing module 103 is used to generate corresponding operation instructions. Obviously, in this embodiment, preferably, the above-mentioned gesture detection and recognition module 202 detects and recognizes the gesture signal performed by the above-mentioned operating user on the shooting range of the aerial photography device 101 displayed in real time by the above-mentioned display module 205, so that the operating user only needs to Simple gesture operation on the shooting range can adjust the flight operation of the drone 10 in time to adjust the shooting range of the aerial photography device 101 in real time.
步骤S3：根据上述飞行控制指令对上述无人机10进行飞行控制。Step S3: Perform flight control on the above-mentioned UAV 10 according to the above-mentioned flight control instruction.
这样，基于上述飞行控制指令即可控制上述无人机10在相应的方向做移动或转动的操作，以使得上述航拍设备101的拍摄范围同时进行调整，从而简单、方便地满足的用户的选取合适拍摄范围的需求。In this way, based on the above-mentioned flight control command, the above-mentioned UAV 10 can be controlled to move or rotate in the corresponding direction, so that the shooting range of the above-mentioned aerial photography device 101 can be adjusted at the same time, thereby simply and conveniently satisfying the selection of the user. shooting range requirements.
此外，需注意，本实施例中，上述飞行控制指令是控制所述无人机10以上述智能移动终端20的操作用户为目标基点而进行移动的控制指令；可以说，上述飞行控制指令为控制上述航拍设备101的摄像头以用户为目标基点而进行取景范围调整的指令。更具体地说，上述飞行控制指令为以上述操作用户为拍摄目标时使无人机10靠近/远离用户或在与用户相对的平面内沿着各个方向飞行移动的具体控制指令，也就是说，上述飞行控制指令为以上述用户为拍摄目标时控制无人机10相对于上述用户而在空间六向上进行移动的指令。In addition, it should be noted that in this embodiment, the above-mentioned flight control instruction is a control instruction for controlling the UAV 10 to move with the operating user of the above-mentioned smart mobile terminal 20 as the target base point; it can be said that the above-mentioned flight control instruction is a control instruction The camera of the aerial photography device 101 uses the user as the target base point to perform an instruction to adjust the viewfinder range. More specifically, the above-mentioned flight control instruction is a specific control instruction for making the UAV 10 approach/far away from the user or fly and move in various directions in a plane opposite to the user when the above-mentioned operating user is taken as the shooting target, that is to say, The above-mentioned flight control instruction is an instruction for controlling the movement of the UAV 10 in six directions in space relative to the above-mentioned user when the above-mentioned user is taken as the photographing target.
另外，在利用上述无人机航拍设备101进行自拍或多人合拍时，在上述步骤S1之后、步骤S2之前，上述调整方法还包括以下步骤：控制无人机10移动，直至上述航拍设备101的拍摄范围中包括操作上述智能移动终端20的用户为止。如此，使得利用上述无人机10进行拍摄调整范围进行角度调整时更为清楚地进行布局。In addition, when using the above-mentioned drone aerial photography device 101 to take self-portraits or multi-person co-photographing, after the above-mentioned step S1 and before step S2, the above-mentioned adjustment method further includes the following steps: controlling the movement of the drone 10 until the above-mentioned aerial photography device 101 The shooting range includes the user who operates the above-mentioned smart mobile terminal 20 . In this way, the layout can be made more clearly when the UAV 10 is used to adjust the shooting range and adjust the angle.
为了更好地说明上述利用手势识别的技术操控无人机以达到拍摄范围实时调整的便利性，以下通过图5进行举例说明，其中，图5为拍摄范围调整时飞行器与操作用户的位置示意图。In order to better illustrate the convenience of using the gesture recognition technology to control the UAV to achieve real-time adjustment of the shooting range, the following is an example for illustration through Figure 5, wherein Figure 5 is a schematic diagram of the positions of the aircraft and the operating user when the shooting range is adjusted.
为了使用户能够通过对显示模块205所显示的实时拍摄范围进行的手势控制可以直接转换为无人机10的飞行控制指令，优选地，对于无人机10而言，其需要建立一以上述用户为拍摄目标的参考坐标系XYZ。如图5所示，将上述无人机10与上述用户之间相对的方向为X轴，且上述无人机10朝向用户靠近的方向为+X轴，相对的，远离用户的方向则为-X轴；而在三维空间上与该X轴相垂直的平面即构成YZ平面，如图5所示，明显地，该YZ平面即为用户所在位置相对的平面。为此，通过控制无人机在X轴、YZ平面上进行移动即可实时调整其上航拍设备的拍摄范围，尤其当用户利用上述无人机进行自拍或合拍时，通过控制上述无人机在X轴、YZ平面上进行移动即可实时调整用户或具体拍摄对象在航拍设备的拍摄范围中位置以及大小。In order to enable the user to directly convert the gesture control of the real-time shooting range displayed by the display module 205 into the flight control instructions of the UAV 10, preferably, for the UAV 10, it needs to establish a user interface as described above. is the reference coordinate system XYZ of the shooting target. As shown in Figure 5, the relative direction between the above-mentioned UAV 10 and the above-mentioned user is the X axis, and the direction of the above-mentioned UAV 10 approaching the user is the +X axis, and the direction away from the user is - X-axis; and the plane perpendicular to the X-axis in three-dimensional space constitutes the YZ plane, as shown in FIG. 5 , obviously, the YZ plane is the plane opposite to the user's location. For this reason, by controlling the drone to move on the X-axis and YZ plane, the shooting range of the aerial photography equipment on it can be adjusted in real time, especially when the user uses the above-mentioned drone to take selfies or co-shoots, by controlling the above-mentioned drone in the The position and size of the user or specific shooting object in the shooting range of the aerial photography device can be adjusted in real time by moving on the X-axis and YZ plane.
具体地，下表为以手势检测识别信号为触控屏组件时在上述触控屏上所执行的手势信号与无人机的飞行控制指令的对照表格，如前所述，该表格的内容被存储在存储模块中。如下表所示，控制模块102根据智能移动终端20的操作用户在显示模块205处执行的放大或缩小手势信号而调整无人机10与所述航拍设备101的拍摄对象之间相对距离；和/或，控制模块102根据智能移动终端20的操作用户在显示模块205处执行的点击操作手势信号而使无人机10围绕航拍设备101的拍摄对象进行环绕飞行；和/或，控制模块102根据智能移动终端20的操作用户在显示模块处沿着任一方向执行的滑动手势信号而使无人机10朝向上述任一方向进行移动。Specifically, the following table is a comparison table between the gesture signal executed on the touch screen and the flight control command of the drone when the gesture detection and identification signal is used as the touch screen component. stored in the storage module. As shown in the table below, the control module 102 adjusts the relative distance between the UAV 10 and the subject of the aerial photography device 101 according to the zoom-in or zoom-out gesture signal performed by the operating user of the smart mobile terminal 20 at the display module 205; and/ Or, the control module 102 makes the UAV 10 fly around the subject of the aerial photography device 101 according to the click operation gesture signal performed by the operating user of the smart mobile terminal 20 on the display module 205; The operating user of the mobile terminal 20 performs a sliding gesture signal along any direction on the display module to make the drone 10 move toward any of the above-mentioned directions.
表1用户手势与相应的飞行控制指令Table 1 User gestures and corresponding flight control commands
如上表所示，用户在智能移动终端上观察到航拍设备的实时拍摄范围时，只需要如同平时使用手机一样，直接使用手指对屏幕上所显示的拍摄范围进行操作即可控制无人机进行相应移动，从而使其上的航拍设备实时进行拍摄范围的调整。为了对利用用户对拍摄范围的手势操作而进行无人机飞行控制的操作作出详细的阐述，以下以用户利用上述无人机进行自拍或合拍为例对拍摄范围的调整步骤进行说明。As shown in the above table, when the user observes the real-time shooting range of the aerial photography device on the smart mobile terminal, he only needs to use his fingers to directly operate the shooting range displayed on the screen as he usually does with a mobile phone to control the drone to perform corresponding operations. Move, so that the aerial photography equipment on it can adjust the shooting range in real time. In order to elaborate on the operation of UAV flight control by using the user's gesture operation on the shooting range, the adjustment steps of the shooting range will be described below by taking the user's self-portrait or co-shooting with the above-mentioned drone as an example.
具体地，当用户利用上述无人机进行自拍或合拍时，首先，其通过智能移动终端20的无人机控制客户端203控制上述无人机进行移动，直至上述用户或相应的拍摄对象被包括在上述航拍设备101的拍摄范围中(即上述用户或相应的拍摄对象此时在触摸屏上可直接观察到)；此时，如果用户认为其自己或拍摄对象在拍摄范围中显示的比例过小，则可利用两指在上述触摸屏上(即实时显示的拍摄范围上)以彼此分离的方式移动，即可控制无人机10沿着+X轴而向前移动以靠近用户，从而用户可实时观察到在所显示的拍摄范围中其自身或拍摄对象所占据/显示的比例在增大；反之，若决定其自身或拍摄对象所占据/显示的比例过大，则可利用两指在上述触摸屏上(即实时显示的拍摄范围上)以彼此靠近地方式移动，即可控制无人机沿着-X轴远离用户，则用户可实时观察到所显示的拍摄范围中其自身或拍摄对象所占据/显示的比例在缩小。而当用户觉得自身或拍摄对象位于拍摄范围的边缘位置，而需要调整至中心位置时，则可以直接点击自身或上述拍摄对象在上述拍摄范围中的所在处，则上述无人机10即通过比较当前的中心位置与上述选定的其自身或拍摄对象在拍摄范围中的所在处之间的距离，进而判断上述无人机10需要在YZ平面上如何进行移动，如左上或右下的移动等。如此，不管在进行自拍或合拍操作时，通过用户在智能移动终端的显示模块上所显示的拍摄范围的实时手势操作即可方便地调整用户或拍摄对象在拍摄范围中所占据的位置、大小、比例等。Specifically, when a user uses the above-mentioned drone to take selfies or co-shoots, first, he controls the above-mentioned drone to move through the drone control client 203 of the smart mobile terminal 20 until the above-mentioned user or the corresponding shooting object is included. In the shooting range of the above-mentioned aerial photography device 101 (that is, the above-mentioned user or the corresponding shooting object can be directly observed on the touch screen at this time); at this time, if the user thinks that the displayed ratio of himself or the shooting object in the shooting range is too small, Then, two fingers can be used to move apart from each other on the above-mentioned touch screen (that is, on the shooting range displayed in real time), so that the UAV 10 can be controlled to move forward along the +X axis to approach the user, so that the user can observe in real time In the displayed shooting range, the proportion occupied/displayed by itself or the subject is increasing; on the contrary, if it is determined that the proportion occupied/displayed by itself or the subject is too large, you can use two fingers to press on the touch screen (that is, on the shooting range displayed in real time) by moving close to each other, the drone can be controlled to move away from the user along the -X axis, and the user can observe in real time the area occupied by himself or the subject in the displayed shooting range The displayed scale is shrinking. And when the user feels that he or the subject is located at the edge of the shooting range and needs to adjust to the center position, he can directly click on the location of himself or the subject in the shooting range, and the UAV 10 will pass the comparison. The distance between the current center position and the above-mentioned selected location of itself or the shooting object in the shooting range, and then judge how the above-mentioned UAV 10 needs to move on the YZ plane, such as upper left or lower right movement, etc. . In this way, regardless of self-portrait or co-photographing operation, the user or the object to be photographed can easily adjust the position, size, and ratio etc.
本领域普通技术人员应理解，如图6所示，上述数据处理模块204’也可设置在智能移动终端20’上，并与手势检测识别模块202’相连接，如此，当智能移动终端20’检测和识别到相关的手势信号后，其先利用设置在其上的数据处理模块204’生成相应的飞行控制指令，然后再将该飞行控制指令经由第一通信模块104和第二通信模块201’而传输至控制模块102中。Those of ordinary skill in the art should understand that, as shown in FIG. 6, the above-mentioned data processing module 204' can also be set on the smart mobile terminal 20' and connected with the gesture detection and recognition module 202', so that when the smart mobile terminal 20' After detecting and recognizing the relevant gesture signal, it first uses the data processing module 204' set on it to generate the corresponding flight control command, and then the flight control command passes the first communication module 104 and the second communication module 201' and transmitted to the control module 102.
本领域普通技术人员应理解，当上述数据处理模块设置在无人机上时，上述数据处理模块可以设置成与上述控制模块集成为一体。Those of ordinary skill in the art should understand that, when the above data processing module is set on the drone, the above data processing module can be set to be integrated with the above control module.
本领域普通技术人员应理解，如图7所示，上述拍摄范围调整系统还可以设置成包括一不同于上述智能移动终端20的地面控制站30，如此，无人机10的日常飞行操作等都可由地面控制站执行，用户只有在需要对航拍设备的拍摄范围进行细致调整时才会需要使用智能移动终端20进行调整。当然，本领域普通技术人员应理解，上述无人机的日常飞行操作、航拍设备基本视角的调整等也可直接采用智能移动终端执行。本领域普通技术人员还可以理解，上述地面控制站也可采用另一智能移动终端替代。Those of ordinary skill in the art should understand that, as shown in FIG. 7, the above-mentioned shooting range adjustment system can also be set to include a ground control station 30 different from the above-mentioned intelligent mobile terminal 20, so that the daily flight operations of the UAV 10, etc. It can be executed by the ground control station, and the user only needs to use the smart mobile terminal 20 to make adjustments when it is necessary to fine-tune the shooting range of the aerial photography equipment. Of course, those skilled in the art should understand that the above-mentioned daily flight operations of the drone and the adjustment of the basic viewing angle of the aerial photography equipment can also be directly performed by using the smart mobile terminal. Those of ordinary skill in the art can also understand that the aforementioned ground control station can also be replaced by another intelligent mobile terminal.
此外，本领域普通技术人员应理解，根据智能移动终端的操作用户在航拍设备的实时显示拍摄范围上的手势操作而进行航拍设备的拍摄范围的调整，不仅仅可通过调整无人机的飞行角度或距离来得到，也可以根据上述手势操作而直接生成控制上述航拍设备进行焦距调整、旋转等指令。In addition, those of ordinary skill in the art should understand that the adjustment of the shooting range of the aerial photography device according to the gesture operation of the operating user of the smart mobile terminal on the real-time display shooting range of the aerial photography device can not only be adjusted by adjusting the flight angle of the drone Or the distance can be obtained, and instructions for controlling the above-mentioned aerial photography device to perform focus adjustment, rotation, etc. can also be directly generated according to the above-mentioned gesture operation.
此外，本领域普通技术人员应理解，上述飞行控制指令也可为以航拍设备的拍摄对象为为目标基点而进行移动的控制指令，其中，该拍摄对象非智能移动终端的操作用户。显然，此时，智能移动终端的操作用户可采用前述的手势信号而控制上述无人机的移动操作以进行拍摄范围的调整。In addition, those of ordinary skill in the art should understand that the above-mentioned flight control instruction may also be a control instruction for moving with the object of the aerial photography device as the target base point, wherein the object is not the operating user of the smart mobile terminal. Obviously, at this time, the operating user of the smart mobile terminal can use the aforementioned gesture signal to control the movement of the drone to adjust the shooting range.
显然，采用上述技术方案可以直接方便地通过对无人机对智能移动终端所显示的拍摄范围的操控即可对无人机进行飞行调整/移动，从而使得其上的航拍设备的拍摄范围进行实时调整，简单方便，无需过多的人工思考，为用户带来良好的体验。Obviously, the adoption of the above technical solution can directly and conveniently adjust/move the drone by controlling the shooting range displayed by the smart mobile terminal, so that the shooting range of the aerial photography equipment on it can be adjusted in real time. The adjustment is simple and convenient, without too much manual thinking, and brings a good experience to users.
应当注意，在本申请各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个功能模块单独物理存在，也可以两个或两个以上模块继承在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。It should be noted that each functional module in each embodiment of the present application may be integrated into one processing unit, or each functional module may exist separately physically, or two or more modules may be inherited in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
最后需要说明的是，上述说明仅是本发明的最佳实施例而已，并非对本发明做任何形式上的限制。任何熟悉本领域的技术人员，在不脱离本发明技术方案范围内，都可利用上述揭示的做法和技术内容对本发明技术方案做出许多可能的变动和简单的替换等，这些都属于本发明技术方案保护的范围。Finally, it should be noted that the above description is only the best embodiment of the present invention, and does not limit the present invention in any form. Any person familiar with the art, without departing from the scope of the technical solution of the present invention, can make many possible changes and simple replacements to the technical solution of the present invention by using the methods and technical contents disclosed above, all of which belong to the technical solution of the present invention Scope of program protection.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102242.0ACN105607647A (en) | 2016-02-25 | 2016-02-25 | Shooting scope adjusting system of aerial equipment and corresponding adjusting method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102242.0ACN105607647A (en) | 2016-02-25 | 2016-02-25 | Shooting scope adjusting system of aerial equipment and corresponding adjusting method |
| Publication Number | Publication Date |
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| CN105607647Atrue CN105607647A (en) | 2016-05-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610102242.0APendingCN105607647A (en) | 2016-02-25 | 2016-02-25 | Shooting scope adjusting system of aerial equipment and corresponding adjusting method |
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