CN115209029A - Stability augmentation control method, device, system, equipment and storage medium - Google Patents
Stability augmentation control method, device, system, equipment and storage medium Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 5
- 230000006641 stabilisation Effects 0.000 claims description 4
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Abstract
The invention discloses a stability augmentation control method, a device, a system, equipment and a storage medium, wherein the method comprises the following steps: the operating state of the stabilizing section is controlled based on the current operating state of the photographing section. The invention provides a method for discontinuously controlling the work of a stability increasing part, which reduces the stability increasing time so as to weaken the influence of stability increasing control on the rotating speed, thereby improving the shooting quality and reliability.
Description
Technical Field
The invention belongs to the technical field of oblique photography, and particularly relates to a stability augmentation control method, device, system, equipment and storage medium.
Background
In the actual oblique photography operation, in order to guarantee the model effect, the photo of ground feature each angle need be gathered, because the volume and the weight of the collection system who adopts five camera combinations that appear in the early stage are too big, in order to solve this problem, adopt a cloud platform to carry one at present, two or three camera, through the rotation of cloud platform, turn to the different angles with the camera of carrying and shoot to realize the multi-angle and shoot. In order to satisfy a sufficient aerial photograph overlap ratio, the rotational speed of the camera (i.e., the rotational speed of the pan/tilt head) needs to be increased.
In the existing oblique photography operation, when the aircraft carrying shooting part carries out multi-angle shooting, a shooting direction is preset at each shooting point, and the system controls the shooting part to rotate to the corresponding shooting direction for shooting. In order to ensure that clear and stable photos can be taken when the camera is rotated, a stabilizing part is usually arranged on the holder, and the stabilizing part keeps working state in the whole shooting process so as to eliminate the shake of the shooting part during shooting and rotation.
However, the stability augmentation control process increases the rotation time, affects the speed of the camera rotation, and thus affects the reliability and quality of the photographing.
Disclosure of Invention
In order to solve the problem that the existing stability augmentation control influences the reliability and quality of shooting, the invention provides a stability augmentation control method for solving the problem.
The invention is realized by the following technical scheme:
a stability augmentation control method comprises the following steps:
the operating state of the stabilizing section is controlled based on the current operating state of the photographing section.
Considering that oblique photography only needs to take a picture at a shooting point, and does not need to take a picture during rotation, so that stability augmentation is not needed in the rotation process.
The invention controls the stabilization part to work before the shooting part shoots; after the shooting part finishes shooting, the intermittent control of the work of the stability increasing part is realized by controlling the principle that the stability increasing part stops working. Specifically, the step of controlling the operating state of the stabilizing unit based on the current operating state of the photographing unit according to the present invention specifically includes:
when the shooting part is detected to be about to start shooting, the stability increasing part is controlled to start working;
and when the shooting of the shooting part is detected to be finished, controlling the stability augmentation part to stop working.
The invention realizes the state judgment of the shooting part based on relevant working parameters (such as shooting point of the shooting part, shooting time, working state parameters of a rotating mechanism for controlling the rotation of the shooting part, and the like). Specifically, the present invention determines that the shooting unit is about to start shooting by using, but not limited to, the following means:
if the current time is detected to be T-delta T, the shooting part is judged to start shooting; wherein T is preset shooting time, and delta T is a preset time interval;
or if the distance delta l between the current coordinate point of the shooting part and the shooting coordinate point is detected to be a preset distance delta l, the shooting part is judged to start shooting;
or if the moving distance of the shooting part from the last shooting point is detected to be s-delta s, the shooting part is judged to start shooting; wherein s is the distance between two adjacent shooting points, and Δ s is a preset distance interval;
alternatively, if it is detected that the rotation mechanism has completed rotating, it is determined that the photographing section is about to start photographing.
Preferably, the method for determining completion of imaging by the imaging unit according to the present invention includes:
if the shooting end signal is detected, judging that the shooting of the shooting part is finished;
alternatively, if it is detected that the rotation mechanism starts rotating, it is determined that the photographing by the photographing section is completed.
Preferably, the present invention detects the current operating state of the photographing part based on the photographing part-related operating parameters;
the relevant working parameters of the shooting part comprise one or more of a current coordinate point, a current time point, a shooting coordinate point, a shooting time point, a preset time interval, a preset distance and working state parameters of the rotating mechanism of the shooting part.
On the other hand, the invention also provides a stability augmentation control device, which comprises a control module;
and the control module outputs a corresponding control command to control the working state of the stabilization part according to the current working state of the shooting part.
In addition, the invention also provides a stability augmentation control system which comprises a shooting part, a stability augmentation part and the stability augmentation control device.
The invention also proposes a computer device comprising a memory and a processor, said memory storing a computer program, said processor implementing the steps of the method of the invention when executing said computer program.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to the invention.
The invention has the following advantages and beneficial effects:
1. according to the control method provided by the invention, the stability increasing part is controlled to work before the shooting part takes a picture, and the stability increasing part is controlled to stop working after the shooting part finishes taking a picture, so that the stability increasing part basically does not work in the process of rotating to the next shooting point after the shooting part finishes taking a picture at the current shooting point, and the time required by stability increasing is saved, thereby weakening the influence of stability increasing control on the rotating speed and ensuring the shooting quality.
2. The invention has wide application range, can be applied to the field of aerial survey (unmanned aerial vehicle) and can be applied to the field of photographing by rotating the photographing part and fixing the point in the photographing process, such as handheld photographing, vehicle photographing or other photographing fields.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic flow chart of the method of the present invention.
FIG. 2 is a schematic diagram of the structure of the computer device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and the accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not used as limiting the present invention.
Example 1
The embodiment provides a stability augmentation control method, and the mode of the embodiment is to control the working state of a stability augmentation part based on the current working state of a shooting part, so that the working time of the stability augmentation part is reduced, the influence of stability augmentation control on the rotation speed is weakened, and the shooting quality is improved.
As shown in fig. 1, the method of this embodiment specifically includes:
when the shooting part is detected to be about to start shooting, the stability increasing part is controlled to start working;
and when the shooting of the shooting part is detected to be finished, controlling the stability augmentation part to stop working.
According to the method, before the shooting part reaches the shooting point (time point or coordinate point), the system controls the stability augmentation part to work, when the shooting part reaches the shooting point, the shooting part is controlled to shoot, and when the shooting part shoots, the stability augmentation part is in a working state, so that the shooting part shoots clear and stable pictures.
The present embodiment determines the current operating state of the photographing part (that is, the photographing is about to start or the photographing is finished) by acquiring the relevant operating parameters of the photographing part, and the relevant operating parameters of the photographing part acquired in the present embodiment include one or more of the current coordinate point, the current time point, the photographing coordinate point, the photographing time point, the preset time interval, the preset distance, and the operating state parameters of the rotating mechanism of the current photographing part.
In the present embodiment, any one of the following determination methods (1) to (5) is used to determine whether the shooting unit is about to start shooting:
(1) If the current time is detected to be T-delta T, the shooting part is judged to start shooting; wherein, T is a preset shooting time, and Δ T is a preset time interval.
(2) And if the distance delta l between the current coordinate point of the shooting part and the shooting coordinate point is detected to be a preset distance delta l, judging that the shooting part is about to start shooting.
(3) If the fact that the shooting part moves from the last shooting point by the distance s-delta s is detected, the fact that the shooting part is about to start shooting is judged; wherein s is the distance between two adjacent shooting points, and Δ s is a preset distance interval.
(4) In addition to the determination methods (1) to (3), the rotation state of the rotation mechanism is also detected (i.e., signals such as time, distance, and rotation state can be detected simultaneously in this embodiment), and if it is detected that the rotation mechanism has completed rotation (in this embodiment, a control signal of the rotation mechanism for controlling the rotation of the photographing part can be detected to detect the operating state of the rotation mechanism), it is determined that the photographing part is about to start photographing.
(5) In another preferred embodiment, only the rotation state signal may be detected, and signals such as time and distance may not be detected, and if it is detected that the rotation mechanism has completed rotation (in this embodiment, the control signal of the rotation mechanism for controlling the rotation of the photographing section may be detected to detect the operation state of the rotation mechanism), it may be determined that the photographing section is about to start photographing.
The present embodiment adopts any one of the following determination modes (1) to (2) to determine whether the photographing section has completed photographing:
(1) And if the shooting end signal is detected, judging that the shooting of the shooting part is finished.
(2) If the start of rotation of the rotating mechanism is detected (in the present embodiment, the control signal of the rotating mechanism for controlling the rotation of the photographing part is detected to detect the operating state of the rotating mechanism), it is determined that the photographing by the photographing part is completed.
In the embodiment, the stability increasing part does not work basically in the rotation process of the shooting part, so that the time required by stability increasing is saved, and the rotation speed of the shooting part can be increased. Therefore this embodiment can realize guaranteeing to shoot the portion and shoot clear, stable photo on the basis, promote to shoot a rotational speed to realize that the multi-angle is shot more high-efficiently.
The embodiment also provides a computer device for executing the method of the embodiment.
As shown in particular in FIG. 2, the computer device includes a processor, a memory, and a system bus; various device components including a memory and a processor are connected to the system bus. A processor is hardware used to execute computer program instructions through basic arithmetic and logical operations in a computer system. Memory is a physical device used for temporarily or permanently storing computing programs or data (e.g., program state information). The system bus may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus. The processor and the memory may be in data communication via a system bus. Including read-only memory (ROM) or flash memory (not shown), and Random Access Memory (RAM), which typically refers to main memory loaded with an operating system and computer programs.
Computer devices typically include a storage device. The storage device may be selected from a variety of computer-readable media, which refers to any available media that can be accessed by a computing device and includes both removable and non-removable media. For example, computer-readable media includes, but is not limited to, flash memory (micro SD cards), CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer device.
A computer device may be logically connected in a network environment to one or more network terminals. The network terminal may be a personal computer, a server, a router, a smart phone, a tablet, or other common network node. The computer device is connected to the network terminal through a network interface (local area network LAN interface). A Local Area Network (LAN) refers to a computer network formed by interconnecting within a limited area, such as a home, a school, a computer lab, or an office building using a network medium. WiFi and twisted pair wiring ethernet are the two most commonly used technologies to build local area networks.
It should be noted that other computer systems including more or less subsystems than computer devices can also be suitable for use with the invention.
As described above in detail, the computer apparatus adapted to the present embodiment can execute the specified operation of the stability augmentation control method. The computer device performs these operations in the form of software instructions executed by a processor in a computer-readable medium. These software instructions may be read into memory from a storage device or from another device via a local area network interface. The software instructions stored in the memory cause the processor to perform the method of processing group membership information described above. Furthermore, the invention can be implemented by hardware circuitry or by a combination of hardware circuitry and software instructions. Thus, implementation of the present embodiments is not limited to any specific combination of hardware circuitry and software.
Example 2
The embodiment provides a stability augmentation control device, which comprises a control module;
the control module of this embodiment outputs a corresponding control command to control the operating state of the stabilizing section according to the current operating state of the photographing section.
The control module of this embodiment detects the current operating condition of the photographing part based on the acquired related operating parameters of the photographing part, and the related operating parameters of the photographing part acquired by the control module of this embodiment include one or more of the current coordinate point, the current time point, the photographing coordinate point, the photographing time point, the preset time interval, the preset distance, and the operating condition parameters of the rotating mechanism of the photographing part.
The step of outputting a corresponding control command to control the operating state of the stabilizing unit according to the current operating state of the photographing unit by the control module of this embodiment specifically includes:
the control module of the embodiment outputs a starting instruction to control the stability increasing part to start working when detecting that the shooting part is about to start shooting;
the control module of the embodiment outputs a stop instruction to control the stabilization part to stop working when detecting that the shooting of the shooting part is finished.
The means for detecting (determining) the current working state of the shooting unit (that is, the shooting unit is about to start shooting or the shooting unit finishes shooting) in this embodiment is the same as that in embodiment 1, and is not described again here.
Example 3
The present embodiment proposes a stability augmentation control system, and the system of the present embodiment includes the stability augmentation control apparatus, the stability augmentation unit, and the imaging unit proposed in embodiment 2 above.
The embodiment takes the field of aerial photography as an example, the stability augmentation unit of the embodiment is arranged on a holder, and the holder stability augmentation device comprises an IMU (inertial measurement unit) and a motor magnetic encoder. The IMU mainly comprises a three-axis accelerometer and a three-axis gyroscope, and the acceleration and the angular velocity information of the shooting part in a three-dimensional space can be measured under the combined action of the three-axis accelerometer and the three-axis gyroscope so as to determine the attitude information of the shooting part. And the motor encoder processes the three-position attitude information obtained according to the IMU, and then reversely adjusts the motor angle of each shaft, thereby realizing the stability augmentation control of the shooting part in the static or moving process. In this embodiment, the cloud platform adopts the triaxial cloud platform, including driftage axle, roller bearing, pitch axis. In general, one or two axes are adopted to control the rotation of the shooting part, and stability augmentation control needs to be carried out on all three axes. In the scheme, the shaft for controlling steering starts the stability augmentation control only before the shooting part shoots, after the shooting is finished, the stability augmentation control is stopped, and other shafts which are not used for steering are always kept in the stability augmentation control state.
When the aircraft flies along a flight line, the cloud deck can determine a photographing point according to one or more modes of a time point, a time interval, a coordinate point and a coordinate distance. And presetting a shooting direction for each shooting point, and controlling the shooting part to rotate to the corresponding shooting direction for shooting. The shooting part reaches the shooting point and controls the shooting part to work. According to the scheme, the stability increasing part does not work basically in the process that the shooting part rotates to the next shooting point. Because the shooting part does not need to take a picture when rotating, the stabilizing part does not work at the moment and does not influence the aerial photographing effect.
The photographing section of the present embodiment may be one, two, three, or more cameras.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A stability augmentation control method is characterized by comprising the following steps:
the operating state of the stabilizing section is controlled based on the current operating state of the photographing section.
2. The stability augmentation control method according to claim 1, wherein the step of controlling the working state of the stability augmentation unit based on the current working state of the photographing unit specifically comprises:
when the shooting part is detected to be about to start shooting, the stability increasing part is controlled to start working;
and when the shooting of the shooting part is detected to be finished, controlling the stability augmentation part to stop working.
3. The stability augmentation control method according to claim 2, wherein a manner of determining that the image capturing unit is about to start image capturing includes:
if the current time is detected to be T-delta T, the shooting part is judged to start shooting; wherein T is preset shooting time, and delta T is a preset time interval;
or if the distance delta l between the current coordinate point of the shooting part and the shooting coordinate point is detected to be a preset distance delta l, the shooting part is judged to start shooting;
or if the shooting part is detected to move by s-deltas from the last shooting point, judging that the shooting part is about to start shooting; wherein s is the distance between two adjacent shooting points, and Δ s is a preset distance interval;
alternatively, if it is detected that the rotation mechanism has completed rotating, it is determined that the photographing section is about to start photographing.
4. The stability augmentation control method according to claim 2, wherein the determination method of completion of the imaging by the imaging unit includes:
if the shooting end signal is detected, judging that the shooting of the shooting part is finished;
alternatively, if it is detected that the rotation mechanism starts rotating, it is determined that the photographing by the photographing section is completed.
5. The stability augmentation control method according to claim 1, wherein the method detects a current operating state of the photographing part based on the photographing part-related operating parameter;
the relevant working parameters of the shooting part comprise one or more of a current coordinate point, a current time point, a shooting coordinate point, a shooting time point, a preset time interval, a preset distance and working state parameters of the rotating mechanism of the shooting part.
6. The stability augmentation control device is characterized by comprising a control module;
and the control module outputs a corresponding control command to control the working state of the stabilization part according to the current working state of the shooting part.
7. A stability augmentation control system comprising a photographing section, a stability augmentation section, and the stability augmentation control apparatus according to claim 4.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method according to any of claims 1-5 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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