CN105141822B - Aerial device and its method of taking photo by plane - Google Patents
Aerial device and its method of taking photo by plane Download PDFInfo
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Abstract
A kind of aerial device and its method of taking photo by plane, the device include unmanned vehicle (1) and at least one audio collection module (2,2 ', 2 ") for being located at ground.Unmanned vehicle (1) includes video acquisition module (3) and control module (4), temporal information is sent the audio collection module (2 simultaneously by timing unit (5), 2 ', 2 ") and video acquisition module (3), measuring unit (6) measures the unmanned vehicle (1) and audio collection module (2, 2 ', 2 ") position between is simultaneously sent to synthesis unit (7), audio collection module (2, 2 ', 2 ") audio data for having temporal information and video data are acquired respectively according to temporal information and is sent to synthesis unit (7) with video acquisition module (3), the audio collection module (2 that synthesis unit (7) selects position nearest, 2 ', 2 ") temporally information synthesizes the audio data and video data acquired.
Description
Technical field
The invention belongs to the fields of taking photo by plane, more particularly to a kind of based on the aerial device of unmanned vehicle and its side of taking photo by plane
Method.
Background technique
Currently, shooting various scenes, such as when party, ceremony scene, in order to show grand scene, usually use bird
It looks down from a height the means of shooting, it is therefore desirable to take photo by plane using to unmanned vehicle, it is a collection singlechip technology, boat that unmanned vehicle, which is taken photo by plane,
Take photo by plane technology, the communication of sensor technology, GPS navigation is clapped to take photo by plane service technology, flight control technology, task control technology, programming
More technologies such as technology and the high-tech product for relying on hardware, filmed image have high-resolution, large scale, small area, height
The advantages of Up-to-date state.And unmanned vehicle provides easy to operate for photography of taking photo by plane, and is easy to the remote sensing platform of transition；It takes off landing
Limited by place it is smaller, playground, highway or other openr ground can landing, stability, safety are good, transition etc.
It is very easy to；Small portable, low-noise energy-saving, efficiently motor-driven, image definition, lightness, miniaturization, intelligent even more unmanned flight
The outstanding feature that device is taken photo by plane.It may not necessarily worry personnel safety using the monitoring that multi-rotor unmanned aerial vehicle carries out specific region, also not
It must worry the physical strength limitation of pilot.
A kind of shooting means that current unmanned vehicle is taken photo by plane are directly to shoot, and usually carry spiral shell secretly in the video of intake
The Rotation Noise of rotor, this makes video audio very poor；Another means is then separated using taking photo by plane with unmanned vehicle
Special sound pick-up outfit directly enrolls scene sound on ground, and the audio in the video of aerial photography device intake is abandoned, and ground is recorded
The audio taken imports in video, is integrated into new video；For this kind of method, current production is more troublesome, and main cause exists
In: when the audio of the video of aerial photography device shooting and ground admission is integrated, need to carry out " to accent " work, that is, so that
Ground audio & video picture synchronization, the work extremely test staff patience with it is careful, it is necessary first to look in video
To a suitable sounding picture, the audio time point of sound opposite with the generation picture is heuristically then moved to the generation
It at certain moment in picture, then proofreads whether other picture moment coincide with audio time point, if misfitting, also needs to finely tune, directly
The fully synchronized of audio & video picture is realized on to audiovisual；It can be seen that although aerial sound can be improved in this kind of means, but
Producing efficiency is slower.
Patent document CN102143346 discloses a kind of cruise shooting storage method comprising: it is inputted to central processing unit
Audio signal；To central processing unit input at least vision signal all the way；The central processing unit, will in the way of timing synchronization
Each audio signal, vision signal are sent to MCVF multichannel voice frequency video collector；The MCVF multichannel voice frequency video collector acquires institute
Audio signal, vision signal are stated, it includes the audio signal, vision signal in the acquisition signal that acquisition acquires signal all the way
Information；The acquisition signal is subjected to audio/video coding；Store the audio/video coding data.The patent is by MCVF multichannel voice frequency video
Signal passes through central processing unit synchronization process and is synthesized to be acquired on signal all the way, thoroughly changes current multichannel audio-video frequency signal point
When the mode that stores, reach real-time storage and completely retain recorded broadcast information.But the patent only remains audio data and video counts
According to not forming valuable displaying content automatically, the later period also needs to carry out many and diverse artificial synthesized audio-video, and can not protect
The all synchro audio-video of end of certificate generates, and producing efficiency is low and not can guarantee precision.
Patent document CN103673996 discloses a kind of method of readily available good aerial sound, includes the following steps:
One, camera, communicator of taking photo by plane are installed in aerial photography device；The communicator of taking photo by plane is controlled by the camera；Two, in ground cloth
If sound pick-up outfit, the sound pick-up outfit, which includes one, can trigger its trigger module recorded He closed immediately immediately；The touching
Hair module is controlled by a recording communicator；Three, the aerial photography device is taken photo by plane communicator in the moment for opening camera, described in triggering
An enabling signal is sent to the recording communicator；The recording communicator passes through institute immediately after receiving the enabling signal
State trigger module triggering sound pick-up outfit starting recording；Four, the aerial photography device is taken photo by plane logical in the moment for closing camera, described in triggering
Believe that device sends a shutdown signal to the recording communicator；The recording communicator is led to immediately after receiving the shutdown signal
It crosses the trigger module triggering sound pick-up outfit and closes recording.The patent can be realized between camera and sound pick-up outfit synchronize open
It closes, but its application range is narrow, only can recorde the corresponding audio collection of a video acquisition, and a video cannot be recorded
The case where corresponding multiple audio collections of acquisition or multiple video acquisitions correspond to multiple audio collections, user cannot be as needed to bat
It takes the photograph the desired audio data of scene selection and video data forms required audio-video.
Patent document CN104038716 is disclosed and is installed video camera in aerial photography device, video camera records controller, aerial photography device
Receiver of remote-control sytem；Aerial photography device receiver of remote-control sytem is controlled by terrestrial transmitters, and aerial photography device remote control receiver controls video camera records control
Device processed, and control video camera and record or close.The patent is every to record primary, video camera one video file of generation, sound pick-up outfit
An audio file is generated, can be indexed by serial number and recording time, and carry out postproduction of movies audio-video editor.But it can not be automatic
Valuable displaying content is formed, the later period also needs to carry out many and diverse artificial synthesized audio-video, and user cannot be right as needed
Floor chooses desired audio data and video data forms required audio-video.
Disclosed above- mentioned information are used only for enhancing the understanding to background of the present invention in the background section, it is thus possible to
Information comprising not being formed in the prior art known to a person of ordinary skill in the art.
Summary of the invention
Aerial device in the prior art is only only completed individual video and audio records respectively, passes through artificial post-processing
Synchronize production, by post-production with synchronize realize that it is special that the integration of video/audio data needs to be passed through by professional
Tool is operated, and since video, the nonsynchronous situation of audio data collecting may be very complicated, even, these videos
It may be to be respectively constituted by multiple sporadic data packets of entirely different step, different durations with audio data, so this integration is cut
Volume work be it is extremely complex, do not ensure that the audio-video of production is fully synchronized.Traditional aerial device can not be regarded at one
The case where corresponding multiple audio collections of frequency acquisition or multiple video acquisitions correspond to multiple audio collections, automatically generates required sound
Therefore video in the art, is badly in need of a kind of one or more videos by acquisition and one or more audios is automatically synthesized sound
The aerial device of video and its method of taking photo by plane reach the fully synchronized and high technical effect of producing efficiency.
The purpose of the present invention is be achieved by the following technical programs.
According to the first aspect of the invention, aerial device disclosed by the invention includes unmanned vehicle and is located at ground extremely
A few audio collection module.A possibility that the present invention provides multiple audio collections.
The unmanned vehicle includes video acquisition module and control module.
The control module includes timing unit, measuring unit and synthesis unit.
Temporal information is sent the audio collection module and video acquisition module simultaneously by the timing unit.Timing list
Member has unified the timing of all audio collection modules and video acquisition module, ensure that synchronous accuracy.Timing unit may be used also
To provide the temporal information in addition to the standard time with the timing of unified all audio collection modules and video acquisition module.
The measuring unit measures the position between the unmanned vehicle and the audio collection module and is sent to institute
State synthesis unit.Position between measuring unit measurement unmanned vehicle and audio collection module allows the invention to identification and adopts
Collect the positional relationship between the unmanned vehicle and audio collection module of video, and then audio can be switched to the present apparatus and provided
Position range.
The audio collection module and the video acquisition module are acquired respectively according to temporal information with temporal information
Audio data and video data are simultaneously sent to the synthesis unit.The temporal information is not limited to the standard time, and is synthesized voice
Video provides temporal coordinate.
The audio data of the nearest audio collection module acquisition in synthesis unit selection position and the view
Frequency is synthesized according to by the temporal information.Synthesis unit can also set the audio-video synthesis of other modes.
Preferably, which further includes flight controller, and the flight controller is equipped with flight control modules and shooting control
Molding block.
The flight control modules control the state of flight of the unmanned vehicle.The present invention passes through flight control modules control
Unmanned vehicle processed acquires desired picture.
The unmanned vehicle further includes holder mounted thereto, and the shooting control module controls the holder adjustment
The location parameter and acquisition parameters of the video acquisition module mounted thereto.The present invention is made by shooting control module
Video acquisition is more accurate and improves video acquisition effect.
It is highly preferred that the flight that the flight control modules are provided based on the GIS module being located on the flight controller
Information controls the state of flight of the unmanned vehicle and/or the flight directive based on user's input adjusts the unmanned vehicle
State of flight.
It is highly preferred that the location parameter is the shooting angle of the video acquisition module, the acquisition parameters are photosensitive
Degree, the timing unit are crystal oscillator timing unit, and the synthesis unit includes the storage list of the audio, video data after storage synthesis
Member.
According to the second aspect of the invention, aerial device further includes multiple with its of video acquisition module and measuring unit
His unmanned vehicle, the position that the measuring unit measures between the unmanned vehicle and the audio collection module are concurrent
It is sent to the synthesis unit.
The synthesis unit selects one group of phase that position is nearest between the unmanned vehicle and the audio collection module
The audio data and the video data answered are synthesized by the temporal information.
According to the third aspect of the invention we, the taking photo by plane method disclosed by the invention using the aerial device includes following
Step.
In first step, temporal information is sent the audio collection module and video acquisition simultaneously by the timing unit
Module.
In second step, the audio collection module and the video acquisition module are acquired respectively according to temporal information and are had
The audio data and video data of temporal information are simultaneously sent to the synthesis unit.
In third step, the measuring unit measures the position between the unmanned vehicle and the audio collection module
And it is sent to the synthesis unit.
In four steps, the audio number of the nearest audio collection module acquisition in synthesis unit selection position
It is synthesized according to the video data by the temporal information.
Preferably, in second step, shooting control module control holder adjusts the video acquisition mould mounted thereto
The location parameter and acquisition parameters of block.
Preferably, in second step, flight control modules are believed based on the flight that the GIS module on flight controller provides
Breath controls the state of flight of the unmanned vehicle and/or the flight directive based on user's input adjusts the unmanned vehicle
State of flight is to acquire desired video data.
Preferably, in four steps, the institute of the audio collection module acquisition in synthesis unit selection predetermined position
It states audio data and the video data is synthesized by the temporal information, the synthesis unit deposits the audio, video data after synthesis
Storage is in the memory unit.
According to the fourth aspect of the invention, the taking photo by plane method disclosed by the invention using the aerial device includes following
Step.
In first step, temporal information is sent the audio collection module and video acquisition simultaneously by the timing unit
Module.
In second step, the audio collection module and the video acquisition module are acquired respectively according to temporal information and are had
The audio data and video data of temporal information are simultaneously sent to the synthesis unit.
In third step, the measuring unit measures the position between the unmanned vehicle and the audio collection module
And it is sent to the synthesis unit.
In four steps, the synthesis unit selects between the unmanned vehicle and the audio collection module position most
The audio data and the video data are synthesized close one group by the temporal information accordingly.
Scheme proposed by the present invention can automatically form valuable displaying content, at many and diverse later period
Reason process.The present invention again may be by assigning critical information data to different videos and audio collection content, thus
Greatly reduce the difficulty of later period editing.Therefore, the present invention is capable of providing the full side of the audio and video of whole scene different location
The synthesis of the audio-video of position without post-processing or it is as needed can to set required audio and video according to user's needs
Mode carries out the synthesis of audio-video, and the present invention realizes the sound view of comprehensive, complete undistorted multimachine position, multipoint synchronization
Frequency is shot, easy to operate, without many and diverse post-processing.Not only audio is good by the present invention, and audio-video producing efficiency is high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of aerial device according to an embodiment of the invention.
Fig. 2 is the structural schematic diagram of aerial device in accordance with another embodiment of the present invention.
Fig. 3 is the step schematic diagram of the method for taking photo by plane according to an embodiment of the invention using aerial device.
Fig. 4 is the step schematic diagram of the method for taking photo by plane in accordance with another embodiment of the present invention using aerial device.
Below in conjunction with drawings and examples, the present invention will be further explained.
Specific embodiment
Described in detail below be actually merely exemplary and be not intended to limit application and use.In addition, being not intended to
By any clear of the above technical field, background, brief overview or middle presentation described in detail below or the theoretical constraint implied.Such as
Use herein, term " module " or " unit " refer to any hardware, software, firmware, electronic control part, processing logic and/or
Processor device includes but not limited to individually or with any combination: application-specific integrated circuit ASIC, executes one at electronic circuit
The processor of a or multiple softwares or firmware program is shared, dedicated or groups of and memory, combinational logic circuit and/or offer
Other suitable components of described function.In addition, unless clearly have opposite description, otherwise word " comprising " and
Its different modification should be understood the implicit component for including but be not excluded for any other component.
A kind of aerial device is present embodiments described, as shown in Figure 1 is according to an embodiment of the invention
The schematic diagram of aerial device, a kind of aerial device include unmanned vehicle 1 and at least one audio collection module for being located at ground
2、2’、2”。
In the art, unmanned vehicle 1 refers to using automatic control, the unmanned vehicle with self-navigation.The nothing
People's aircraft 1 can be more rotary wind type unmanned vehicles.Flight controller 8 is that unmanned vehicle 1 utilizes certainly in flight course
Dynamic control can configuration to aircraft, flight attitude and kinematic parameter implement the equipment of control, user passes through flight controller 8
The flight course of unmanned vehicle 1 is controlled.Audio collection module 2,2 ', 2 " can be the wheat that can receive and send signal
Gram wind, especially, audio collection module is MCVF multichannel voice frequency collector.The audio collection module 2,2 ', 2 " can receive signal and open
Beginning audio collection and the audio data for sending acquisition.In one embodiment, audio collection module 2,2 ', 2 " is equipped with audio processing
Device, audio signal through audio processor except make an uproar, rectify, be superimposed as audio data all the way after send.
Unmanned vehicle 1 includes video acquisition module 3 and control module 4.
In one embodiment, unmanned vehicle 1 is equipped with holder 11, the holder fixed video acquisition module 3, and can mention
For the position regulating function and stabilization function of video acquisition module 3, and video acquisition module 3 is usually high-resolution camera shooting
Machine can efficiently accomplish shooting task under circumstances.Holder 11 be can rotate left and right but also be rotated up and down it is comprehensive
Holder.Holder 11, which can be, to be suitable for the electric platform shot on a large scale, which can be by two
Platform operating motor realizes that motor receives the signal from flight controller and accurately runs positioning.
In one embodiment, holder 11 includes the adjusting mechanism for zoom operational, pitching movement and azimuth motion.
In one embodiment, video acquisition module 3 be visible light high-definition camera, high resolution camera, it is infrared at
As instrument or ultraviolet imagery equipment.
Control module 4 includes timing unit 5, measuring unit 6 and synthesis unit 7.
Control module 4 may include general processor, digital signal processor, application-specific integrated circuit ASIC, and scene can compile
Journey gate array FPGA, analog circuit, digital circuit, and combinations thereof or other processors that are known or developing later.
Temporal information is sent audio collection module 2,2 ', 2 " and video acquisition module 3 simultaneously by timing unit 5.One
In a embodiment, timing unit 5 is crystal oscillator timing unit, can issue in high precision synchronization time information to audio collection module 2,
2 ', 2 " and video acquisition module 3.
Measuring unit 6 measures the position between unmanned vehicle 1 and audio collection module 2,2 ', 2 " and is sent to synthesis list
Member 7.In one embodiment, measuring unit can be laser range finder.
Audio collection module 2 and video acquisition module 3 acquire the audio number with temporal information according to temporal information respectively
According to video data and be sent to synthesis unit 7.
The audio data and video data that the audio collection module 2,2 ', 2 " that synthesis unit 7 selects position nearest acquires are pressed
Temporal information synthesis.In one embodiment, synthesis unit is a kind of high-precision audio-video conjunction rail generator.
In one embodiment, which further includes flight controller 8, and flight controller 8 is equipped with flight control mould
Block 9 and shooting control module 10.The state of flight of the control unmanned vehicle 1 of flight control modules 9.9 basis of flight control modules
Shooting task adjusts unmanned vehicle state of flight comprising unmanned vehicle landing point, level point, track points, returns hovering point
Destination, flying height, flying speed etc. on track.In one embodiment, flight control modules 9 control unmanned vehicle 1
It hovers in predetermined position.User issues flight directive control unmanned vehicle 1 by flight control modules 9 and takes off and in predetermined sky
Domain completes aerial mission and usually in the visible range completes specified flight path, then outstanding in selected shooting location
Stop, then complete flight shooting, or according to an estimated flight path, in flight course, completes shooting.
Unmanned vehicle 1 further includes holder 11 mounted thereto, and shooting control module 10 controls the adjustment installation of holder 11
The location parameter and acquisition parameters of video acquisition module 3 on it.In one embodiment, location parameter is video acquisition
The shooting angle of module 3, acquisition parameters are sensitivity, and synthesis unit 7 includes the storage list of the audio, video data after storage synthesis
Member 13.Storage unit 13 can be volatile memory or nonvolatile memory.Storage unit 13 may include one or more
A read only memory ROM, random access memory ram, flash memory, Electrical Erasable programmable read only memory EEPROM
Or other types of memory.
Flight control modules 9 control nobody based on the flight information that the GIS module 12 being located on flight controller 8 provides and fly
The state of flight of the state of flight of row device 1 and/or the flight directive adjustment unmanned vehicle 1 based on user's input.
GIS module 12 be used for output and input unmanned vehicle 1 flight information and can be used in GIS map browse,
Edit and delete corresponding flight information.Flight information is shown in GIS module 12, and provide flight information planning, selection and
The operations such as frame choosing, and can be used for that corresponding flight information is browsed, edited and deleted in GIS map.
In one embodiment, GIS module 12 includes that GIS information imports and exports unit, information display unit and information dimension
Protect unit.Wherein, GIS information imports and exports unit, for the importing and export without 1 flight information of aircraft in GIS map,
It imports and derived format includes but is not limited to the formats such as text, XML, CSV, EXCEL, WORD, PDF；Information display unit is used
In showing flight information in GIS map；Information maintenance unit, for corresponding fly to be browsed, edited and deleted in GIS map
Row information.GIS module 12 provides geographical information query for flight line planning, the sea including GPS information, place and flight line
Pull out elevation information, building, road, river information etc..
The schematic diagram of aerial device according to another embodiment of the invention as shown in Figure 2, a kind of aerial device packet
It includes unmanned vehicle 1, multiple other unmanned vehicles 1 ' with video acquisition module 3 and measuring unit 6 and is located at ground
At least one audio collection module 2,2 ', 2 ".Audio collection module 2,2 ', 2 " either high quality microphone, can also
To be the collection sound sensor of easy low cost.Audio collection module 2,2 ', 2 " either fixed install, be also possible to
The moveable portable device of object.
In the art, unmanned vehicle 1,1 ' refers to using automatic control, the unmanned vehicle with self-navigation.It should
Unmanned vehicle 1 can be more rotary wind type unmanned vehicles.Flight controller 8 is that unmanned vehicle 1 utilizes in flight course
Automatically control can configuration to aircraft, flight attitude and kinematic parameter implement the equipment of control, user passes through flight control
Device 8 controls the flight course of unmanned vehicle 1.Audio collection module 2,2 ', 2 ", which can be, can receive and send signal
Microphone, which can receive signal and starts audio collection and send the audio data of acquisition.
Unmanned vehicle 1 includes video acquisition module 3 and control module 4.
Control module 4 includes timing unit 5, measuring unit 6 and synthesis unit 7.
Temporal information is sent audio collection module 2 and video acquisition module 3 simultaneously by timing unit 5.Implement at one
In example, timing unit 5 is crystal oscillator timing unit, can issue information synchronization time in high precision to audio collection module 2,2 ', 2 "
With video acquisition module 3.
Measuring unit 6 measures the position between unmanned vehicle 1,1 ' and audio collection module 2,2 ', 2 " and is sent to conjunction
At unit 7.
In one embodiment, measuring unit 6 can be laser range finder.
Audio collection module 2 and video acquisition module 3 acquire the audio number with temporal information according to temporal information respectively
According to video data and be sent to synthesis unit 7.
Synthesis unit 7 selects one group of phase that position is nearest between unmanned vehicle 1,1 ' and audio collection module 2,2 ', 2 "
Temporally information synthesizes the audio data and video data answered.
In one embodiment, synthesis unit 7 is a kind of high-precision audio-video conjunction rail generator.
In one embodiment, which further includes flight controller 8, and flight controller 8 is equipped with flight control mould
Block 9 and shooting control module 10.The state of flight of the control unmanned vehicle 1 of flight control modules 9.9 basis of flight control modules
Shooting task adjusts unmanned vehicle state of flight comprising unmanned vehicle landing point, level point, track points, returns hovering point
Destination, flying height, flying speed etc. on track.Location parameter is the shooting angle of video acquisition module 3, and acquisition parameters are
Sensitivity, synthesis unit 7 include the storage unit 13 of the audio, video data after storage synthesis.Storage unit 13 can be volatibility
Memory or nonvolatile memory.
Flight control modules 9 control nobody based on the flight information that the GIS module 12 being located on flight controller 8 provides and fly
The state of flight of the state of flight of row device 1 and/or the flight directive adjustment unmanned vehicle 1 based on user's input.
GIS module 12 be used for output and input unmanned vehicle 1 flight information and can be used in GIS map browse,
Edit and delete corresponding flight information.Flight information is shown in GIS module 12, and provide flight information planning, selection and
The operations such as frame choosing, and can be used for that corresponding flight information is browsed, edited and deleted in GIS map.
Fig. 3 is the step schematic diagram of the method for taking photo by plane according to an embodiment of the invention using aerial device, and one kind makes
Included the following steps with the method for taking photo by plane of aerial device.
In first step S1, timing unit 5 sends audio collection module 2,2 ', 2 " simultaneously for temporal information and video is adopted
Collect module 3.
In second step S2, audio collection module 2,2 ', 2 " and video acquisition module 3 acquire band according to temporal information respectively
The audio data and video data of having time information are simultaneously sent to synthesis unit 7.
In third step S3, measuring unit 6 measures the position between unmanned vehicle 1 and audio collection module 2,2 ', 2 "
And it is sent to synthesis unit 7.
In four steps S4, audio data and video that the audio collection module 2 that synthesis unit 7 selects position nearest acquires
Temporally information synthesizes data.
In the method, typically, such as at the scene of some awards ceremony, photographer just can know that in advance to be needed to clap
The information such as the object taken the photograph and regional scope.At this time, it is only necessary to audio collection module 3 be installed in the appropriate location of awards ceremony, i.e.,
The voice data of high quality can effectively be collected.
In the case where only one audio collection module 3, it is only necessary to conventionally be worn by speechmaker as wireless
Microphone arranges the audio collection module 3 such as fixed microphone, can be achieved with the voice data acquisition of high quality.Nobody flies
Row device 1 is shot from the air, and audio collection module 3 and video acquisition module 2 are respectively completed the acquisition of audio & video, still
The opportunity of acquisition is then unified to be confirmed by timing unit 5.It briefly, is exactly unmanned vehicle 1 once shooting, then sound
Frequency acquisition module 3 starts to adopt sound, then by shooting result and adopts sound result and synthesizes the video/audio data that can be used directly.Depending on
Once stopping shooting, then audio collection module 3 is also synchronous stops adopting sound frequency acquisition module 2.Certainly, timing unit 5 can be integrated in
Unmanned vehicle 1 or in audio collection module 3, will not necessarily be realized by independent third party's hardware device.It is above-mentioned
Mode solves high quality and obtains audio data, and at the same time the view of any angle can flexibly be acquired using unmanned vehicle 1
Frequency evidence.Video data and audio data collected are all attached with temporal information, so as to realize number according to temporal information
According to automatic integration.
With multiple audio collection module 3, such as: certain ball match is carried out when with a unmanned vehicle
When taking photo by plane, scene is explaining many places such as seat, auditorium, rostrum and court coach's seat provided with audio collection module 3.At this time
Unmanned vehicle 1 freely can carry out recording parctices at ball match scene according to flight controller 8 or system arrangement.Nothing simultaneously
People's aircraft 1 and each audio collection module form time synchronization.On this basis, unmanned vehicle 1 leads in flight course
The positional relationship of 6 real-time monitoring of measuring unit Yu any audio collection module 3, especially distance are crossed, by the view of unmanned vehicle 1
The content that frequency acquisition module 3 is shot automatically with nearest or nearest in preset threshold range audio collection module 2,2 ',
The audio data of 2 " acquisitions is synthesized by synthesis unit 7.So it is capable of forming one section of complete continuous audio-video, effect
It is that when unmanned vehicle 1 flies to rostrum shooting prologue speech nearby, automatic synchronization broadcasting prologue is talked in video content at this time
Content；When unmanned vehicle 1 flies to explanation seat, video content, which automatically switches to, explains the content that seat is explained.In this way, energy one
Body forms the valuable displaying result that can be exposed directly to consumer's viewing.
In one embodiment, in second step S2, the shooting control holder 11 of control module 10 adjusts mounted thereto
The location parameter and acquisition parameters of video acquisition module 3.
In one embodiment, in second step S2, flight control modules 9 are based on the GIS module on flight controller 8
12 state of flights of flight information control unmanned vehicle 1 provided and/or the flight directive based on user's input adjust nobody
The state of flight of aircraft 1 is to acquire desired video data.
In one embodiment, in four steps S4, synthesis unit 7 selects the audio collection module 2 in predetermined position to acquire
Audio data and video data temporally information synthesizes, it is single that the audio, video data after synthesis is stored in storage by synthesis unit 7
In member 13.Storage unit 13 can be volatile memory or nonvolatile memory.Storage unit 13 may include one or
Multiple read only memory ROMs, random access memory ram, flash memory, Electrical Erasable programmable read only memory
EEPROM or other types of memory.
Fig. 4 is the step schematic diagram of the method for taking photo by plane in accordance with another embodiment of the present invention using aerial device, is used
The method of taking photo by plane of aerial device includes the following steps.
In first step S1, timing unit 5 sends audio collection module 2,2 ', 2 " simultaneously for temporal information and video is adopted
Collect module 3.
In second step S2, audio collection module 2,2 ', 2 " and video acquisition module 3 acquire band according to temporal information respectively
The audio data and video data of having time information are simultaneously sent to synthesis unit 7.
In third step S3, the position that measuring unit 6 measures between unmanned vehicle 1,1 ' and audio collection module 2 is concurrent
It is sent to synthesis unit 7.
In four steps S4, synthesis unit 7 selects position between unmanned vehicle 1,1 ' and audio collection module 2,2 ', 2 "
Temporally information synthesizes for one group of nearest corresponding audio data and video data.
In this method, with multiple unmanned vehicles 1 ' with measuring unit 6 and video acquisition module 3, nobody flies
In the case where row device 1 and multiple audio collection modules 2,2 ', 2 ", synthesis unit 7 selects unmanned vehicle 1,1 ' and audio collection
Temporally information synthesizes for one group of nearest corresponding audio data of position and video data between module 2,2 ', 2 ".This method can
The optimal video and audio clips for being chosen at same position form required one section of continuous audio-video.
Although embodiment of the present invention is described in conjunction with attached drawing above, the invention is not limited to above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment are only schematical, directiveness, rather than restricted
's.Those skilled in the art are under the enlightenment of this specification and in the range for not departing from the claims in the present invention and being protected
In the case where, a variety of forms can also be made, these belong to the column of protection of the invention.
Claims (10)
1. a kind of aerial device comprising unmanned vehicle (1) and be located at ground at least one audio collection module (2,2 ',
2 "), it is characterised in that:
The unmanned vehicle (1) includes video acquisition module (3) and control module (4),
The control module (4) includes timing unit (5), measuring unit (6) and synthesis unit (7), wherein
Temporal information is sent the audio collection module (2,2 ', 2 ") and video acquisition mould simultaneously by the timing unit (5)
Block (3),
The measuring unit (6) measures the position between the unmanned vehicle (1) and the audio collection module (2,2 ', 2 ")
And the synthesis unit (7) are sent to,
The audio collection module (2,2 ', 2 ") and the video acquisition module (3) acquire band sometimes according to temporal information respectively
Between information audio data and video data and be sent to the synthesis unit (7),
The audio data of the nearest audio collection module (2,2 ', the 2 ") acquisition in synthesis unit (7) selection position
It is synthesized with the video data by the temporal information.
2. aerial device according to claim 1, it is characterised in that: the device further includes flight controller (8), described to fly
Line control unit (8) is equipped with flight control modules (9) and shooting control module (10),
The flight control modules (9) control the state of flight of the unmanned vehicle (1),
The unmanned vehicle (1) further includes holder mounted thereto (11), described in shooting control module (10) control
Holder (11) adjusts the location parameter and acquisition parameters of the video acquisition module (3) mounted thereto.
3. aerial device according to claim 2, it is characterised in that: the flight control modules (9) are based on being located at described
The flight information that GIS module (12) on flight controller (8) provides control the unmanned vehicle (1) state of flight and/
Or the flight directive based on user's input adjusts the state of flight of the unmanned vehicle (1).
4. aerial device according to claim 2, it is characterised in that: the location parameter is the video acquisition module
(3) shooting angle, the acquisition parameters are sensitivity, and the timing unit (5) is crystal oscillator timing unit, the synthesis unit
It (7) include the storage unit (13) for storing the audio, video data after synthesis.
5. aerial device according to claim 1, it is characterised in that: the device further includes multiple with video acquisition module
(3) and other unmanned vehicles (1 ') of measuring unit (6), the measuring unit (6) measure the unmanned vehicle (1,
1 ') it the position between the audio collection module (2,2 ', 2 ") and is sent to the synthesis unit (7),
The meta position of synthesis unit (7) the selection unmanned vehicle (1,1 ') and the audio collection module (2,2 ', 2 ")
Setting nearest one group, the audio data and the video data are synthesized by the temporal information accordingly.
6. a kind of method of taking photo by plane using aerial device described in any one of -4 according to claim 1 comprising following step
It is rapid:
In first step (S1), the timing unit (5) by temporal information simultaneously be sent to the audio collection module (2,2 ',
2 ") and video acquisition module (3)；
In second step (S2), the audio collection module (2,2 ', 2 ") and the video acquisition module (3) are according to temporal information
Audio data and video data with temporal information are acquired respectively and are sent to the synthesis unit (7)；
In third step (S3), the measuring unit (6) measure the unmanned vehicle (1) and the audio collection module (2,
2 ', 2 ") position between is simultaneously sent to the synthesis unit (7)；
In four steps (S4), the nearest audio collection module (2,2 ', the 2 ") acquisition in synthesis unit (7) selection position
The audio data and the video data by the temporal information synthesize.
7. method according to claim 6 of taking photo by plane, it is characterised in that: in second step (S2), shoot control module (10)
Control location parameter and acquisition parameters that holder (11) adjust the video acquisition module (3) mounted thereto.
8. method according to claim 6 of taking photo by plane, it is characterised in that: in second step (S2), flight control modules (9) base
The state of flight of the unmanned vehicle (1) is controlled in the flight information that the GIS module (12) on flight controller (8) provides
And/or the flight directive based on user's input adjusts the state of flight of the unmanned vehicle (1) to acquire desired video counts
According to.
9. method according to claim 6 of taking photo by plane, it is characterised in that: in four steps (S4), synthesis unit (7) choosing
Select predetermined position the audio collection module (2,2 ', 2 ") acquisition the audio data and the video data by it is described when
Between information synthesize, the audio, video data after synthesis is stored in storage unit (13) by the synthesis unit (7).
10. a kind of method of taking photo by plane using aerial device according to claim 5 comprising following steps:
In first step (S1), the timing unit (5) by temporal information simultaneously be sent to the audio collection module (2,2 ',
2 ") and video acquisition module (3)；
In second step (S2), the audio collection module (2,2 ', 2 ") and the video acquisition module (3) are according to temporal information
Audio data and video data with temporal information are acquired respectively and are sent to the synthesis unit (7)；
In third step (S3), the measuring unit (6) measures the unmanned vehicle (1,1 ') and the audio collection module
Position between (2,2 ', 2 ") is simultaneously sent to the synthesis unit (7)；
In four steps (S4), the synthesis unit (7) selects the unmanned vehicle (1,1 ') and the audio collection module
The audio data and the video data are closed position is nearest between (2,2 ', 2 ") one group by the temporal information accordingly
At.
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| CN107872605A (en) * | 2016-09-26 | 2018-04-03 | 青柠优视科技（北京）有限公司 | A kind of UAS and unmanned plane audio/video processing method |
| CN107979731B (en) * | 2016-10-25 | 2020-03-24 | 杭州萤石网络有限公司 | Method, device and system for acquiring audio and video data |
| CN106482730A (en) * | 2016-12-07 | 2017-03-08 | 北京桔灯地球物理勘探股份有限公司 | A kind of field information collecting device on the spot being applied in geological informationization work |
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