Movable platform and lamp control method and device thereof

文档序号：197533 发布日期：2021-11-02 浏览：45次中文

阅读说明：本技术 可移动平台及其灯具控制方法、装置 (Movable platform and lamp control method and device thereof ) 是由龚鼎于 2020-04-28 设计创作，主要内容包括：一种可移动平台及其灯具控制方法、装置,所述可移动平台上搭载有多个拍摄装置,所述方法包括：接收到第一拍摄装置在拍摄结束时发送的状态恢复指令,所述状态恢复指令用于指示将所述第一拍摄装置对应的灯具由所述第一状态切换成第二状态；若检测到当前存在处于拍摄状态的第二拍摄装置,则将所述状态恢复指令对应的待进入所述第二状态且与所述第二拍摄装置相关的灯具保持在所述第一状态；其中,所述第二拍摄装置为与所述第一拍摄装置共用至少部分处于第一状态的灯具的拍摄装置。本申请避免灯具开启影响当前处于拍摄状态的第二拍摄装置的成像质量,解决了多拍摄装置控制灯具的冲突问题。(A movable platform and a lamp control method and device thereof are provided, wherein a plurality of shooting devices are loaded on the movable platform, and the method comprises the following steps: receiving a state recovery instruction sent by a first shooting device when shooting is finished, wherein the state recovery instruction is used for indicating that a lamp corresponding to the first shooting device is switched from the first state to a second state; if the second shooting device in the shooting state is detected to exist currently, the lamp which is corresponding to the state recovery instruction and is to enter the second state and is related to the second shooting device is kept in the first state; the second shooting device is a shooting device which shares at least part of the lamp in the first state with the first shooting device. According to the method and the device, the condition that the imaging quality of the second shooting device in the shooting state is influenced when the lamp is started is avoided, and the conflict problem that the multiple shooting devices control the lamp is solved.)

1. A lamp control method for a movable platform, wherein a plurality of photographing devices are mounted on the movable platform, the method comprising:

receiving a state recovery instruction sent by a first shooting device when shooting is finished, wherein the state recovery instruction is used for indicating that a lamp corresponding to the first shooting device is switched from a first state to a second state;

if the second shooting device in the shooting state is detected to exist currently, the lamp which is corresponding to the state recovery instruction and is to enter the second state and is related to the second shooting device is kept in the first state;

the second shooting device is a shooting device which shares at least part of the lamp in the first state with the first shooting device.

2. The method of claim 1, wherein the first state comprises an off state and the second state comprises an on state.

3. The method of claim 1, further comprising:

if the third shooting device in the shooting state is detected to exist currently, controlling the lamp corresponding to the first shooting device to be switched from the first state to the second state according to the state recovery instruction;

the third shooting device is a shooting device which is not shared with the first shooting device and is in the first state.

4. The method of claim 1, further comprising:

and if the second shooting device in the shooting state is detected not to exist at present, controlling the lamp corresponding to the first shooting device to be switched from the first state to the second state according to the state recovery instruction.

5. The method according to claim 1, wherein before receiving the state recovery instruction sent by the first photographing apparatus at the end of photographing, the method further comprises:

receiving a state setting instruction sent by the first shooting device before shooting, wherein the state setting instruction is used for indicating a lamp to be in the first state when the first shooting device shoots;

and controlling the lamp to be in the first state corresponding to the state setting instruction to be in the first state.

6. The method according to claim 5, wherein the controlling the lamp to enter the first state corresponding to the state setting instruction to be in the first state comprises:

and when the state setting instruction is an effective instruction, controlling the lamp to be in the first state corresponding to the state setting instruction to be in the first state.

7. The method according to claim 6, wherein when the state setting instruction is a valid instruction, controlling the lamp to enter the first state corresponding to the state setting instruction to be in the first state comprises:

and when the state setting instruction is an effective instruction and the lamp to be in the first state corresponding to the state setting instruction is not in the first state currently, controlling the lamp to be in the first state corresponding to the state setting instruction to be in the first state.

8. The method according to claim 6, wherein when the state setting instruction is a valid instruction, controlling the lamp to enter the first state corresponding to the state setting instruction to be in the first state comprises:

and when the state setting instruction is an effective instruction and the lamp to be in the first state corresponding to the state setting instruction is currently in the first state, keeping the lamp to be in the first state corresponding to the state setting instruction in the first state.

9. The method according to claim 5, wherein the detecting that the second photographing apparatus in the photographing state currently exists comprises:

counting a first number of valid instructions in a state setting instruction associated with the first photographing device and a second number of valid instructions in a state recovery instruction associated with the first photographing device;

when the first number is not equal to the second number, detecting that a second shooting device in a shooting state exists currently;

wherein the state setting instruction associated with the first photographing apparatus includes: receiving a state setting instruction sent by the first shooting device and a state setting instruction sent by the second shooting device;

the state restoration instruction associated with the first camera includes: and receiving a state recovery instruction sent by the first shooting device and a state recovery instruction sent by the second shooting device.

10. The method of claim 9, wherein the valid ones of the status setting instructions associated with the first camera comprise:

before the lamp corresponding to the first shooting device is controlled to be switched from the first state to the second state, the state setting instruction sent by the first shooting device is received for the first time, and the state setting instruction sent by each second shooting device is received for the first time.

11. The method of claim 9, wherein the nullifying of the state setting instructions associated with the first camera comprises:

before controlling the lamp corresponding to the first shooting device to be switched from the first state to the second state, the state setting instruction sent by the first shooting device is not received for the first time, and the state setting instruction sent by each second shooting device is not received for the first time.

12. The method of claim 11, wherein the non-first received state setting instruction sent by the first camera comprises: after the first number reaches an allowable first maximum number, receiving a state setting instruction sent by the first shooting device; and/or the presence of a gas in the gas,

the non-first-time received state setting instruction sent by the second shooting device comprises: and after the first number reaches the allowed first maximum number, receiving a state setting instruction sent by the second shooting device.

13. The method of claim 12, wherein the first maximum number is a sum of the number of first cameras and the number of second cameras.

14. The method of claim 9, wherein valid ones of the state restoration instructions associated with the first camera comprise:

before controlling the lamp corresponding to the first shooting device to be switched from the first state to the second state, firstly receiving a state recovery instruction sent by the first shooting device and firstly receiving a state recovery instruction sent by each second shooting device.

15. The method of claim 9, wherein invalidating ones of the state restoration instructions associated with the first camera comprises:

before controlling the lamp corresponding to the first shooting device to be switched from the first state to the second state, the state recovery instruction sent by the first shooting device is not received for the first time, and the state recovery instruction sent by each second shooting device is not received for the first time.

16. The method of claim 15, wherein the non-first received state recovery instruction sent by the first camera comprises: after the second number reaches an allowable second maximum number, receiving a state recovery instruction sent by the first shooting device; and/or the presence of a gas in the gas,

the non-first-time received state recovery instruction sent by the second shooting device comprises: and after the second number reaches an allowable second maximum number, receiving a state recovery instruction sent by the second shooting device.

17. The method of claim 16, wherein the second maximum number is a sum of the number of first cameras and the number of second cameras.

18. The method of claim 9, further comprising:

when the first number is equal to the second number, it is detected that there is no second photographing device currently in a photographing state.

19. The method according to claim 18, wherein after detecting that there is no second photographing apparatus currently in a photographing state, further comprising:

setting the first number and the second number to zero.

20. The method of claim 19, wherein the valid ones of the status setting instructions associated with the first camera comprise:

after the first number and the second number are set to be zero and before a state recovery instruction sent by the first shooting device is received for the first time, the state setting instruction sent by the first shooting device and the state setting instruction sent by each second shooting device are received for the first time.

21. The method of claim 19, wherein valid ones of the state restoration instructions associated with the first camera comprise:

after the first number and the second number are set to be zero and before a state recovery instruction sent by the first shooting device is received for the first time, the state recovery instruction sent by the first shooting device and the state recovery instruction sent by the second shooting device are received for the first time.

22. The method of claim 9, further comprising:

and when the state setting instruction associated with the first shooting device is an invalid instruction, keeping the state of the lamp to be in the first state, which corresponds to the state setting instruction associated with the first shooting device, unchanged.

23. The method of claim 9, further comprising:

and when the state setting instruction associated with the first shooting device is an invalid instruction, returning a first error message to the shooting device.

24. The method of claim 9, further comprising:

and when the state recovery instruction associated with the first shooting device is an invalid instruction, keeping the state of the lamp in the first state corresponding to the state recovery instruction associated with the first shooting device unchanged.

25. The method of claim 9, further comprising:

and when the state recovery instruction associated with the first shooting device is an invalid instruction, returning a second error message to the shooting device.

26. The method of claim 5, wherein the camera comprises a pan-tilt and a camera module mounted on the pan-tilt;

the state setting instruction and the state restoring instruction respectively carry identity information of the holder.

27. A lamp control device for a movable platform, the movable platform having a plurality of imaging devices mounted thereon, the device comprising:

storage means for storing program instructions; and

one or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:

the second shooting device is a shooting device which shares at least part of the lamp in the first state with the first shooting device.

28. The apparatus of claim 27, wherein the first state comprises an off state and the second state comprises an on state.

29. The apparatus of claim 27, wherein the one or more processors are further configured, individually or collectively, to:

the third shooting device is a shooting device which is not shared with the first shooting device and is in the first state.

30. The apparatus of claim 27, wherein the one or more processors are further configured, individually or collectively, to:

31. The apparatus of claim 27, wherein the one or more processors, individually or collectively, prior to receiving the state restoration instruction sent by the first camera at the end of the capture, are further configured to:

and controlling the lamp to be in the first state corresponding to the state setting instruction to be in the first state.

32. The apparatus of claim 31, wherein the one or more processors, when controlling the light fixture to enter the first state corresponding to the state setting instruction to be in the first state, are further configured individually or collectively to:

and when the state setting instruction is an effective instruction, controlling the lamp to be in the first state corresponding to the state setting instruction to be in the first state.

33. The apparatus of claim 32, wherein when the state setting instruction is a valid instruction, the one or more processors, when controlling the light fixture to enter the first state corresponding to the state setting instruction to be in the first state, are further configured, individually or collectively, to:

34. The apparatus of claim 32, wherein when the state setting instruction is a valid instruction, the one or more processors, when controlling the light fixture to enter the first state corresponding to the state setting instruction to be in the first state, are further configured, individually or collectively, to:

35. The apparatus of claim 31, wherein the one or more processors, when detecting that there is currently a second camera in a camera state, are further configured, individually or collectively, to:

when the first number is not equal to the second number, detecting that a second shooting device in a shooting state exists currently;

36. The apparatus of claim 35, wherein the valid ones of the status setting instructions associated with the first camera comprise:

37. The apparatus of claim 35, wherein the invalid one of the status setting instructions associated with the first camera comprises:

38. The apparatus of claim 37, wherein the non-first received status setting instruction sent by the first camera comprises: after the first number reaches an allowable first maximum number, receiving a state setting instruction sent by the first shooting device; and/or the presence of a gas in the gas,

39. The apparatus of claim 38, wherein the first maximum number is a sum of the number of first cameras and the number of second cameras.

40. The apparatus of claim 35, wherein the valid ones of the state restoration instructions associated with the first camera comprise:

41. The apparatus of claim 35, wherein the nullification of the state restoration instructions associated with the first camera comprises:

42. The apparatus of claim 41, wherein the non-first received state recovery instruction sent by the first camera comprises: after the second number reaches an allowable second maximum number, receiving a state recovery instruction sent by the first shooting device; and/or the presence of a gas in the gas,

43. The apparatus of claim 42, wherein the second maximum number is a sum of the number of first cameras and the number of second cameras.

44. The apparatus of claim 35, wherein the one or more processors are further configured, individually or collectively, to:

when the first number is equal to the second number, it is detected that there is no second photographing device currently in a photographing state.

45. The apparatus of claim 44, wherein the one or more processors, individually or collectively, are further configured for performing the following operations after detecting that there is not a second camera in a camera state currently:

setting the first number and the second number to zero.

46. The apparatus of claim 45, wherein the valid ones of the status setting instructions associated with the first camera comprise:

47. The apparatus of claim 45, wherein valid ones of the state restoration instructions associated with the first camera comprise:

48. The apparatus of claim 35, wherein the one or more processors are further configured, individually or collectively, to:

49. The apparatus of claim 35, wherein the one or more processors are further configured, individually or collectively, to:

and when the state setting instruction associated with the first shooting device is an invalid instruction, returning a first error message to the shooting device.

50. The apparatus of claim 35, wherein the one or more processors are further configured, individually or collectively, to:

51. The apparatus of claim 35, wherein the one or more processors are further configured, individually or collectively, to:

and when the state recovery instruction associated with the first shooting device is an invalid instruction, returning a second error message to the shooting device.

52. The apparatus of claim 31, wherein the camera comprises a pan-tilt and a camera module mounted on the pan-tilt;

the state setting instruction and the state restoring instruction respectively carry identity information of the holder.

53. A movable platform is characterized in that a plurality of shooting devices are mounted on the movable platform, and the movable platform comprises:

a body;

the lamp is arranged on the machine body; and

the mobile platform light fixture control apparatus of any one of claims 27 to 52, supported by the housing and electrically connected to the light fixture.

Technical Field

The application relates to the field of movable platforms, in particular to a movable platform and a lamp control method and device thereof.

Background

Generally, the movable platform includes a plurality of lamps, and the lamps are installed at different positions of the movable platform and used for reminding a user of information such as a current motion direction and/or state of the movable platform, or used for supplementing light to a shooting device mounted on the movable platform.

Taking an example that a lamp on the unmanned aerial vehicle is used for reminding a user of relevant information, the unmanned aerial vehicle generally comprises a horn lamp, a night navigation lamp and the like, wherein the night navigation lamp is arranged at the top and the bottom of the horn; meanwhile, no one may mount a plurality of photographing devices. However, at night, in order to prevent the halo of the lamp for reminding the relevant information from affecting the imaging quality of the shooting device, some or all of the lamps are controlled to be turned off during the shooting of the shooting device. Illustratively, the movable platform comprises a lamp 1, and the movable platform is loaded with a shooting device 1 and a shooting device 2. The turning on of the lamp 1 affects the imaging quality of the photographing devices 1 and 2, and therefore, before the photographing devices 1 and 2 take a picture, the lamp 1 needs to be turned off, and the lamp 1 needs to be turned on when the photographing is finished, so as to recover the function of the lamp 1. If the photographing device 1 finishes photographing before the photographing device 2, the movable platform will turn on the lamp 1 when the photographing device 1 finishes photographing, and the photographing device 2 is still in a photographing state at this time, and the turning on of the lamp 1 will affect the imaging quality of the photographing device 2.

Disclosure of Invention

The application provides a movable platform and a lamp control method and device thereof.

In a first aspect, an embodiment of the present application provides a lamp control method for a movable platform, where a plurality of cameras are mounted on the movable platform, and the method includes:

the second shooting device is a shooting device which shares at least part of the lamp in the first state with the first shooting device.

In a second aspect, an embodiment of the present application provides a lamp control device for a movable platform, where a plurality of imaging devices are mounted on the movable platform, and the device includes:

storage means for storing program instructions; and

the second shooting device is a shooting device which shares at least part of the lamp in the first state with the first shooting device.

In a third aspect, an embodiment of the present application provides a movable platform, where a plurality of imaging devices are mounted on the movable platform, and the movable platform includes:

a body;

the lamp is arranged on the machine body; and

the lamp control device of the movable platform of the first aspect is supported by the body and electrically connected to the lamp.

According to the technical scheme provided by the embodiment of the application, for the use scene that the movable platform is provided with the first shooting device and the second shooting device which share at least part of the lamp in the first state, when the first shooting device finishes shooting firstly, if the second shooting device in the shooting state exists, the lamp in the first state shared by the first shooting device and the second shooting device in the shooting state at present cannot be started, so that the imaging quality of the second shooting device in the shooting state is prevented from being influenced by the starting of the lamp, and the problem of conflict of controlling the lamp by multiple shooting devices is solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic method flow diagram of a lamp control method of a movable platform according to an embodiment of the present application;

FIG. 2 is a schematic flow chart illustrating a method for controlling a lamp of a movable platform according to another embodiment of the present disclosure;

fig. 3 is a schematic diagram of a manner of detecting that a second photographing apparatus in a photographing state currently exists in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a lamp control device of a movable platform according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a lamp control device of a movable platform in an embodiment of the present application.

Detailed Description

The movable platform generally includes a lamp and carries a plurality of cameras, and illustratively, the movable platform includes a lamp 1 and the movable platform carries a camera 1 and a camera 2. The turning on of the lamp 1 affects the imaging quality of the photographing devices 1 and 2, and therefore, before the photographing devices 1 and 2 take a picture, the lamp 1 needs to be turned off, and the lamp 1 needs to be turned on when the photographing is finished, so as to recover the function of the lamp 1. If the photographing device 1 finishes photographing before the photographing device 2, the movable platform will turn on the lamp 1 when the photographing device 1 finishes photographing, and the photographing device 2 is still in a photographing state at this time, and the turning on of the lamp 1 will affect the imaging quality of the photographing device 2.

In order to solve the problem, in the application, for a use scene where a first shooting device and a second shooting device which share at least part of a lamp in a first state are mounted on a movable platform, when shooting is finished by the first shooting device first, if the second shooting device in the shooting state exists, the lamp in the first state shared by the first shooting device and the second shooting device in the shooting state at present cannot be turned on, so that the imaging quality of the second shooting device in the shooting state is prevented from being influenced by turning on of the lamp, and the problem of conflict of controlling the lamp by multiple shooting devices is solved.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.

The movable platform of this application embodiment can be unmanned aerial vehicle, also can be unmanned vehicle or ground mobile robot. In addition, the lamp control method of the movable platform is also suitable for other types of movable platforms such as a human aircraft.

The movable platform of the embodiment of the application comprises one or more lamps. Illustratively, the movable platform is an unmanned aerial vehicle, and the light fixture includes a horn light and a night navigation light. The lamp provided by the embodiment of the application can be an LED lamp and can also be other types of lamps.

Further, a plurality of imaging devices are mounted on the movable platform. Illustratively, the shooting device comprises a holder and a shooting module carried on the holder, and the shooting module is carried on the body of the movable platform through the holder; illustratively, the photographing apparatus includes a photographing module directly mounted on the body of the movable platform.

Fig. 1 is a schematic method flow diagram of a lamp control method of a movable platform according to an embodiment of the present application; the execution main body of the lamp control method of the movable platform is the movable platform, and for example, the execution main body can be a main controller of the movable platform or other controllers arranged on the movable platform. Illustratively, the movable platform is a drone and the executive body may be a flight controller of the drone.

Referring to fig. 1, a lamp control method of a movable platform according to an embodiment of the present disclosure may include S101 to S102.

In S101, a state recovery instruction sent by the first photographing device when photographing is finished is received, where the state recovery instruction is used to instruct to switch the lamp corresponding to the first photographing device from the first state to the second state.

The lamp corresponding to the first shooting device is a lamp capable of influencing the imaging quality of the first shooting device. In the embodiment of the application, when the first photographing device photographs, the lamp corresponding to the first photographing device needs to be controlled to be in the first state, so that the lamp corresponding to the first photographing device does not affect the imaging quality of the first photographing device. And if the lamp corresponding to the first shooting device is in the second state when the first shooting device shoots, the lamp corresponding to the first shooting device affects the imaging quality of the first shooting device.

The first state may comprise an off state and the second state may comprise an on state; of course, the first state and the second state may include other states. Illustratively, the first state is an off state, the second state is an on state, and the state recovery instruction is used for instructing to switch the lamp corresponding to the first shooting device from the off state to the on state; for example, the first state is a hibernation state, the second state is an on state, and the state restoration instruction is used to instruct to switch the lamp corresponding to the first photographing device from the hibernation state to the on state. It should be understood that, in some embodiments, the first state and the second state may be interchanged, for example, the first state is an on state, and the second state is an off state, so as to meet the actual use requirement, for example, the case of light supplement is required.

In S102, if it is detected that a second photographing device in a photographing state currently exists, maintaining a lamp, corresponding to the state restoration instruction, to be in the second state and related to the second photographing device in the photographing state currently in the first state; the second shooting device is a shooting device which shares at least part of the lamp in the first state with the first shooting device.

In the embodiment of the present application, unless otherwise specified, the current time refers to the time when the state recovery instruction transmitted by the first imaging device is received.

In the embodiment of the present application, among the plurality of imaging devices, an imaging device that shares the lamp in the first state with the first imaging device is referred to as a second imaging device, and among the plurality of imaging devices, an imaging device that does not share the lamp in the first state with the first imaging device is referred to as a third imaging device. It is understood that, in the embodiment of the present application, the first photographing device, the second photographing device, and the third photographing device do not have a limitation on the number; also, the same photographing apparatus may be respectively the first photographing apparatus, the second photographing apparatus, and the third photographing apparatus in different scenes. In addition, as for the first photographing apparatus, the plurality of photographing apparatuses may include the first photographing apparatus and the second photographing apparatus, and may include only the second photographing apparatus or only the third photographing apparatus.

Illustratively, the lamp comprises a lamp 1, a lamp 2, a lamp 3 and a lamp 4, and the shooting device comprises a shooting device 1, a shooting device 2, a shooting device 3 and a shooting device 4. The lamp corresponding to the shooting device 1 comprises a lamp 1, the lamp corresponding to the shooting device 2 comprises a lamp 1 and a lamp 2, the lamp corresponding to the shooting device 3 comprises a lamp 3, and the lamp corresponding to the shooting device 4 comprises a lamp 1, a lamp 2, a lamp 3 and a lamp 4. When the first shooting device is the shooting device 1, the second shooting device comprises the shooting device 2 and the shooting device 4, and the third shooting device comprises the shooting device 3; when the first shooting device is the shooting device 2, the second shooting device comprises the shooting device 1 and the shooting device 4, and the third shooting device comprises the shooting device 3; when the first shooting device is the shooting device 3, the second shooting device comprises the shooting device 4, and the third shooting device comprises the shooting device 1 and the shooting device 2; when the first photographing device is the photographing device 4, the second photographing device includes the photographing device 1, the photographing device 2, and the photographing device 3, and there is no third photographing device.

Illustratively, the first state is an off state, the second state is an on state, and when a state recovery instruction (instructing to switch the lamp 1 from the off state to the on state) sent by the shooting device 1 at the end of shooting is received, if it is detected that the shooting device 2 and the shooting device 4 are in the shooting state, the lamp 1 is kept in the off state, so that the influence of the on of the lamp 1 on the imaging quality of the shooting device 2 and the shooting device 4 is avoided.

In addition, when the second shooting device in the shooting state is detected to exist currently, the imaging quality of the second shooting device which is in the shooting state currently cannot be influenced for the lamp which is corresponding to the state recovery instruction, is to enter the second state and is irrelevant to the second shooting device in the shooting state currently, so that the lamp can be kept in the first state and can also be switched from the first state to the second state, the state of supporting independent setting of one or more lamps is realized, and the states of other lamps are not influenced.

Illustratively, the first state is an off state, the second state is an on state, and when a state recovery instruction (instructing to switch the lamp 1, the lamp 2, the lamp 3, and the lamp 4 from the off state to the on state) sent by the shooting device 4 is received, if it is detected that the shooting device 1 and the shooting device 2 are in the shooting state, the shooting device 3 is in the non-shooting state, at this time, the turning on of the lamp 1 and the lamp 2 affects the imaging quality of the shooting device 1 and the shooting device 2, and the turning on and off of the lamp 3 and the lamp 4 does not affect the imaging quality of the shooting device 1 and the shooting device 2, so the lamp 1 and the lamp 2 need to be kept in the off state, and the lamp 3 and the lamp 4 can be kept in the off state or switched from the off state to the on state.

Further, if it is detected that there is no second photographing device in a photographing state, different strategies may be adopted to control the state of the lamp corresponding to the first photographing device:

(1) and controlling the lamp corresponding to the first shooting device to be switched from the first state to the second state according to the state recovery instruction.

When a state recovery instruction sent by the first shooting device is received, the second shooting device in the shooting state does not exist, the first state of the lamp corresponding to the first shooting device is switched to the second state, the imaging quality of other shooting devices cannot be influenced, and meanwhile the original functions of the lamp corresponding to the first shooting device are recovered, such as a reminding function.

(2) And switching a part of lamps in the lamps corresponding to the first shooting device from the first state to the second state according to the state recovery instruction, and keeping the other part of lamps in the lamps corresponding to the first shooting device in the first state.

(3) And keeping the lamp corresponding to the first shooting device in a first state.

For (2) and (3), at least some of the luminaires corresponding to the first camera may be unable to recover the function.

Further, if it is detected that a third photographing device in a photographing state currently exists and a second photographing device in the photographing state does not exist, different strategies may be adopted to control the state of the lamp corresponding to the first photographing device:

I. and controlling the lamp corresponding to the first shooting device to be switched from the first state to the second state according to the state recovery instruction.

When a state recovery instruction sent by the first shooting device is received, the third shooting device in the shooting state exists, but the second shooting device in the shooting state does not exist, the first state of the lamp corresponding to the first shooting device is switched to the second state, the imaging quality of other shooting devices cannot be influenced, and meanwhile, the original functions of the lamp corresponding to the first shooting device are recovered, such as a reminding function.

II. And according to the state recovery instruction, switching a part of lamps in the lamps corresponding to the first shooting device from the first state to the second state, and keeping the other part of lamps in the lamps corresponding to the first shooting device in the first state.

And III, keeping the lamp corresponding to the first shooting device in the first state.

For II and III, at least some of the light fixtures corresponding to the first camera may not be able to recover to function.

FIG. 2 is a schematic flow chart illustrating a method for controlling a lamp of a movable platform according to another embodiment of the present disclosure; referring to fig. 2, before receiving a state recovery instruction sent by the first photographing device when photographing is finished, the method for controlling a lamp of a movable platform may further include S201 to S202.

In S201, a state setting instruction sent by the first shooting device before shooting is received, where the state setting instruction is used to instruct the luminaire to enter the first state when the first shooting device shoots.

In the embodiment of the application, the lamp to be in the first state corresponding to the state setting instruction is the lamp corresponding to the first shooting device, that is, the lamp capable of affecting the imaging quality of the first shooting device.

The first shooting device sends a state setting instruction to the movable platform before shooting, the movable platform is instructed to control the lamp to be in the first state corresponding to the state setting instruction, and the lamp to be in the first state corresponding to the state setting instruction is prevented from influencing the imaging quality of the first shooting device.

In S202, the lamp to be in the first state corresponding to the control state setting instruction is in the first state.

Therefore, the condition that the lamp to be in the first state corresponding to the state setting instruction influences the imaging quality of the first shooting device can be avoided.

Illustratively, when the state setting instruction is an effective instruction, the lamp to be in the first state corresponding to the state setting instruction is controlled to be in the first state, so that the state of the lamp to be in the first state corresponding to the state setting instruction is prevented from being repeatedly controlled, and the lamp control efficiency is improved. Further, when the state setting instruction is an effective instruction and the lamp to be in the first state corresponding to the state setting instruction is not in the first state currently, controlling the lamp to be in the first state corresponding to the state setting instruction to be in the first state; when the state setting instruction is an effective instruction and the lamp to be in the first state corresponding to the state setting instruction is currently in the first state, the lamp to be in the first state corresponding to the state setting instruction is kept in the first state, and the lamp control efficiency is further improved.

For example, the first camera may send the status setting instruction to the movable platform multiple times, but the movable platform only successfully executes the status setting instruction sent by the first camera once, for example, before executing S202, the movable platform may execute the status setting instruction sent by the first camera received for the first time.

Fig. 3 is a schematic diagram of a manner of detecting that a second photographing apparatus in a photographing state currently exists in an embodiment of the present application; referring to fig. 3, a manner of detecting that the second photographing apparatus in a photographing state currently exists may include S301 to S302.

In S301, a first number of valid instructions in the state setting instruction associated with the first photographing apparatus and a second number of valid instructions in the state restoring instruction associated with the first photographing apparatus are counted.

The initial values of the first number and the second number are both zero, that is, before counting, the first number is 0.

In an embodiment of the present application, the state setting instruction associated with the first photographing apparatus includes: and the received state setting instruction sent by the first shooting device and the received state setting instruction sent by the second shooting device. Accordingly, the state restoration instruction associated with the first photographing apparatus includes: and the received state recovery instruction sent by the first shooting device and the received state recovery instruction sent by the second shooting device.

In this embodiment of the present application, an effective instruction in a state setting instruction associated with a first shooting device includes: before the lamp corresponding to the first shooting device is controlled to be switched from the first state to the second state, the state setting instruction sent by the first shooting device is received for the first time, and the state setting instruction sent by each second shooting device is received for the first time. That is, valid instructions in the state setting instructions associated with the first photographing apparatus include: before executing S202, the state setting instruction transmitted by the first photographing apparatus is received for the first time, and the state setting instruction transmitted by each second photographing apparatus is received for the first time. Of course, in other embodiments, the valid instruction in the status setting instruction associated with the first camera may also be set to include other, for example, the valid instruction in the status setting instruction associated with the first camera includes: before the lamp corresponding to the first shooting device is controlled to be switched to the second state from the first state, the latest received state setting instruction sent by the first shooting device and the latest received state setting instruction sent by each second shooting device.

Illustratively, the first camera includes the camera 11, the second camera includes the camera 12 and the camera 13, and the valid command in the status setting command associated with the camera 11 includes: before the lamp corresponding to the shooting device 11 is controlled to be switched from the first state to the second state, the state setting instruction sent by the shooting device 11 is received for the first time, the state setting instruction sent by the shooting device 12 is received for the first time, and the state setting instruction sent by the shooting device 13 is received for the first time.

Correspondingly, the invalid instruction in the state setting instruction associated with the first shooting device comprises: before the lamp corresponding to the first shooting device is controlled to be switched to the second state from the first state, the state setting instruction sent by the first shooting device is not received for the first time, and the state setting instruction sent by each second shooting device is not received for the first time. Illustratively, following the embodiment described above in which the first camera includes the camera 11, and the second camera includes the camera 12 and the camera 13, the invalidation instruction in the state setting instruction associated with the camera 11 includes: before the lamp corresponding to the control shooting device 11 is switched from the first state to the second state, the state setting instruction sent by the shooting device 11 which is not received for the first time, the state setting instruction sent by the shooting device 12 which is not received for the first time and the state setting instruction sent by the shooting device 13 which is not received for the first time are set.

Illustratively, the state setting instruction sent by the first shooting device which is not received for the first time comprises: and after the first number reaches the allowed first maximum number, receiving a state setting instruction sent by the first shooting device. Illustratively, the state setting instruction sent by the second shooting device which is not received for the first time comprises: and after the first number reaches the allowed first maximum number, the received state setting instruction sent by the second shooting device. In the embodiment of the present application, the first maximum number is determined according to the sum of the number of the first photographing devices and the number of the second photographing devices, and for example, the first maximum number is the sum of the number of the first photographing devices and the number of the second photographing devices. Illustratively, following the embodiment in which the first photographing device includes the photographing device 11, and the second photographing device includes the photographing device 12 and the photographing device 13, the first maximum number is 3, and the state setting instruction transmitted by the first photographing device that is not received for the first time includes: after the first number reaches 3, the received state setting instruction transmitted by the photographing device 11. The non-first-received state setting instruction sent by the second shooting device comprises: after the first number reaches 3, the received state setting instruction transmitted by the photographing device 12 and the received state setting instruction transmitted by the photographing device 13. It should be understood that, in the embodiment of the present application, the state setting instruction sent by the first shooting device that is not received for the first time further includes: after a state setting instruction sent by a first shooting device is received for the first time, controlling the state setting instruction sent by the first shooting device before a lamp corresponding to the first shooting device is switched from a first state to a second state; the state setting instruction sent by the second shooting device which is not received for the first time may further include: after the first state setting instruction sent by the second shooting device is received, the state setting instruction sent by the second shooting device is received before the lamp corresponding to the first shooting device is controlled to be switched from the first state to the second state.

In an embodiment of the present application, an effective instruction in a state recovery instruction associated with a first shooting device includes: before the lamp corresponding to the first shooting device is controlled to be switched from the first state to the second state, the first received state recovery instruction sent by the first shooting device and the first received state recovery instruction sent by each second shooting device. That is, valid instructions in the state restoration instruction associated with the first photographing apparatus include: before executing S202, a state restoration instruction transmitted by the first photographing apparatus is received for the first time, and a state restoration instruction transmitted by each second photographing apparatus is received for the first time. Of course, in other embodiments, the valid instruction in the state recovery instruction associated with the first camera may also be set to include other, for example, the valid instruction in the state recovery instruction associated with the first camera includes: before the lamp corresponding to the first shooting device is controlled to be switched from the first state to the second state, the latest received state recovery instruction sent by the first shooting device and the latest received state recovery instruction sent by each second shooting device.

For example, following the embodiment in which the first camera includes the camera 11 and the second camera includes the camera 12 and the camera 13, the valid command in the state recovery command associated with the camera 11 includes: before the lamp corresponding to the photographing device 11 is controlled to switch from the first state to the second state, the state recovery command transmitted by the photographing device 11 is received for the first time, the state recovery command transmitted by the photographing device 12 is received for the first time, and the state recovery command transmitted by the photographing device 13 is received for the first time.

Correspondingly, the invalid instruction in the state recovery instruction associated with the first shooting device comprises: before the lamp corresponding to the first shooting device is controlled to be switched to the second state from the first state, the state recovery instruction sent by the first shooting device is not received for the first time, and the state recovery instruction sent by each second shooting device is not received for the first time. Illustratively, following the embodiment described above in which the first camera includes camera 11, and the second camera includes camera 12 and camera 13, the invalid instruction in the state restoration instruction associated with camera 11 includes: before the lamp corresponding to the control shooting device 11 is switched from the first state to the second state, the state recovery command transmitted by the shooting device 11 which is not received for the first time, the state recovery command transmitted by the shooting device 12 which is not received for the first time, and the state recovery command transmitted by the shooting device 13 which is not received for the first time.

Illustratively, the state recovery instruction sent by the first shooting device which is not received for the first time comprises: and after the second number reaches the allowable second maximum number, receiving a state recovery instruction sent by the first shooting device. Illustratively, the state recovery instruction sent by the second shooting device which is not received for the first time comprises: and after the second number reaches the allowable second maximum number, the received state recovery instruction sent by the second shooting device. In the embodiment of the present application, the second maximum number is determined according to the sum of the number of the first photographing devices and the number of the second photographing devices, and for example, the second maximum number is the sum of the number of the first photographing devices and the number of the second photographing devices. For example, following the embodiment in which the first photographing device includes the photographing device 11, and the second photographing device includes the photographing device 12 and the photographing device 13, the first maximum number is 3, and the state recovery instruction sent by the first photographing device that is not received for the first time includes: after the first number reaches 3, the received state restoration instruction transmitted by the photographing device 11. The state recovery instruction sent by the second shooting device and received for the non-first time comprises the following steps: after the first number reaches 3, the received state restoration instruction transmitted by the photographing device 12 and the received state restoration instruction transmitted by the photographing device 13. It should be understood that, in the embodiment of the present application, the state recovery instruction sent by the first shooting device that is not received for the first time further includes: after a state recovery instruction sent by a first shooting device is received for the first time, controlling the state recovery instruction sent by the first shooting device before a lamp corresponding to the first shooting device is switched from a first state to a second state; the state recovery instruction sent by the second shooting device and received for the non-first time further comprises: and after the first state recovery instruction sent by the second shooting device is received, controlling the lamp corresponding to the first shooting device to be switched from the first state to the second state, and receiving the state recovery instruction sent by the second shooting device.

In S302, when the first number is not equal to the second number, it is detected that a second photographing apparatus in a photographing state currently exists.

The first number is not equal to the second number, which indicates that the second photographing device which does not send the state recovery instruction to the movable platform exists currently, that is, the second photographing device which does not finish photographing exists currently, so that it can be determined that the second photographing device which is in the photographing state exists currently.

For example, in some embodiments, the luminaire control method of the movable platform according to the embodiments of the present application may further include: when the first number is equal to the second number, it is detected that there is no second photographing device currently in a photographing state. The first number is equal to the second number and is not zero, which indicates that there is no second photographing device that does not send a state recovery instruction to the movable platform, that is, the second photographing device currently finishes photographing, and thus it can be determined that there is no second photographing device in a photographing state.

For example, in some embodiments, after detecting that there is no second photographing device currently in a photographing state, the first number and the second number are set to zero, so that the statistics are restarted. And after the first quantity and the second quantity are reset, entering a new round of program of the lamp control method of the movable platform.

For example, in some embodiments, the valid instruction in the status setting instruction associated with the first camera includes: after the first number and the second number are set to zero, before a state recovery instruction sent by the first shooting device is received for the first time, the state setting instruction sent by the first shooting device is received for the first time, and the state setting instruction sent by each second shooting device is received for the first time. Illustratively, following the embodiment in which the first photographing apparatus includes the photographing apparatus 1 and the second photographing apparatus includes the photographing apparatus 2 and the photographing apparatus 3, the valid instruction in the state setting instruction associated with the photographing apparatus 1 includes: after the first number and the second number are set to zero, the state setting instruction transmitted by the first-received photographing apparatus 1, the state setting instruction transmitted by the first-received photographing apparatus 2, and the state setting instruction transmitted by the first-received photographing apparatus 3.

For example, in some embodiments, the valid one of the state restoration instructions associated with the first camera includes: after the first number and the second number are set to zero, before a state recovery instruction sent by the first shooting device is received for the first time, the state recovery instruction sent by the first shooting device is received for the first time, and the state recovery instruction sent by the second shooting device is received for the first time. Illustratively, following the embodiment in which the first photographing apparatus includes the photographing apparatus 1 and the second photographing apparatus includes the photographing apparatus 2 and the photographing apparatus 3, the valid instruction in the state recovery instruction associated with the photographing apparatus 1 includes: after the first number and the second number are set to zero, the state restoration instruction transmitted by the photographing apparatus 1 received first, the state restoration instruction transmitted by the photographing apparatus 2 received first, and the state restoration instruction transmitted by the photographing apparatus 3 received first.

For example, in some embodiments, the luminaire control method of the movable platform may further include: when the state setting instruction associated with the first shooting device is an invalid instruction, the state of the lamp to be in the first state corresponding to the state setting instruction associated with the first shooting device is kept unchanged, and the state of the lamp is prevented from being repeatedly or erroneously controlled.

For example, in some embodiments, the luminaire control method of the movable platform may further include: and when the state setting instruction associated with the first shooting device is an invalid instruction, returning a first error message to the shooting device for prompting, so that the shooting device takes corresponding action to avoid sending the invalid state setting instruction again.

For example, in some embodiments, the luminaire control method of the movable platform may further include: when the state recovery instruction associated with the first shooting device is an invalid instruction, the state of the lamp in the first state corresponding to the state recovery instruction associated with the first shooting device is kept unchanged, and the state of the lamp is prevented from being repeatedly controlled or controlled in an error mode.

For example, in some embodiments, when the state recovery instruction associated with the first camera is an invalid instruction, a second error message is returned to the camera to prompt the camera to take corresponding action to avoid sending the invalid state recovery instruction again.

In addition, in some embodiments, the shooting device includes a pan-tilt and a shooting module mounted on the pan-tilt, and the state setting instruction and the state restoring instruction respectively carry Identity Information (ID) of the pan-tilt. The state setting instruction and/or the state recovery instruction sent by the same shooting device are/is matched through the identity information of the holder, the consistency of the state setting instruction and/or the state recovery instruction sent by the same shooting device is ensured, and the condition setting instruction and/or the state recovery instruction sent by the same shooting device repeatedly are prevented from causing statistical abnormality. Wherein, different cloud platforms have different identity information to realize the only sign of cloud platform.

Corresponding to the lamp control method of the movable platform in the embodiment, the embodiment of the application also provides a lamp control device of the movable platform. Referring to fig. 4, a luminaire control device of a movable platform according to an embodiment of the present application may include a storage device and one or more processors.

Wherein the storage device is used for storing program instructions. The storage means stores a computer program of executable instructions of the luminaire control method of the movable platform, and the storage means may include at least one type of storage medium including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. Also, the luminaire control means of the movable platform may cooperate with a network storage means performing the storage function of the memory over a network connection. The memory may be an internal storage unit of the luminaire control means of the movable platform, such as a hard disk or a memory of the luminaire control means of the movable platform. The memory may also be an external storage device of the lamp control device of the removable platform, such as a plug-in hard disk provided on the lamp control device of the removable platform, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory may also comprise both an internal storage unit and an external storage device of the luminaire control of the movable platform. The memory is used for storing computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been output or is to be output.

One or more processors invoking program instructions stored in a storage device, the one or more processors individually or collectively configured to perform operations when the program instructions are executed: receiving a state recovery instruction sent by a first shooting device when shooting is finished, wherein the state recovery instruction is used for indicating that a lamp corresponding to the first shooting device is switched to a second state from a first state; if the second shooting device in the shooting state is detected to exist currently, the lamp which is to enter the second state and is related to the second shooting device and corresponds to the state recovery instruction is kept in the first state; the second shooting device is a shooting device which shares at least part of the lamp in the first state with the first shooting device.

The processor of this embodiment may implement the lamp control method of the movable platform according to the embodiments shown in fig. 1 to 3 of the present application, and the obstacle avoidance device of the movable platform of this embodiment may be described with reference to the lamp control method of the movable platform of the above embodiments.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Further, an embodiment of the present application further provides a movable platform, please refer to fig. 5, where a plurality of cameras 10 are mounted on the movable platform, and the movable platform may include a machine body 20, a lamp, and the lamp control device of the movable platform of the above embodiment. Wherein. The lamps are arranged on the machine body 20, the lamp control device of the movable platform is supported by the machine body 20, and the lamp control device of the movable platform is electrically connected with the lamps.

Illustratively, the movable platform is unmanned aerial vehicle, and organism 20 includes the horn, and lamps and lanterns include the horn lamp and the night navigation light.

Illustratively, the shooting device 10 includes a cradle head 11 and a shooting module 12 mounted on the cradle head 11, the shooting module 12 is mounted on the body 20 of the movable platform through the cradle head 11; illustratively, the camera 10 includes a camera module that is mounted directly on the body 20 of the movable platform.

In addition, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the lamp control method for a movable platform of the foregoing embodiment.

The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the removable platform according to any of the previous embodiments. The computer readable storage medium may also be an external storage device of the removable platform, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), etc., provided on the device. Further, the computer readable storage medium may also include both an internal storage unit of the movable platform and an external storage device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the movable platform, and may also be used for temporarily storing data that has been output or is to be output.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is only a few examples of the present application, and certainly should not be taken as limiting the scope of the present application, which is therefore intended to cover all modifications that are within the scope of the present application and which are equivalent to the claims.

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