CN105915809A - Photography method and photography device - Google Patents
Photography method and photography device Download PDFInfo
- Publication number
- CN105915809A CN105915809A CN201610191607.1A CN201610191607A CN105915809A CN 105915809 A CN105915809 A CN 105915809A CN 201610191607 A CN201610191607 A CN 201610191607A CN 105915809 A CN105915809 A CN 105915809A
- Authority
- CN
- China
- Prior art keywords
- light
- aircraft
- face
- flight
- carrying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000033001 locomotion Effects 0.000 claims description 37
- 238000003384 imaging method Methods 0.000 claims description 21
- 230000001815 facial effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 20
- 238000004088 simulation Methods 0.000 description 17
- 230000008859 change Effects 0.000 description 14
- 230000001105 regulatory effect Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 7
- 241000255925 Diptera Species 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000005553 drilling Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001136824 Pyrgotidae Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000005336 safety glass Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
Abstract
The invention relates to a photography method and a photography device, relates to the photography technology field and mainly aims to improve shooting quality. The photography method comprises steps that a flight light bearing aircraft is made to carry the photography light fixture to a pre-determined position according to a flight coordinate; the orientation information is inputted to the flight light bearing aircraft through a control unit, and the flight light bearing aircraft is made to carry the photography light fixture to rotate to a pre-determined angle according to the orientation information; face detection on a shooting area is carried out through a face identification device on the flight light bearing aircraft, and the face position information of a face in the shooting area is acquired; a calibration instruction is sent by the control unit to the flight light bearing aircraft according to the face position information, and the flight light bearing aircraft is made to adjust the photography light fixture to rotate to realize angle calibration according to the calibration instruction. The method is advantaged in that light projection directions of the photography light fixture are slightly influenced by uncertain factors such as air flows, signal interference and the position of to-be-photographed persons, light projection precision is improved, and shooting quality can be improved.
Description
Technical field
The present invention relates to camera work field, particularly relate to a kind of method for imaging and device.
Background technology
In the technology of photography, the projection of photographic light is the key factor determining photographic quality.At present
In studio, photography lamp is to be erected at above a shelf, the projecting direction of photographic light and angle
It is fixing, when needing the picture of the different lamplight scene of shooting, needs artificial shelf is removed
Fortune, completes the regulation to photographic light crevice projection angle.
In realizing process of the present invention, inventor finds that in prior art, at least there are the following problems:
In personnel's carrying, position, the crevice projection angle to photographic light, fully rely on the warp of Camera crews
Test, with visual determination, cause the second-rate of photography.
Summary of the invention
In view of this, the present invention provides a kind of method for imaging and device, and main purpose is to improve shooting
Quality.
For reaching above-mentioned purpose, present invention generally provides following technical scheme:
On the one hand, embodiments of the invention provide a kind of method for imaging, including:
By control unit, the light of flight light unit is carried aircraft input flight coordinate, make institute
State flight light carrying aircraft to fly to precalculated position according to described flight coordinate carrying photography lamp,
Wherein said flight coordinate includes longitude, dimension and height position information；
By control unit to light carrying aircraft input orientation orientation information, described light is made to carry
Aircraft rotates to predetermined angular according to described orientation orientation information carrying photography lamp；
By being positioned at carrying carry-on face recognition device, shooting area is carried out Face datection, obtain
Take face and be positioned at the face location information of described shooting area；
Control unit sends calibration according to described face location information to described light carrying aircraft and refers to
Order, makes described light carrying aircraft regulate photography lamp rotational alignment angle according to described calibration command.
On the other hand, embodiments of the invention provide a kind of photographic attachment, including:
Flight light unit, the light carrying including photography lamp, carrying often group photography lamp flight flies
Row device and be arranged on described light carry carry-on face recognition device, described facial recognition fill
Putting for shooting area being carried out Face datection, obtaining face and being positioned at the face location of described shooting area
Information；
Image unit, including video camera；
Control unit, connect respectively described photography lamp, described light carrying aircraft and described in take the photograph
Camera, described control unit inputs flight coordinate for the light of flight light unit is carried aircraft,
Described flight light carrying aircraft is made to fly to pre-determined bit according to described flight coordinate carrying photography lamp
Putting, wherein said flight coordinate includes longitude, dimension and height position information；Light carrying is flown
Row device input orientation orientation information, makes described light carrying aircraft hold according to described orientation orientation information
Carry photography lamp to rotate to predetermined angular；Described control unit is additionally operable to by being positioned on carrying aircraft
Face recognition device shooting area is carried out Face datection, obtain face and be positioned at described shooting area
Face location information；According to described face location information, described light carrying aircraft is sent calibration to refer to
Order, makes described light carrying aircraft regulate photography lamp rotational alignment angle according to described calibration command.
By technique scheme, method for imaging and device that technical solution of the present invention provides at least have
Following advantages:
The method for imaging of technical solution of the present invention offer and device, can obtain people by face recognition device
Face is positioned at the positional information of shooting area, and then light carried the regulation of aircraft by positional information,
The light projecting direction making photography lamp is followed the positional information of face and is adjusted so that photography lamp
Light projecting direction affected relatively by uncertain factors such as air-flow, signal disturbing, personnel's erect-positions to be photographed
Little, improve the precision of light projection, shooting quality can be improved.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the present invention's
Technological means, and can be practiced according to the content of description, below with presently preferred embodiments of the present invention
And after coordinating accompanying drawing to describe in detail such as.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit for
Those of ordinary skill in the art will be clear from understanding.Accompanying drawing is only used for illustrating the mesh of preferred implementation
, and it is not considered as limitation of the present invention.And in whole accompanying drawing, with identical reference symbol
Number represent identical parts.In the accompanying drawings:
Fig. 1 is the schematic flow sheet of a kind of method for imaging that embodiments of the invention one provide；
Fig. 2 is the azimuth of a kind of method for imaging and the showing of the elevation angle of embodiments of the invention one offer
It is intended to；
Fig. 3 is that the structure of the rotary light end of a kind of photographic attachment that one embodiment of the invention provides is shown
It is intended to；
Fig. 4 is the structural representation of a kind of photographic attachment that embodiments of the invention two provide；
Fig. 5 is the schematic flow sheet of a kind of method for imaging that embodiments of the invention three provide；
Fig. 6 is the structural representation of a kind of photographic attachment that embodiments of the invention four provide；
Fig. 7 is the schematic flow sheet of a kind of method for imaging that embodiments of the invention five provide；
Fig. 8 is the structural representation of a kind of photographic attachment that embodiments of the invention six provide；
Fig. 9 is the structure of the diastimeter round end of a kind of photographic attachment that embodiments of the invention six provide
Schematic diagram；
Figure 10 is the schematic flow sheet of a kind of method for imaging that embodiments of the invention seven provide；
Figure 11 is the schematic flow sheet of a kind of video generation method that embodiments of the invention nine provide；
Figure 12 is the structural representation of a kind of mobile light unit that embodiments of the invention 11 provide；
Figure 13 is the structural representation of a kind of photographic attachment that embodiments of the invention 12 provide.
Detailed description of the invention
By further illustrating the technological means and merit that the present invention taked by reaching predetermined goal of the invention
Effect, below in conjunction with accompanying drawing and preferred embodiment, to the method for imaging proposed according to the present invention and its tool of device
Body embodiment, structure, feature and effect thereof, after describing in detail such as.In the following description, different
" embodiment " or " embodiment " refer to be not necessarily same embodiment.Additionally, one or more
Special characteristic, structure or feature in embodiment can be combined by any suitable form.
Embodiment one
As it is shown in figure 1, a kind of method for imaging that the present invention provides, can be filled by the photography of embodiment two
Put realization, comprise the steps:
Step SA100, by control unit to the light carrying driving means input of mobile light unit the
One controls parameter, makes described light carrying driving means control parameter carrying photography luminaire according to described first
Tool is mobile to precalculated position；Described light carrying driving means includes surface drive and/or flight
Device；Surface drive can include numerical control machine mechanical arm, telecar etc..First control parameter concrete be
The control instruction control light carrying driving means displacement, rotating, stretching etc., concrete includes
Position coordinates, rotation command signal, telescoping instruction signal etc..
Photographer, before taking pictures, needs to be arranged lighting, for different scenes
The light needing different directions projects, and thus, when the different scene of shooting, needs light unit
Position converts.Photographer is without manually moving light unit, and available control unit is to lamp
Light carrying driving means sends instruction, makes light carrying driving means carrying photography lamp move to predetermined
Position.Control unit the most wirelessly or non-wirelessly connects described photography lamp, the carrying of described light drives dress
Putting and described video camera, control unit can use and include remote controller, mobile phone, panel computer or calculating
Machine etc..The quantity of photography lamp can be multiple, light carrying driving means quantity as required depending on,
One or more.Multiple photography lamps ground location that carried is the most different respectively and air position,
Carry out light projection.
Step SA200, by the control unit photography lamp input luminance parameter to mobile light unit,
Make described photography lamp according to described luminance parameter throw light；
According to different scenes, the light exposure rate of photography lamp can be adjusted by photographer, from
And reach the shooting effect of anticipation.
Step SA300, by control unit to video camera input shooting instruction, make described video camera carry out
Shooting.
After setting scene, the remote controlled video camera of photographer shoots such that it is able to realize remotely
Shooting.
A kind of method for imaging that the embodiment of the present invention provides, photographer can be by control unit to portable lamp
The position of light unit is adjusted, make light carrying driving means carrying photography lamp to precalculated position,
Then regulate the brightness of photography lamp, finally shoot.Photographer sends the first control to light unit
Parameter processed, luminance parameter, can complete the setting of scene, and shooting process is relatively simple.
Concrete, above-mentioned method for imaging, can be applicable to shoot single photo or the change of single scene
The continuous shooting of scene or video capture；
Preferably, when being applied in scene change continuous shooting, wherein, the first control parameter includes that light holds
The preset path moving parameter of load driving device, light carrying driving means is moved according to described preset path
Dynamic parameter carrying photography lamp moves on predefined paths, makes the light projecting direction of photography lamp, angle
Degree changes according to described preset path.Preset path moving parameter has execution light carrying driving means
The information of running orbit, preset path can be to be increasingly turned to motion rail upwards from video camera side
Mark, to simulate the light scene change at morning to noon.Or, preset path is above video camera
Movement locus downwards, with simulation from the light simulated scenario at noon to evening.
By control unit to video camera input shooting instruction, described video camera is made to shoot, specifically
For:
Described shooting instruction includes video capture or takes pictures continuously, is inputted video camera by control unit
Shooting instruction, described video camera and the carrying driving means synchronous operation of described light, carry out video capture
Or take pictures continuously.During one-time continuous is taken pictures, it is possible to achieve disposable from multiple photos in morning to noon
Complete, save the time.
Further, by the control unit photography lamp input luminance parameter to mobile light unit,
Make described photography lamp according to described luminance parameter throw light, particularly as follows:
By the control unit photography lamp input luminance parameter to mobile light unit, described photography luminaire
Have according to described luminance parameter and described light carrying driving means synchronous operation throw light.In shooting,
Luminance parameter is gradually become strong by weak, can realize becoming strong light wire loop from the light intensity in morning to noon
Border is simulated.
Concrete, described light carrying driving means includes light carrying aircraft, gyroscope and the
One locating module, step SA100 specifically includes:
Described first controls parameter includes flight coordinate, by the control unit lamp to mobile light unit
Light carrying aircraft input flight coordinate, makes described light carrying aircraft hold according to described flight coordinate
Carrying photography lamp to fly to precalculated position, wherein said flight coordinate includes longitude, dimension and height
Positional information；
First locating module can use global position system GPS, Beidou navigation Compass, Galileo
System Galileo, GLONASS Glonass etc..Wherein, in order to obtain height and position letter accurately
Breath, lamp light driving device can also include barometric leveling instrument etc., is installed on light carrying aircraft.
Light carrying aircraft uses unmanned plane, by control unit remote wireless controlled, first controls unmanned plane
Flight, to predetermined position, makes photography lamp be carried into precalculated position.It should be noted that a lot
Existing unmanned plane has had automatically along the function of user's predetermined paths flight, such as Shift system
Can allow DJI and 3D Robotics unmanned plane do so.Wherein, flight coordinate can be a numerical value,
Or a string numerical value, i.e. realize flying by path to precalculated position.
Described first controls parameter includes that orientation orientation information is (as in figure 2 it is shown, i.e. orientation orientation information
Including azimuth and the elevation angle of photography lamp throw light, azimuth, also known as azimuth, is flat
One of method of differential seat angle between object is measured on face.It is from certain point (point irradiated such as photography lamp)
North pointer direction line rise, according to clockwise to the horizontal sextant angle between target direction line), by controlling
Unit is to light carrying aircraft input orientation orientation information, in the orientation of described gyroscope towards judgement
Under, make described light carrying aircraft rotate in advance according to described orientation orientation information carrying photography lamp
Determine angle.After photography lamp is carried into precalculated position, then by input orientation orientation information, right
The light projecting direction of photography lamp is adjusted, thus goes to carry out the layout of light scene.Wherein,
Light carrying aircraft can be controlled by wireless remote control handle, it is possible to uses mobile phone, panel computer or meter
Calculation machine controls.
Concrete, photography lamp is securable on light carrying aircraft, described light carrying aircraft
According to the carrying photography lamp flight of described flight coordinate to precalculated position specifically, the carrying of described light flies
Row device judges to turn to flight according to the orientation of gyroscope, carries light carrying aircraft to predetermined angular.
Or being provided with rotatable platform on light carrying aircraft, photography lamp is fixed on rotatable platform, institute
State light carrying aircraft concrete to precalculated position according to the carrying photography lamp flight of described flight coordinate
For, described rotatable platform judges to turn to according to the orientation of gyroscope.Gyroscope is arranged on light carrying and flies
On row device or photography lamp.
In the middle of concrete enforcement, as it is shown on figure 3, rotatable platform can be rotary light end, described light
The bottom of carrying aircraft has rotary light end 1211, and described photography lamp 11 is arranged on described light
On round end 1211, described rotary light end 1211 includes carrying what aircraft matrix was connected with light
Connecting portion 1212, the first rotation section 1213 being rotationally connected with first axle with connecting portion 1212, institute
State photography lamp 11 to be rotationally connected with the second axis with the first rotation section 1213, first axle and second
Axis is vertical.First motor that rotates through between first rotation section 1213 and connecting portion 1212 drives,
Second motor that rotates through between photography lamp 11 and the first rotation section 1213 drives.Concrete,
First rotation section 1213 can use cylindrical outer casing, inner walls to be rotatably connected with connecting portion outer wall, shell
Internal wall has one week tooth bar, and first drives motor to be fixed on matrix, the driving gear of the first motor
Engage with one week tooth bar.Two side stands of the both sides of photography lamp 11 and the second rotation section 1213 are respectively
Being connected by rotary shaft, concrete, one end of rotary shaft and photography lamp 11 is fixed, rotary shaft another
The gear of one end engages with the driving gear of the second motor being fixed on the second rotation section.Concrete enforcement
In the middle of, there is multiple implementation, the present invention will not enumerate.
By control unit to light carrying aircraft input orientation orientation information, at described gyroscope
Orientation towards judge under, make described light carrying aircraft according to described orientation orientation information carrying photography
Light fixture rotates to predetermined angular, particularly as follows: by the light driving the first electric machine rotation regulation horizontal direction
Line crevice projection angle, by driving the pitch angle of the second electric machine rotation light regulating projection.Wherein, gyro
Instrument may be provided on light carrying aircraft, it is also possible to is arranged on photography lamp.
Described light carrying aircraft is made to regulate turning of described rotary light end according to described calibration command
Dynamic, make photography lamp carry aircraft rotational alignment angle relative to light.Wherein, rotary light end
Rotation can be driven by motor, and the gear that drives of motor engages with the gear of rotary light end, controls electricity
The positive and negative direction of illumination transferring regulation photography lamp of machine.
Concrete, mobile light unit can use the mobile light unit described in embodiment 11, can be detailed
See that embodiment 10 moves the specific descriptions of light unit for a pair.Described light carrying driving means includes number
Control mechanical arm, step SA100 specifically includes:
By control unit to numerical control mechanical arm input the first control parameter, make described numerical control machine mechanical arm root
Control parameter according to first and do flexible, rotation or elevating movement, thus carry the regulation of described photography lamp and change
Become light position and light projection angle.Wherein, institute during numerical control machine mechanical arm can use embodiment 11
The numerical control machine mechanical arm stated, it is possible to use the numerical control machine mechanical arm of existing form, photographer can be to numerical controlled machinery
Arm input numerical control adjustment programme, numerical control machine mechanical arm according to numerical control adjustment programme, do flexible, rotate or rise
Fall motion such that it is able to carry photography lamp and carry out position, angular adjustment, adjust the light of photography lamp
Line projecting direction, once input can complete the position adjustments of photography lamp.Concrete, to numerical control
Before robotic arm manipulation, different numerical control adjustment programmes can be prestored according to different scenes, by adjusting
With different numerical control adjustment programmes, complete different lamplight scenes and adjust.(Q is more than or equal to such as Q
2) individual scene, the corresponding adjustment programme of each scene, each adjustment programme is set to from numerical controlled machinery
Arm initial position adjusts the numerical control program to precalculated position, by inputting the adjustment programme corresponding with scene
(as flexible size, the anglec of rotation, adjustable height etc. instruct), makes the light projecting direction of photography lamp
Adjust to corresponding scene simulation direction.Such as, in input i-th, (i is less than or equal to more than or equal to 1
Q), after individual adjustment programme, numerical control machine mechanical arm performs to recover initial position, then performs i-th scene pair
The adjustment programme answered.
Concrete, described light carrying driving means includes remote control vehicle body, gyroscope and locating module,
Step S100 specifically includes:
Described first controls parameter includes travelling coordinate, by control unit to moving the distant of light unit
Control car body input travels coordinate, makes described remote control vehicle body carry photography lamp row according to described traveling coordinate
Sailing to precalculated position, wherein said traveling coordinate includes longitude, dimensional information；First locating module can
Use global position system GPS, Beidou navigation Compass, Galileo system Galileo, Ge Luo
Receive this Glonass etc..
Described first control parameter includes orientation orientation information, and (i.e. azimuth and the elevation angle, azimuth is again
Claim azimuth, be to measure one of method of differential seat angle between object in the plane.It is (to clap from certain point
Take the photograph region) north pointer direction line rise, according to clockwise to the horizontal sextant angle between target direction line,
Wherein the elevation angle of photography lamp can be adjustable or non-adjustable, as required depending on), single by controlling
Unit, to remote control vehicle body input orientation orientation information, makes described remote control vehicle body according to described orientation orientation information
Carrying photography lamp rotates to predetermined angular.Wherein, remote control vehicle body is provided with a rotation platform, takes the photograph
Shadow lamp installation is on rotation platform, and rotation platform rotates according to the regulation of orientation orientation information.It addition,
Being additionally provided with mechanism for regulating elevation angle on rotation platform, photography lamp is arranged on mechanism for regulating elevation angle；
In concrete enforcement, mechanism for regulating elevation angle includes support arm and the regulating arm being rotationally connected with support arm,
The connection rotated on support arm has electric pushrod cylinder body, and the motion bar of electric pushrod rotates with regulating arm
Connect；By controlling the flexible of electric pushrod, make regulating arm opposed support structure relatively rotate, thus adjust
Joint is positioned at the light crevice projection angle of photography lamp on regulating arm, can realize tiltable.
Embodiment two
As shown in Figure 4, a kind of photographic attachment that the present invention provides, can be applicable to above-described embodiment one,
Photographic attachment includes: mobile light unit 10, moves often organize photography luminaire including photography lamp 11, carrying
The light carrying driving means 12 of tool 11, described light carrying driving means 12 includes that ground drives dress
Put and/or aircraft；Image unit 20, including video camera 21.Photography lamp can use LED illumination
Lamp, electric filament lamp, fluorescent lamp etc..
A kind of photographic attachment that the present invention provides, can be entered photography lamp by light carrying driving means
The adjustment of line position, it is possible to simultaneously driven the photography lamp throw light on ground by surface drive,
And drive aerial photography lamp throw light by aircraft, it is not necessary to a dead lift, the tune of light
It is convenient to save, and can from ground, the most comprehensive carry out light projection, light projection enriches.
Preferably, above-mentioned photographic attachment, also include: control unit, control unit connects institute respectively
State photography lamp, described light carrying driving means and described video camera, for mobile light list
Light carrying driving means input the first control parameter order of unit, makes described light carry driving means root
The mobile photography lamp input to precalculated position, to mobile light unit of parameter order is controlled according to described first
Luminance parameter, makes described photography lamp according to described luminance parameter throw light, claps video camera input
Take the photograph instruction, make described video camera shoot.
A kind of photographic attachment that the embodiment of the present invention provides, photographer can be by control unit to portable lamp
The position of light unit is adjusted, make light carrying driving means carrying photography lamp to precalculated position,
Then regulate the brightness of photography lamp, finally shoot.Photographer only sends first to light unit
Controlling parameter, luminance parameter, can complete the setting of scene, shooting process is relatively simple.
Concrete photographic attachment structure, method refer to and see the description in embodiment one, the most not
Repeat again.
Concrete, described light carrying driving means includes light carrying aircraft 121, gyroscope (figure
Not shown in) and the first locating module (not shown), described first controls parameter includes flight
Coordinate, control unit inputs flight coordinate for the light of mobile light unit is carried aircraft 121,
Make described light carrying aircraft 121 according to carrying photography lamp 11 flight of described flight coordinate to predetermined
Position, wherein said flight coordinate includes longitude, dimension and height position information；
Described first controls parameter includes orientation orientation information, and control unit is additionally operable to fly light carrying
Row device 121 inputs orientation orientation information, the orientation of described gyroscope towards judge under, make described lamp
Light carrying aircraft 121 rotates to predetermined angle according to described orientation orientation information carrying photography lamp 11
Degree.
Concrete, described light carrying driving means 12 includes numerical control machine mechanical arm 122, and control unit is used
In numerical control mechanical arm 122 inputs the first control parameter, make described numerical control machine mechanical arm 122 according to first
Control parameter and do flexible, rotation or elevating movement, thus carry the regulation of described photography lamp 11 and change lamp
Optical position and light projection angle.
Concrete, described light carrying driving means 12 includes that remote control vehicle body 123, gyroscope are (in figure
Not shown) and locating module (not shown), described first controls parameter includes travelling coordinate,
Control unit, for remote control vehicle body 123 input of mobile light unit is travelled coordinate, makes described remote control
Car body 123 travels to precalculated position according to described traveling coordinate carrying photography lamp 11, wherein said row
Sail coordinate and include longitude, dimensional information；
Described first controls parameter includes orientation orientation information, and control unit is additionally operable to remote control vehicle body 123
Input orientation orientation information, makes described remote control vehicle body 123 according to the carrying photography of described orientation orientation information
Light fixture 11 rotates to predetermined angular.
Embodiment three
As it is shown in figure 5, a kind of method for imaging that the present invention provides, can be based on above-described embodiment one, institute
The method of stating comprises the steps:
SB100, by control unit, the light of flight light unit is carried aircraft input flight and sit
Mark, makes described flight light carrying aircraft fly in advance according to described flight coordinate carrying photography lamp
Location is put, and wherein said flight coordinate includes longitude, dimension and height position information；
SB200, by control unit to light carrying aircraft input orientation orientation information, make described lamp
Light carrying aircraft rotates to predetermined angular according to described orientation orientation information carrying photography lamp；
SB300, by be positioned at carrying carry-on face recognition device shooting area is carried out face inspection
Survey, obtain face and be positioned at the face location information of described shooting area；
Face identification system (that is, face recognition device), with face recognition technology as core, is one
Emerging biological identification technology, utilizes computer image processing technology to extract portrait characteristic point from video,
The principle utilizing biostatistics is analyzed founding mathematical models, can detect face light and shade, from
The dynamic dynamic exposure that adjusts compensates, and face tracking is detected, and automatically adjusts image zoom.Face capture refers to
In a frame of piece image or video flowing, detect portrait and portrait is separated from background, and
Automatically preserved.Portrait is followed the tracks of and is referred to utilize portrait capture technique, when the portrait specified is in shooting
Automatically it is tracked when moving in the range of head shooting.Obtain face and be positioned at described shooting area
The detailed process of face location information be: the video pictures at face recognition device points to shooting area
After, orient from the picture of video image and be positioned at the position of face in video image, according to face position
Position in video image, judges that face is positioned at the position of shooting area.Such as, predetermined
Information be set face position at the center of video image, when obtain face location deviate from video
The center of image, calculates the distance measurements of deviation according to the distance calculating deviation.
SB400, when described face location information inconsistent with predetermined information, control unit is according to described
Face location information (the offset distance amount that i.e. face location information differs with predetermined information) is to described
Light carrying aircraft sends calibration command, makes described light carrying aircraft according to described calibration command
Regulation photography lamp rotational alignment angle.
In concrete shooting, every time in the middle of shooting, light carrying aircraft can be by air-flow, signal
The impact of the uncertain factor such as interference, personnel's erect-position to be photographed, causes the throw light of photography lamp and treats
Camera crews deviates, the face location information obtained according to face recognition device, can be to photography lamp
Position is adjusted.Such as, the illumination direction of face recognition device identification direction and photography lamp is in the same direction
Be arranged on light carrying aircraft on, when face recognition device detects that face is positioned at video image
When side, light carrying aircraft can be controlled and carry out angle adjustment, be positioned at video image to face
Side, i.e. photography lamp also can angle adjustment therewith, by light front projection to personnel to be photographed.Its
In, described predetermined information includes face and is positioned at the position information of shooting picture, specifically may be used
Be positioned at middle part, side, top, bottom etc., as required depending on.
The method for imaging that the embodiment of the present invention provides, can obtain face by face recognition device and be positioned at bat
Take the photograph the positional information in region, then by positional information, light is carried the regulation of aircraft, makes photography
The light projecting direction of light fixture is followed the positional information of face and is adjusted.
Or, described method comprises the steps:
SB100, by control unit, the light of flight light unit is carried aircraft input flight and sit
Mark, makes described flight light carrying aircraft fly in advance according to described flight coordinate carrying photography lamp
Location is put, and wherein said flight coordinate includes longitude, dimension and height position information；
SB200, by control unit to light carrying aircraft input orientation orientation information, make described lamp
Light carrying aircraft rotates to predetermined angular according to described orientation orientation information carrying photography lamp；
SB300, by be positioned at carrying carry-on face recognition device shooting area is carried out face inspection
Survey, obtain face and be positioned at the face location information of described shooting area；
SB400, when described face location information inconsistent with predetermined information, control unit is according to described
Face location information sends calibration command to described light carrying aircraft, makes the carrying flight of described light
Device regulates photography lamp rotational alignment angle according to described calibration command；
SB500, by be positioned at carrying carry-on face recognition device shooting area is carried out face
Movement position carry out detecting and tracking, obtain the face movable information at described shooting area；
In the middle of long-time shooting, personnel may constantly shift one's position；Or in video capture,
Personnel are motions；In order to the light of photography lamp is moved with the motion of personnel to be captured,
Can first get the face movable information at shooting area, concrete movable information determination methods, is root
Determine in the change in location value (calculating the distance measurements of deviation) of shooting area according to face.
SB600, control unit send tracking according to described movable information to described light carrying aircraft and refer to
Order, described light carrying aircraft regulates photography lamp light projector direction with face according to described trace command
Move and turn to.Concrete, make face remain in the precalculated position of shooting picture.
In the image pickup method that the present invention provides, when personnel to be captured move in shooting area, photography luminaire
Tool light projecting direction also can change with personnel's facial positions and change, and can realize the tracking to personnel and shine
Penetrate.
Concrete, the bottom of described light carrying aircraft has rotary light end, described photography lamp
It is arranged on described rotary light end, makes described light carrying aircraft regulate according to described calibration command
Photography lamp rotational alignment angle, particularly as follows:
Described light carrying aircraft is made to regulate turning of described rotary light end according to described calibration command
Dynamic, make photography lamp carry aircraft rotational alignment angle relative to light.Wherein, rotary light end
Rotation can be driven by motor, and the gear that drives of motor engages with the gear of rotary light end, controls electricity
The positive and negative direction of illumination transferring regulation photography lamp of machine.Wherein, described face recognition device is arranged on institute
State on rotary light end, with described photography lamp synchronous axial system.Concrete, rotary light end can use
Rotary light end described in above-described embodiment one, can be found in foregoing description, and this section repeats no more.
Embodiment four
As shown in Figure 6, a kind of photographic attachment that the present invention provides, can be applicable to above-described embodiment three,
Photographic attachment includes: flight light unit, including photography lamp 11, carrying often group photography lamp flight
Light carrying aircraft 121 and be arranged on described light carrying aircraft 121 on facial recognition
Device 13, described face recognition device 13, for shooting area carries out Face datection, obtains face position
Face location information in described shooting area；Image unit (not shown), including video camera.
Wherein, face recognition device towards with the light projecting direction of photography lamp can identical can also be in advance
Fixed angle.
A kind of photographic attachment that the present invention provides, adds face recognition device in flight light unit,
At flying unit in-flight, the position at the face place of the shooting area that can be obtained by face recognition device
Put.
Further, described photographic attachment also includes:
Control unit, connect respectively described photography lamp, described light carrying aircraft and described in take the photograph
Camera, described control unit inputs flight coordinate for the light of flight light unit is carried aircraft,
Described flight light carrying aircraft is made to fly to pre-determined bit according to described flight coordinate carrying photography lamp
Putting, wherein said flight coordinate includes longitude, dimension and height position information；Light carrying is flown
Row device input orientation orientation information, makes described light carrying aircraft hold according to described orientation orientation information
Carry photography lamp to rotate to predetermined angular；Described control unit is additionally operable to by being positioned on carrying aircraft
Face recognition device shooting area is carried out Face datection, obtain face and be positioned at described shooting area
Face location information；According to described face location information, described light carrying aircraft is sent calibration to refer to
Order, makes described light carrying aircraft regulate photography lamp rotational alignment angle according to described calibration command.
In the photographic attachment that the present invention provides, the face recognition device position to shooting area face can be passed through
Put and be identified judging, it is thus achieved that face location information, when described face location information and predetermined information
Inconsistent, control unit sends calibration according to described face location information to described light carrying aircraft
Instruction, makes described light carrying aircraft regulate photography lamp rotational alignment angle according to described calibration command
Degree, is adjusted such that it is able to be positioned at the position of shooting area according to personnel, makes light calibrate towards treating
Camera crews.
The concrete structure of photographic attachment, image pickup method can use and see embodiment three, the most superfluous
State.
Concrete, described control unit is additionally operable to by being positioned at the carry-on face recognition device of carrying
The movement position that shooting area carries out face carries out detecting and tracking, obtains face at described shooting area
Movable information；
According to described movable information, described light carrying aircraft is sent trace command, make described light
Carrying aircraft turns to face motion according to described trace command regulation photography lamp light projector direction.
Concrete, the bottom of described light carrying aircraft has rotary light end, described photography lamp
Being arranged on described rotary light end, described rotary light end is used for rotating according to described calibration command,
Photography lamp is made to carry aircraft rotational alignment angle relative to light.
Embodiment five
As it is shown in fig. 7, the invention provides a kind of method for imaging, can be based on above-described embodiment one, reality
Execute example three, wherein, the light carrying aircraft in embodiment one, embodiment three be two or two with
On, described method comprises the steps:
SC100, by control unit, M light carrying aircraft of flight light unit is inputted respectively
Corresponding flight coordinate, makes described M flight light carrying aircraft hold according to corresponding flight coordinate
Carry photography lamp fly respectively to precalculated position, wherein said flight coordinate include longitude, dimension and
Height position information, M is the positive integer more than or equal to 2, and M light carrying aircraft includes the first lamp
Light carrying aircraft and the second light carrying aircraft, the first light carrying aircraft is provided with range finding
Instrument；
Concrete, diastimeter can use laser range finder or ultrasonic range finder etc..Stadia surveying
Data can be sent to control unit by wireless communication apparatus.It addition, control unit is also by wireless
The measurement of communication device remote control ultrasonic range finder is opened, is closed.Wireless communication apparatus can use
WIFI, infrared etc..Diastimeter is securable on light carrying aircraft, flies by adjusting light carrying
Being adjusted towards to the range finding direction of diastimeter of row device.Or, it is possible to by tumbler even
It is connected on light carrying aircraft, by tumbler regulation diastimeter range finding direction.Tumbler
Concrete structure can use and see the concrete structure of diastimeter round end in embodiment six, the most superfluous
State.
SC200, the flight coordinate carrying aircraft according to the second light and the first light carrying aircraft
Flight coordinate calculates the second light carrying aircraft and is positioned at the relative bearing of the first light carrying aircraft
Orientation information (i.e. relative angular orientation, the relative elevation angle), is flown the first light carrying by control unit
Row device inputs described relative bearing orientation information, makes described first light carrying aircraft according to described phase
Orientation information carrying diastimeter in orientation is rotated to predetermined angular, by described first light carrying aircraft
On the detection light of diastimeter point to the second light carrying aircraft described in described second；
Such as, first light carrying aircraft location parameter (longitude X1, dimension Y1, highly Z1),
The location parameter (longitude X2, dimension Y2, highly Z2) of the second light carrying aircraft, then ability
Field technique personnel can calculate the second light carrying aircraft and carry aircraft institute relative to the first light
The relative angular orientation α 1 at place, i.e. from the north pointer direction line that the second light carrying aircraft is reference point,
According to arriving the horizontal sextant angle between target direction line, relative angle of elevation alpha 2, i.e. relative bearing clockwise
Orientation information.
SC300, to control unit input shooting instruction after, detect the first lamp by described diastimeter
Detecting distance between light carrying aircraft and the second light carrying aircraft, when described detecting distance exists
In threshold range, control unit performs video camera input shooting instruction, and described video camera shoots.
Flight light unit, in the middle of flight, is easily subject to extraneous factor (as wind speed, framing signal are done
Disturb), the position deviation causing photography lamp is relatively big, and serious reduces shooting quality.Threshold value can root
Calculate according to the flight coordinate of the first light carrying aircraft and the flight coordinate of the second light carrying aircraft
And draw, concrete numerical value can fluctuate certain value, constitutes a value range.
The method for imaging provided in the embodiment of the present invention, installs on aircraft by carrying at the first light
Diastimeter, the inspection between monitoring the first light carrying aircraft and second light carrying aircraft
Find range from, in shooting, to control unit input shooting instruction after, by described detecting distance
Contrast, when described detecting distance is in threshold range, and the i.e. first light holds with the threshold value of storage
Carry the relative distance of aircraft and the second light carrying aircraft without departing from after in threshold range, control
Unit performs video camera input shooting instruction, and described video camera shoots.
Concrete, control unit performs video camera input shooting instruction, and described video camera shoots,
The most also include:
By being positioned at the second distance detector in the first precalculated position, ground to the first light carrying aircraft
Distance detect, obtain first light carrying aircraft and the first precalculated position between first inspection
Find range from.
After control unit input shooting instruction, detect the first light by described diastimeter and carry
Detecting distance between aircraft and the second light carrying aircraft, when described detecting distance is at threshold value model
In enclosing, control unit performs video camera input shooting instruction, and described video camera shoots, specifically
For:
After control unit input shooting instruction, detect the first light by described diastimeter and carry
Detecting distance between aircraft and the second light carrying aircraft, when described detecting distance is at threshold value model
In enclosing, and the first detecting distance value is in the range of first threshold, and control unit performs to input video camera
Shooting instruction, described video camera shoots.
First threshold can carry flying of aircraft by the position coordinates in the first precalculated position and the first light
Row-coordinate calculates, and concrete numerical value can fluctuate certain value, constitutes a value range.
Embodiment six
As shown in Figure 8, a kind of photographic attachment that the present invention provides, can be applicable to embodiment five, described
Photographic attachment includes: flight light unit, flies including organizing photography lamp, carrying often group photography lamp more
M light carrying aircraft of row, M is the positive integer more than or equal to 2, M light carrying aircraft
Including the first light carrying aircraft 121a and the second light carrying aircraft 121b, the first light holds
Carry aircraft 121a and be provided with diastimeter 1216；Described diastimeter 1216 holds for measuring the first light
Carry the distance between aircraft 121a and the second light carrying aircraft 121b.Image unit 20, bag
Include video camera 21.
In the photographic attachment that the present invention provides, carry at the first light and be additionally arranged diastimeter on aircraft,
First light carrying aircraft, the second light carrying aircraft are being flown respectively to precalculated position,
Can by stadia surveying the first light carrying aircraft and the second light carrying aircraft between away from
From.
Concrete, the photographic attachment described in above-described embodiment, also include:
Control unit, connects described photography lamp, described light carrying aircraft, described range finding respectively
Instrument and described video camera, described control unit is for sitting according to the flight of the second light carrying aircraft
The flight coordinate of mark and the first light carrying aircraft calculates the second light carrying aircraft and is positioned at first
The relative bearing orientation information of light carrying aircraft, by control unit to the first light carrying flight
Device input described relative bearing orientation information, make described first light carrying aircraft according to described relatively
Orientation orientation information carrying diastimeter rotates to predetermined angular, by described first light carrying aircraft
The detection light of diastimeter point to the second light carrying aircraft described in described second；Described control is single
Unit is additionally operable to, after control unit input shooting instruction, detect the first light by described diastimeter
Detecting distance between carrying aircraft and the second light carrying aircraft；Described control unit is additionally operable to
Described detecting distance value is contrasted with threshold value, when described detecting distance is in threshold range, controls
Unit performs, to video camera input shooting instruction, to make described video camera shoot.The tool of photographic attachment
Body structure, method can use and see above-described embodiment five, and here is omitted.
Further, carry at the first light and be also equipped with wireless data transfer module on aircraft, with
The range finding numerical value output circuit of diastimeter connects, for the range data of stadia surveying being wirelessly transferred
To control unit.
On aircraft, indicating module, judgment means also can be installed it addition, carry at the first light, sentence
Disconnected device internal memory contains threshold value, it is judged that device is connected with diastimeter, indicating module respectively.Judgment means
Detecting distance according to obtaining from diastimeter contrasts with threshold value, when detecting distance is in threshold range,
Control indicating module and be in the first state；When detecting distance is beyond threshold range, control at indicating module
In the second state.Indicating module can be traffic lights, or audible alarm etc..As the first state opens red light,
Second state opens green light.
As it is shown in figure 9, concrete, described diastimeter is fixedly installed in the first light carrying aircraft
On diastimeter round end, bottom or the top of described light carrying aircraft have diastimeter round end,
Described diastimeter is arranged on described diastimeter round end, and described diastimeter round end includes holding with light
Carry the connecting portion 1214 that aircraft matrix connects, with connecting portion 1214 be rotationally connected with the 3rd axis the
Two rotation sections 1215, described diastimeter 1216 is rotationally connected with four axistyle with the second rotation section 1215,
3rd axis is vertical with four axistyle.The 3rd motor that rotates through between matrix and connecting portion 1214 drives
Dynamic, the 4th motor that rotates through between diastimeter and the second rotation section drives.Concrete, second turn
Dynamic portion can use cylindrical outer casing, and inner walls has one week tooth bar, and the 3rd drives motor to be fixed on matrix
On, the driving gear of the 3rd motor and tooth bar engagement in a week.The both sides of diastimeter and the second rotation section
Two side stands are connected by rotary shaft respectively, and one end of rotary shaft is fixed with diastimeter, rotary shaft another
The gear of one end engages with the driving gear of the 4th motor being fixed on the second rotation section.
In the range finding direction of diastimeter is regulated, can be manual according to visual determination, light is held
Carry the orientation information of aircraft input diastimeter, make diastimeter towards the second light carrying aircraft, lead to
The angle [alpha] 1 of the 3rd electric machine rotation regulation horizontal direction of overdriving, by driving the 4th electric machine rotation to regulate
Pitch angle α 2.
Or, carry aircraft according to the first light carrying flight coordinate of aircraft, the second light
Flight coordinate calculates, and the second light carrying aircraft is relative relative to the first light carrying aircraft
Position relationship, and calculate the 3rd motor according to relative position relation, the control of the 4th motor refers to
Order, makes described diastimeter round end according to control instruction, drives described diastimeter to hold towards the second light
Carry aircraft.
Concrete, the fuselage outer side of described second light carrying aircraft is covered with the reflecting wall of cylindrical shape,
For reflecting the detection light of diastimeter on described first light carrying aircraft.Can be easy to diastimeter pair
The accurate distance of the second light carrying aircraft measures (owing to aircraft outline is uneven, no
Easily measure accurate distance).
Embodiment seven
As shown in Figure 10, a kind of method for imaging that the present invention provides, can be based on above-described embodiment one, reality
Executing example three, embodiment five, described method comprises the steps:
SD100, according to first shooting environment scene, the position of flight light unit, image unit is entered
Line position simulation sets, to simulate pickup light thread environment, to flight light unit and image unit two
Person's relative position relation data carry out prestoring, and (relative position relation is to simulate above-mentioned simulation shooting environmental
Location parameter), wherein, described relative position relation data include that described light unit is single with described shooting
Relative longitude between unit, dimension, highly, towards (the light-illuminating direction of light unit and shooting
Direction relations between video camera photography direction in unit；I.e. relative to azimuth and the relative elevation angle,
Azimuth also known as azimuth, is to measure one of method of differential seat angle between object in the plane.It is
From the north pointer direction line that certain is put, according to arriving the horizontal sextant angle between target direction line clockwise), root
The light intensity of border photographed scene sets the luminance parameter of light unit factually, and to described luminance parameter
Prestore；
Such as, in simulation the first shooting environment scene, the location parameter of light unit (longitude X0,
Dimension Y0, highly Z0, elevation angle A0 (photography lamp irradiates), deflection B0 (photography lamp irradiation
)), location parameter (longitude X1, dimension Y1, highly Z1, elevation angle A1, the direction of image unit
Angle B1), then relative position relation data are: (relative longitude X0-X1, relative dimensions Y0-Y1,
Relative altitude Z0-Z1, relative elevation angle A0-A1, relative angular orientation B0-B1), wherein the facing upward of image unit
Angle A1 is generally zero degree；Concrete, shooting environmental scene can have multiple, as simulation waterfall environment,
Simulation space environment, simulation cave dwelling environment, simulation rainy day environment, simulating forest environment etc., every kind of mould
Intend the environment set simulated as required of ambient parameter and control parameter (the i.e. flight lamp of row light unit
Both light unit and image unit relative position relation data, different photographed scenes have different phases
To position relation data, simulate the light that different directions irradiates, and setting different lamps makes a reservation for bright
Degree parameter, such that it is able to simulated environment light inject the light parameter such as angle, brightness).
Relative position relation data, luminance parameter that SD200, basis prestore carry out the first photographed scene
Simulation shooting.
In shooting, after selected for the position of image unit, can by relative position relation data, take the photograph
As the position data of unit calculates the flight position of light unit, make flight light by flight position
Unit flight can simulate the parameter such as light angle, brightness.
The image pickup method that the present invention provides, first by image unit and flight lamp in the first shooting environment scene
The simulation of light unit prestores relative to position, in shooting, and can be according to the relative position relation number prestored
The simulation shooting of the first photographed scene is carried out according to, luminance parameter.The method of simulated scenario is the most convenient.
Concrete, carry out the first photographed scene according to the relative position relation data prestored, luminance parameter
Simulation shooting, specifically include following steps:
The first co-ordinate position information residing for described image unit is obtained by the second locating module, according to
Longitude in described relative position relation, dimension, highly, orientation information and described first coordinate bit confidence
Breath superposition calculation goes out described light carrying the flight coordinate of aircraft, orientation orientation information；Wherein,
One co-ordinate position information includes the longitude at described image unit place, dimensional information, elevation information (can
For height above sea level), the shooting orientation information of video camera.After arranging the position of image unit, obtain
To the position (longitude X2, dimension Y2, highly Z2, elevation angle A2, deflection B2) of image unit, meter
The light unit position calculated is: (longitude X2+X0-X1, dimension Y2+Y0-Y1, highly Z2+
Z0-Z1, elevation angle A2+A0-A1, deflection B2+B0-B1).
By control unit, the light of flight light unit is carried aircraft input flight coordinate, make institute
State flight light carrying aircraft to fly to precalculated position according to described flight coordinate carrying photography lamp,
Wherein said flight coordinate includes longitude, dimension and height position information；Flight coordinate is (warp
Degree X2+X0-X1, dimension Y2+Y0-Y1, highly Z2+Z0-Z1).
By control unit to light carrying aircraft input orientation orientation information, described light is made to carry
Aircraft rotates to predetermined angular according to described orientation orientation information carrying photography lamp；Orientation is towards letter
Breath is (elevation angle A2+A0-A1, deflection B2+B0-B1).
By control unit, the photography lamp of flight light unit is inputted luminance parameter, make described photography
Light fixture is according to described luminance parameter throw light；
By control unit to video camera input shooting instruction, described video camera is made to shoot.
Embodiment eight
A kind of photographic attachment that the present invention provides, can be applicable to embodiment seven, and described photographic attachment includes:
Flight light unit, including the light carrying aircraft of photography lamp, carrying often group photography lamp flight,
It is provided with gyroscope and the first locating module on described light carrying aircraft；Image unit, including
Video camera；Memory element, for according to the first shooting environment scene, to flight light unit, taking the photograph
Set, during to simulate pickup light thread environment, to flight light list as the position of unit carries out position simulation
Both unit and image unit relative position relation data carry out prestoring, and (relative position relation is in simulation
State the location parameter of simulation shooting environmental), wherein, described relative position relation data include described light
Relative longitude between unit with described image unit, dimension, highly, orientation information (light unit
Irradiate image unit towards), set the brightness of light unit according to the light intensity of actual photographed scene
Parameter, and described luminance parameter is prestored；Control unit, connect respectively described photography lamp,
Described light carrying aircraft, described video camera and described memory element, described control unit is used for
The first shooting field is carried out according to the relative position relation data prestored in described memory element, luminance parameter
The simulation shooting of scape.
Concrete structure, method can use and see above-described embodiment seven, and here is omitted.
Concrete, described control unit is for obtaining residing for described image unit by the second locating module
The first co-ordinate position information, according to longitude in described relative position relation, dimension, highly, towards
Information and described first co-ordinate position information superposition calculation go out the flight of described light carrying aircraft and sit
Mark, orientation orientation information；The first of video camera is obtained in described image unit towards letter by gyroscope
Breath, goes out institute according to orientation information in described relative position relation and described first orientation information superposition calculation
State the orientation orientation information of light carrying aircraft；
By control unit, the light of flight light unit is carried aircraft input flight coordinate, make institute
State flight light carrying aircraft to fly to precalculated position according to described flight coordinate carrying photography lamp,
Wherein said flight coordinate includes longitude, dimension and height position information；
By control unit to light carrying aircraft input orientation orientation information, described light is made to carry
Aircraft rotates to predetermined angular according to described orientation orientation information carrying photography lamp；
By control unit, the photography lamp of flight light unit is inputted luminance parameter, make described photography
Light fixture is according to described luminance parameter throw light；
By control unit to video camera input shooting instruction, described video camera is made to shoot.
Embodiment nine
As shown in figure 11, a kind of video generation method that the present invention provides, for shooting body shooting system
Make to generate and there is the default effect video setting shooting time section, clap described in described default effect video
Taking the photograph body to move along movement locus to first direction, described method includes:
SE100, by light from control unit to described mobile light unit carry driving means send lamp
Light scene move, makes the photography lamp of described light unit move to setting position, to simulate
State the light projection scene in default effect video；Described light carrying driving means includes that ground drives
Device and/or aircraft；Wherein, photography lamp is arranged in described light carrying driving means.
SE200, controlled by control unit described mobile light unit light carrying driving means, institute
State the shooting carrying driving means and described of the photography lamp of mobile light unit, described image unit
The video camera of image unit runs in same time period inter-sync,
Wherein, control parameter by first and light carrying driving means is controlled, described first control
Parameter processed controls light carrying driving means and drives for elapsing in time in described setting shooting time section
The parameter that dynamic photography lamp moves；Described photography lamp moving parameter is reverse along described movement locus
Track and the moving parameter with first direction reverse movement；
Being controlled photography lamp by lighting programmers, described lighting programmers is to set shooting described
Elapse in time in time period and control photography lamp switch, the parameter of brightness；
Control parameter by second shooting carrying driving means is controlled, make video camera to described bat
Take the photograph body and carry out video record；Described second control parameter be in described setting shooting time section in time
Elapse and control the parameter that shooting carrying driving means actuated camera moves；Concrete, pure color can be adopted
Background under record, i.e. single color, such as white background, blue background etc..
It should be noted that the movement locus on described shooting body edge can include linear motion, curvilinear motion,
Rotation, rolling etc..In existing shooting, shooting body needs to make the action in default effect video,
As gun, curvilinear motion, rotate, rolling etc.；In the video record of the present invention, clap
Taking the photograph body, such as performer, it is not necessary to carry out making action according to movement locus, amplitude of maybe can making is less
Action, it is possible to complete to preset the shooting effect in effect video.In the present invention, by light environment phase
To shooting body should according to movement locus antikinesis, will pickup light field of line scape reverse movement, make
Obtain performer's (shooting body) and need not carry out again action, or the action made is less.Wherein with rotation
Transferring example to, in existing specially good effect rotary taking, ambient light scene is fixing, performer's (shooting
Body) need to carry out own rotation before video camera.And in the video record of the present invention, mobile light
Unit is the direction antikinesis needing rotation according to performer, it is possible to meet ambient light, bat simultaneously
Take the photograph the antikinesis of angle, then performer can complete in pre-setting video drilling without carrying out own rotation
The recording of member.
SE300, the shooting body image parameter in the described video pictures recorded is extracted, and will carry
The background video that the video taken inversely shoots with reverse track and the first direction along described movement locus enters
Row is synthetically generated described default effect video.
After carrying out video record, the background owing to recording does not follows light environment motion, can pass through
The background video prerecorded has synthesized the making in later stage, ultimately generates default effect video.Its
In, background video is reusable after recording.
The video generation method that the present invention provides, can be by mobile light unit, the position of video camera
Controlling changing, by light environment scene, shooting angle position inversely carrying out according to performer's movement locus
Setting, performer can can complete video clap without making specially good effect action in specific shooting area
Take the photograph, such that it is able to be easy to the specially good effect shooting of performer, reduce the difficulity of the movment of performer.
Wherein, step SE100, step SE200 controls described light carrying driving means, described in take the photograph
The method that the video camera of shadow light fixture, described shooting carrying driving means and image unit runs, specifically
Can be based on above-described embodiment one, embodiment three, embodiment five, embodiment seven etc., described light carries
Driving means includes light carrying aircraft, gyroscope and the first locating module；Or described light holds
Load driving device includes numerical control machine mechanical arm；Or described light carrying driving means includes remote control vehicle body, top
Spiral shell instrument and locating module；Specifically repeat no more.
In the middle of specifically implement, same, described shooting carrying driving means can use aircraft,
Numerical control machine mechanical arm, telecar etc..Video camera is arranged on aircraft, numerical control machine mechanical arm, telecar.
Concrete, described video camera moving parameter is the reverse track along described movement locus and first party
To the moving parameter of reverse movement.Concrete, described video camera and described light carrying driving means
Translational speed can be identical, makes video camera position relative with photography lamp keep constant.It addition, it is described
The running orbit of video camera moving parameter also can make described video camera position relative with photography lamp occur
Change, video camera at lamplight scene from movement.
Further, the shooting body image parameter in the described video pictures recorded is extracted, and
The background that the video of extraction and reverse track and the first direction along described movement locus inversely shoot is regarded
Frequency carries out being synthetically generated described default effect video, particularly as follows:
The back of the body that the video of extraction is inversely shot with first direction with the reverse track along described movement locus
After scape video synthesizes, it is adjusted generating to the part or all of broadcasting speed in the video face of synthesis
Described default effect video.In one section of video of shooting, a portion video can be done at deceleration
Reason, such that it is able to effect more intuitively, such as, carries out deceleration process to pictures such as the water droplets dropped.
Embodiment ten
A kind of video capture device that the present invention provides, can be applicable to above-described embodiment nine, described video
Filming apparatus includes: mobile light unit, moves often organize photography luminaire including multiple photography lamps, carrying
The light carrying driving means of tool；Described light carrying driving means includes surface drive and/or flies
Row device；Image unit, including video camera, the shooting carrying driving means of the mobile described video camera of carrying；
Control unit, is controlled light carrying driving means for controlling parameter by first, described the
One controls parameter controls light carrying driving dress for elapsing in time in described setting shooting time section
Put the parameter driving photography lamp to move；Described photography lamp moving parameter is along described movement locus
Reverse track and the moving parameter of first direction reverse movement；By lighting programmers, photography lamp is carried out
Controlling, described lighting programmers controls photography luminaire for elapsing in time in described setting shooting time section
Tool switch, the parameter of brightness；Control parameter by second shooting carrying driving means is controlled,
Make video camera that described shooting body is carried out video record；Described second control parameter is to clap described setting
Elapse in time in taking the photograph the time period and control the parameter that shooting carrying driving means actuated camera moves；
Described control unit is additionally operable to put forward the shooting body image parameter in the described video pictures recorded
Take, and the video of extraction and reverse track and the first direction along described movement locus are inversely shot
Background video carries out being synthetically generated described default effect video.
A kind of video capture device that the present invention provides, performer can make in original place in specific shooting area
Go out action, can be by the mobile change of light cell position, the position change of video camera, regulation is to drilling
The angle of member's light irradiation and shooting angle, such that it is able to be easy to the shooting of performer, original place just can be real
The abundantest lamp effect video.
In the middle of concrete enforcement, described shooting carrying driving means includes shooting carrying aircraft, top
Spiral shell instrument and camera positioning module.Described second controls parameter includes flight coordinate, and control unit is used for
To shooting carrying aircraft input flight coordinate, described shooting carrying aircraft is made to sit according to described flight
Mark carrying video camera flies to precalculated position, and wherein said flight coordinate includes longitude, dimension and height
Degree positional information；Described second controls parameter includes orientation orientation information, and control unit is additionally operable to taking the photograph
As carrying aircraft input orientation orientation information, in the orientation of described gyroscope towards under judging, make institute
State shooting carrying aircraft to rotate to predetermined angular according to described orientation orientation information carrying video camera.
Or, described shooting carrying driving means includes numerical control machine mechanical arm, and video camera is arranged on numerical control machine
In mechanical arm；Control unit is for numerical control mechanical arm input the second control parameter, making described numerical controlled machinery
Arm controls parameter according to second and does flexible, rotation or elevating movement, thus carries the regulation of described video camera
Change camera position and camera angle.The structure of numerical control machine mechanical arm specifically can be found in and uses embodiment
Numerical control machine mechanical arm described in 11, is to replace with photography luminaire with difference in embodiment 11
Video camera.
Or, described shooting carrying driving means includes remote control vehicle body, gyroscope and camera positioning mould
Block.Described second controls parameter includes travelling coordinate, and control unit is for travelling remote control vehicle body input
Coordinate, makes described remote control vehicle body travel to precalculated position according to described traveling coordinate carrying video camera, its
Described in travel coordinate include longitude, dimensional information；Described second controls parameter includes that orientation is towards letter
Breath, control unit is additionally operable to remote control vehicle body input orientation orientation information, make described remote control vehicle body according to
Described orientation orientation information carrying video camera rotates to predetermined angular.
Embodiment 11
As shown in figure 12, the invention provides the mobile light unit of a kind of photographic attachment, can be applicable to
Above-described embodiment one, embodiment two, embodiment nine, embodiment ten etc., mobile light unit includes:
Photography luminaire 11；Numerical control machine mechanical arm 122, described numerical control machine mechanical arm 122 includes pedestal 1221, is arranged at
The movable joint 1222 of described pedestal 1221 and drive the drive mechanism (figure of described movable joint campaign
Not shown in)；Described photography luminaire 11 is arranged in described movable joint 1222, described photography luminaire 11
The described movable joint of regulation 1222 according to described drive mechanism bend or rotate make light launching position,
The change of light crevice projection angle.
A kind of mobile light unit that the embodiment of the present invention provides, is installed on numerical control machine mechanical arm by photography luminaire
Movable joint on, can be by numerical control mechanical arm be entered numerical control operating, thus it is curved to regulate movable joint
Folding, the angle rotated, make the light launching position of photography luminaire, light crevice projection angle be adjusted, light
Line regulation is more convenient.
Concrete, described pedestal includes base and is positioned at the rotatable platform on institute's base；Described activity
Joint is arranged on described rotatable platform.Scalable rotatable platform changes the light projecting direction of photography luminaire.
Concrete, it is additionally provided with lowering or hoisting gear between described base and described rotatable platform.Can be by adjusting
Joint lowering or hoisting gear changes the light launching position of photography luminaire.
Concrete, described movable joint includes three grades of joints, and first order joint is passed through with joint, the second level
First axis of rotation connects, second joint and the 3rd joint by the second axis of rotation connection, described in drive
Motivation structure includes driving first order joint and joint, the second level the first motor in relative rotation, drives second
Level joint and third level joint the second motor in relative rotation.By regulating the rotation in three grades of joints, energy
Enough regulate the light crevice projection angle of photography luminaire.Concrete, the first rotating shaft can use parallel with the second rotating shaft
Setting.Wherein, motor can be driven three grades of articulation by the structure that gear engages, e.g.,
It is fixed with on first order joint on the first gear, second joint and is fixed with second engaged with the first gear
Gear, the first motor can engage with the first gear or the second gear, and the second level is fixed with the 3rd on joint
Being fixed with, on gear, the 3rd joint, the 4th gear engaged with the 3rd gear, the second motor can be with the 3rd
Gear or the engagement of the 4th gear, concrete structure can use this area routine techniques, the most specifically
Bright.
Concrete, described movable joint has a plurality of, and described photography luminaire has many groups, often organizes photography luminaire
It is separately positioned in a plurality of movable joint in the movable joint of correspondence.Just can be carried out many by once mounting
The irradiation of individual photography luminaire.
Concrete, described pedestal has the bolt hole for being fixed on wall.In installation, portable lamp
Light unit is mountable on wall, including vertical wall, the wall of inclination and wall top.
Concrete, described numerical control machine mechanical arm outer cup has transparent housing, described photography luminaire to be positioned at described
In bright outer housing.Owing to the object of shooting often has child, outside numerical control machine mechanical arm, add transparent housing
Safety can be increased.Transparent housing can use safety glass outer housing, and wherein outer housing can use circle or square
Shape etc..
Embodiment 12
As shown in figure 13, the invention provides a kind of photographic attachment, including flight light unit, including
Photography lamp 11, carrying often group photography lamp 11 flight light carrying aircraft 121, gyroscope,
First locating module and remote control equipment；Image unit 20, including video camera 21；Be installed on body of wall or
The light locating and detecting device 30 of support body, the light detection circuit of described light locating and detecting device 30 is worn
Cross the predetermined flight position of described light carrying aircraft 121.Location instruction decision maker is (in figure not
Illustrate), it is connected with described light locating and detecting device, according to the light of described light locating and detecting device
Instruction is made in detection.
A kind of photographic attachment that the embodiment of the present invention provides, can control light carrying by remote control equipment and fly
The flight of row device is to predetermined flight position, and carries photography lamp and carry out light projection at predetermined flight position,
When judging whether light carrying aircraft flies to predetermined flight position, can be judged by location instruction
Device determines.
Concrete, described light locating and detecting device 30 includes first group of light locating and detecting device 31
And second group of light locating and detecting device 32；The first of described first group of light locating and detecting device 31
Second light of light detection circuit and described second group of light locating and detecting device detects circuit and mutually hands over
Fork and described precalculated position.Using the mode intersected can navigate to a little, the mode of location is more accurate.
Concrete, described light locating and detecting device 30 includes the light emitters being arranged on primary importance
30a and be arranged on the light receiver 30b of the second position, described light emitters launches the light of 30a
Line points to described light receiver 30b.After light carrying aircraft flight to predetermined flight position, the
The light receiver of two positions does not receives the detection light that the light emitters of primary importance is launched, that
, location instruction decision maker judges that light carrying aircraft flight has arrived predetermined flight position.If
The light receiver of the second position receives the detection light that the light emitters of primary importance is launched, that
, location instruction decision maker judges that light carrying aircraft is departing from predetermined flight position.
Concrete, described light emitters is positioned at above described light receiver, described light emitters
The light launched from top to bottom points to described light receiver.In light carrying aircraft flight to predetermined
After flight position, the detection light launched from light emitters can project light carrying aircraft,
So that detection light will not project in the shooting area under light carrying aircraft.
Concrete, described location instruction decision maker includes light display lamp or sound indicator.Specifically
, in location, instruction decision maker can have two states, such as, during light display lamp: the first shape
State display when red, the second state display green light；Or, during sound indicator, the first state is
Quiet, the second status alert.
The above, be only presently preferred embodiments of the present invention, and the present invention not makees any form
On restriction, any simple modification above example made according to the technical spirit of the present invention, etc.
With change and modification, all still fall within the range of technical solution of the present invention.
Claims (6)
1. a method for imaging, it is characterised in that including:
By control unit, the light of flight light unit is carried aircraft input flight coordinate, make institute
State flight light carrying aircraft to fly to precalculated position according to described flight coordinate carrying photography lamp,
Wherein said flight coordinate includes longitude, dimension and height position information；
By control unit to light carrying aircraft input orientation orientation information, described light is made to carry
Aircraft rotates to predetermined angular according to described orientation orientation information carrying photography lamp；
By being positioned at carrying carry-on face recognition device, shooting area is carried out Face datection, obtain
Take face and be positioned at the face location information of described shooting area；
Control unit sends calibration according to described face location information to described light carrying aircraft and refers to
Order, makes described light carrying aircraft regulate photography lamp rotational alignment angle according to described calibration command.
Method the most according to claim 1, it is characterised in that
By being positioned at carrying carry-on face recognition device, shooting area is carried out Face datection, obtain
After taking the face location information that face is positioned at described shooting area, also include:
By be positioned at carry carry-on face recognition device shooting area carried out face motion
Position carries out detecting and tracking, obtains the face movable information at described shooting area；
According to described face location information, control unit to the direction of described light carrying aircraft towards
Calibrate, make described light carrying aircraft according to the carrying photography lamp rotation of described face location information
After turning collimation angle, also include:
Control unit sends trace command according to described movable information to described light carrying aircraft, makes
Described light carrying aircraft moves with face according to described trace command regulation photography lamp light projector direction
And turn to.
Method the most according to claim 1, it is characterised in that
The bottom of described light carrying aircraft has rotary light end, and described photography lamp is arranged on institute
State on rotary light end, make described light carrying aircraft regulate photography lamp according to described calibration command
Rotational alignment angle, particularly as follows:
Described light carrying aircraft is made to regulate turning of described rotary light end according to described calibration command
Dynamic, make photography lamp carry aircraft rotational alignment angle relative to light.
4. a photographic attachment, it is characterised in that including:
Flight light unit, the light carrying including photography lamp, carrying often group photography lamp flight flies
Row device and be arranged on described light carry carry-on face recognition device, described facial recognition fill
Putting for shooting area being carried out Face datection, obtaining face and being positioned at the face location of described shooting area
Information；
Image unit, including video camera；
Control unit, connect respectively described photography lamp, described light carrying aircraft and described in take the photograph
Camera, described control unit inputs flight coordinate for the light of flight light unit is carried aircraft,
Described flight light carrying aircraft is made to fly to pre-determined bit according to described flight coordinate carrying photography lamp
Putting, wherein said flight coordinate includes longitude, dimension and height position information；Light carrying is flown
Row device input orientation orientation information, makes described light carrying aircraft hold according to described orientation orientation information
Carry photography lamp to rotate to predetermined angular；Described control unit is additionally operable to by being positioned on carrying aircraft
Face recognition device shooting area is carried out Face datection, obtain face and be positioned at described shooting area
Face location information；According to described face location information, described light carrying aircraft is sent calibration to refer to
Order, makes described light carrying aircraft regulate photography lamp rotational alignment angle according to described calibration command.
Photographic attachment the most according to claim 4, it is characterised in that including:
Described control unit is additionally operable to by being positioned at the carry-on face recognition device of carrying to shooting district
Territory carry out face movement position carry out detecting and tracking, obtain the face motion at described shooting area
Information；
According to described movable information, described light carrying aircraft is sent trace command, make described light
Carrying aircraft turns to face motion according to described trace command regulation photography lamp light projector direction.
Photographic attachment the most according to claim 4, it is characterised in that including:
The bottom of described light carrying aircraft has rotary light end, and described photography lamp is arranged on institute
Stating on rotary light end, described rotary light end, for rotating according to described calibration command, makes photography luminaire
Has relative light carrying aircraft rotational alignment angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610191607.1A CN105915809B (en) | 2016-03-30 | 2016-03-30 | Method for imaging and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610191607.1A CN105915809B (en) | 2016-03-30 | 2016-03-30 | Method for imaging and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105915809A true CN105915809A (en) | 2016-08-31 |
| CN105915809B CN105915809B (en) | 2019-01-01 |
Family
ID=56745133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610191607.1A Active CN105915809B (en) | 2016-03-30 | 2016-03-30 | Method for imaging and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105915809B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976561A (en) * | 2017-03-11 | 2017-07-25 | 上海瞬动科技有限公司合肥分公司 | A kind of unmanned plane photographic method |
| CN110781821A (en) * | 2019-10-25 | 2020-02-11 | 上海商汤智能科技有限公司 | Target detection method and device based on unmanned aerial vehicle, electronic equipment and storage medium |
| CN111510586A (en) * | 2019-01-31 | 2020-08-07 | 佳能株式会社 | Information processing apparatus, method, and medium for setting lighting effect applied to image |
| CN113747068A (en) * | 2021-09-07 | 2021-12-03 | 深圳市道通智能航空技术股份有限公司 | Method and device for controlling follow-up shooting of aircraft, electronic equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202267875U (en) * | 2011-09-30 | 2012-06-06 | 东莞市众鑫同创计算机科技有限公司 | Control system of realizing light intelligent tracking |
| CN103838061A (en) * | 2012-11-22 | 2014-06-04 | 西安金和光学科技有限公司 | Automatic stage lighting tracking system based on thermal imaging |
| US20140368715A1 (en) * | 2013-06-17 | 2014-12-18 | University or Maryland, Baltimore County | Turbulence-free camera system and related method of image enhancement |
| CN104766481A (en) * | 2015-04-29 | 2015-07-08 | 深圳市保千里电子有限公司 | Method and system for unmanned plane to conduct vehicle tracking |
| CN105025217A (en) * | 2014-04-30 | 2015-11-04 | 黄健辅 | Movable flash positioning system and method |
| CN105227842A (en) * | 2015-10-20 | 2016-01-06 | 杨珊珊 | A kind of coverage caliberating device of equipment of taking photo by plane and method |
| US20160078759A1 (en) * | 2012-08-06 | 2016-03-17 | Cloudparc, Inc. | Tracking a Vehicle Using an Unmanned Aerial Vehicle |
-
2016
- 2016-03-30 CN CN201610191607.1A patent/CN105915809B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202267875U (en) * | 2011-09-30 | 2012-06-06 | 东莞市众鑫同创计算机科技有限公司 | Control system of realizing light intelligent tracking |
| US20160078759A1 (en) * | 2012-08-06 | 2016-03-17 | Cloudparc, Inc. | Tracking a Vehicle Using an Unmanned Aerial Vehicle |
| CN103838061A (en) * | 2012-11-22 | 2014-06-04 | 西安金和光学科技有限公司 | Automatic stage lighting tracking system based on thermal imaging |
| US20140368715A1 (en) * | 2013-06-17 | 2014-12-18 | University or Maryland, Baltimore County | Turbulence-free camera system and related method of image enhancement |
| CN105025217A (en) * | 2014-04-30 | 2015-11-04 | 黄健辅 | Movable flash positioning system and method |
| CN104766481A (en) * | 2015-04-29 | 2015-07-08 | 深圳市保千里电子有限公司 | Method and system for unmanned plane to conduct vehicle tracking |
| CN105227842A (en) * | 2015-10-20 | 2016-01-06 | 杨珊珊 | A kind of coverage caliberating device of equipment of taking photo by plane and method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976561A (en) * | 2017-03-11 | 2017-07-25 | 上海瞬动科技有限公司合肥分公司 | A kind of unmanned plane photographic method |
| CN111510586A (en) * | 2019-01-31 | 2020-08-07 | 佳能株式会社 | Information processing apparatus, method, and medium for setting lighting effect applied to image |
| CN110781821A (en) * | 2019-10-25 | 2020-02-11 | 上海商汤智能科技有限公司 | Target detection method and device based on unmanned aerial vehicle, electronic equipment and storage medium |
| CN110781821B (en) * | 2019-10-25 | 2022-11-01 | 上海商汤智能科技有限公司 | Target detection method and device based on unmanned aerial vehicle, electronic equipment and storage medium |
| CN113747068A (en) * | 2021-09-07 | 2021-12-03 | 深圳市道通智能航空技术股份有限公司 | Method and device for controlling follow-up shooting of aircraft, electronic equipment and storage medium |
| WO2023036197A1 (en) * | 2021-09-07 | 2023-03-16 | 深圳市道通智能航空技术股份有限公司 | Method and apparatus for controlling follow-up photographing by aircraft, electronic device, and storage medium |
| CN113747068B (en) * | 2021-09-07 | 2023-10-24 | 深圳市道通智能航空技术股份有限公司 | Method and device for controlling follow-up shooting of aircraft, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105915809B (en) | 2019-01-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021238804A1 (en) | Mixed reality virtual preview photographing system | |
| JP6930616B2 (en) | Controls, control methods and aircraft devices | |
| US11263761B2 (en) | Systems and methods for visual target tracking | |
| US20200272803A1 (en) | Systems and methods for detecting and tracking movable objects | |
| CN105872367A (en) | Video generating method and video shooting device | |
| CN105518486B (en) | The system and method for following the trail of the orientation of movable object object | |
| CN105264436B (en) | System and method for controlling equipment related with picture catching | |
| CN110095110B (en) | Unmanned aerial vehicle aerial photography surveying and mapping method based on self-balancing laser range finder | |
| CN108680143A (en) | Object localization method, device based on long-distance ranging and unmanned plane | |
| CN105915809A (en) | Photography method and photography device | |
| CN103149788A (en) | Air 360-degree distant view photograph shooting device and method | |
| CN108955682A (en) | Mobile phone indoor positioning air navigation aid | |
| CN206743405U (en) | A kind of automatic following system | |
| KR101350929B1 (en) | High density air shooting unit by using gps and ins | |
| KR101348797B1 (en) | High density air shooting unit by using gps and ins | |
| CN105872396A (en) | Photographic method and device | |
| CN109211573B (en) | Method for evaluating hovering stability of unmanned aerial vehicle | |
| CN106454103A (en) | Automatic following system | |
| CN203204299U (en) | Air 360-DEG panorama-photograph shooting apparatus | |
| CN108225563B (en) | Field environment sky polarization modeling alignment measuring device | |
| US20200154032A1 (en) | Systems and methods for automatic detection and correction of luminance variations in images | |
| CN105872368A (en) | Photographic method and device | |
| CN205450530U (en) | Mobile lamp light unit | |
| CN108415459A (en) | A kind of unmanned plane is around the circumvolant control method and device of target point | |
| CN205408003U (en) | Photographing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221019 Address after: Room 202, Unit 1, Building 1, Yard 19, Andri North Street, Dongcheng District, Beijing 100010 Patentee after: Li Yaosha Address before: 100123 5a, 718 Cultural Park, No. 19, ganluyuan, Chaoyang District, Beijing Patentee before: DONLANN VISION TECHNOLOGY DEVELOPMENT (BEIJING) CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230215 Address after: 311, Unit 2, Floor 3, Building 2, Yard 1, Shengfang Road, Daxing District, Beijing 102600 Patentee after: Langtu Intelligent Technology (Beijing) Co.,Ltd. Address before: Room 202, Unit 1, Building 1, Yard 19, Andri North Street, Dongcheng District, Beijing 100010 Patentee before: Li Yaosha |